sendcommand.h

#ifndef SENDCOMMAND_H
#define SENDCOMMAND_H

#include <QObject>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/msg.h>
#include <stdio.h>
#include <string.h>

#define MSGSZ     128



class SendCommand : public QObject
{
    Q_OBJECT
public:

/*
 * Declare the message structure.
 */

typedef struct msgbuf {
    /* Mandatory, must be a positive number. */
    long       mtype;
    /* Data */
    long    update_period;

    int32_t    opCode[4];
    int32_t    data[4];
 } message_buf;


    static SendCommand* getInstance();
    //todo convert  int to u,,,
    void SendJog(int drive_id, int data);
    void SendData(message_buf msg);
    void ClearAlarm(int dirve_id);
    void SendPosition(int drive_id, int data);
    void GoHome(int drive_id);
    void SendPointTo4Drives(double p0 , double p1, double p2, double p3);
    void SendPointTo3Drives(double p0, double p1, double p2);
    int32_t degree_to_motor_position(double point);


signals:

public slots:

private:
   static SendCommand* instance;
   int msqid;
   int msgflg;
   int NUMBER_OF_motorpulse =524287;
   int GEARBOX_RATIO=20;
//   int NUMBER_OF_motorpuls =524288;
   key_t key;
   explicit SendCommand(QObject *parent = nullptr);
};

#endif // SENDCOMMAND_H