segway_rmp200_driver.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author Sergi Hernandez & Joan Perez
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _segway_rmp200_driver_h_
#define _segway_rmp200_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <iri_segway_rmp200/SegwayRmp200Config.h>
#include "exceptions.h"

//include segway_rmp200_driver main library
#include "segway_rmp200.h"
#include "segway_rmp200_status.h"

namespace segway_rmp200_node
{

class SegwayRmp200Driver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods
    CSegwayRMP200 *segway_;
    CFTDIServer *ftdi_server_;
    std::string serial_number_;
    std::list<std::string> events_;

  public:
    enum segway_events_enum {NO_USB=0, POWER_OFF, NO_HEART_BEAT, NEW_STATUS};

    typedef iri_segway_rmp200::SegwayRmp200Config Config;

    Config config_;

    SegwayRmp200Driver();

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all segway_rmp200_driver interface methods to retrieve and set
    // the driver parameters
    iri_segway_rmp_msgs::SegwayRMP200Status get_status(void);
    float get_pitch_angle(void);
    float get_pitch_rate(void);
    float get_roll_angle(void);
    float get_roll_rate(void);
    float get_left_wheel_velocity(void);
    float get_right_wheel_velocity(void);
    float get_yaw_rate(void);
    float get_uptime(void);
    float get_left_wheel_displacement(void);
    float get_right_wheel_displacement(void);
    float get_forward_displacement(void);
    float get_yaw_displacement(void);
    float get_left_motor_torque(void);
    float get_right_motor_torque(void);
    op_mode get_operation_mode(void);
    gain get_gain_schedule(void);
    float get_ui_battery_voltage(void);
    float get_powerbase_battery_voltage(void);
    void reset(void);
    void move_platform(float vT, float vR);
    void stop_platform(void);
    const std::list<std::string> & getSegwayEvents() const;
    void setSegwayEvents(void);
    static const std::string & getSegwayEventName(const unsigned int & ev);

    ~SegwayRmp200Driver();
};

} // end of namespace

#endif