From 097452eb995800337c633502dee8b497a7571749 Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Tue, 19 Sep 2017 18:29:01 -0700
Subject: [PATCH] comms hijack compiles

---
 MotorControl/axis.cpp    | 19 ++++++++++++++++---
 MotorControl/axis.hpp    |  4 +++-
 MotorControl/low_level.h |  6 ++++++
 3 files changed, 25 insertions(+), 4 deletions(-)

diff --git a/MotorControl/axis.cpp b/MotorControl/axis.cpp
index fa7dfd49..cda35325 100644
--- a/MotorControl/axis.cpp
+++ b/MotorControl/axis.cpp
@@ -10,14 +10,27 @@ extern "C" {
 extern "C" {
 void axis_thread_entry(void const* temp_motor_ptr) {
     Motor_t* motor = (Motor_t*)temp_motor_ptr;
-    Axis axis(motor);
+
+    //TODO: explicit axis number assignment
+    //for now we search for it
+    uint8_t ax_number = 0;
+    while(&motors[ax_number] != motor)
+        ++ax_number;
+
+    Axis axis(ax_number, motor);
     axis.StateMachineLoop();
 }
 }  // extern "C"
 
-Axis::Axis(Motor_t* legacy_motor_ref)
-    : legacy_motor_ref_(legacy_motor_ref) {}
+Axis::Axis(uint8_t axis_number, Motor_t* legacy_motor_ref)
+    : axis_number_(axis_number),
+      legacy_motor_ref_(legacy_motor_ref) {}
 
 void Axis::StateMachineLoop() {
+    // override for compatibility with legacy comms paradigm
+    // TODO next gen comms
+    exposed_bools[4*axis_number_ + 1] = &enable_control_;
+    exposed_bools[4*axis_number_ + 2] = &do_calibration_;
+
     motor_thread(legacy_motor_ref_);
 }
\ No newline at end of file
diff --git a/MotorControl/axis.hpp b/MotorControl/axis.hpp
index 2108289c..2431d383 100644
--- a/MotorControl/axis.hpp
+++ b/MotorControl/axis.hpp
@@ -35,11 +35,13 @@ public:
     //step/dir handler
 
     // Object operation requires ptr to legacy object for now, TODO: get rid of this dep
-    Axis(Motor_t* legacy_motor_ref);
+    Axis(uint8_t axis_number, Motor_t* legacy_motor_ref);
 
     // Infinite loop that does calibration and enters main control loop as appropriate
     void StateMachineLoop();
 
+    uint8_t axis_number_;
+
     bool enable_control_;
     bool do_calibration_;
 
diff --git a/MotorControl/low_level.h b/MotorControl/low_level.h
index 2b0d6501..a7afa6c7 100644
--- a/MotorControl/low_level.h
+++ b/MotorControl/low_level.h
@@ -148,6 +148,12 @@ extern Motor_t motors[];
 extern const int num_motors;
 
 /* Exported variables --------------------------------------------------------*/
+// Exposed comms table during refactor transition
+extern float* exposed_floats[];
+extern int* exposed_ints[];
+extern bool* exposed_bools[];
+extern uint16_t* exposed_uint16[];
+
 /* Exported macro ------------------------------------------------------------*/
 /* Exported functions --------------------------------------------------------*/