SerRelayBoard.h

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob_driver
 * ROS package name: cob_relayboard
 * Description: Class for communication with relayboard. The relayboard is mainly used for reading the Emergencystop and Laserscannerstop states.
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Philipp Koehler
 * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de
 *
 * Date of creation: March 2010
 * ToDo:
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Fraunhofer Institute for Manufacturing 
 *       Engineering and Automation (IPA) nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL 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 LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/

#ifndef SerRelayBoard_INCLUDEDEF_H
#define SerRelayBoard_INCLUDEDEF_H

//-----------------------------------------------
#include <cob_relayboard/SerialIO.h>
#include <cob_relayboard/Mutex.h>
#include <cob_relayboard/CmdRelaisBoard.h>

//-----------------------------------------------

class SerRelayBoard
{
public:
        
        SerRelayBoard(std::string ComPort, int ProtocolVersion = 1);

        ~SerRelayBoard();

        // Main control functions
        bool init();
        bool reset();
        bool shutdown();

        int evalRxBuffer(); //needs to be calles to read new data from relayboard
        int sendRequest(); //sends collected data and requests response

        //Services by relayboard
        int setDigOut(int iChannel, bool bOn);
        int getAnalogIn(int* piAnalogIn);
        int getDigIn();
        bool isEMStop();
        bool isScannerStop();
        int getBatteryVoltage()
        {
                return m_iRelBoardBattVoltage;
        }
        int getChargeCurrent()
        {
                return m_iChargeCurrent;
        }


        enum RelBoardReturns
        {
                NO_ERROR = 0,
                NOT_INITIALIZED = 1,
                GENERAL_SENDING_ERROR = 2,
                TOO_LESS_BYTES_IN_QUEUE = 3,
                NO_MESSAGES = 4, //for a long time, no message have been received, check com port!
                CHECKSUM_ERROR = 5,
        };

        enum RelBoardCmd
        {
                CMD_SET_CHARGE_RELAY = 1,
                CMD_RESET_POS_CNT = 2,
                CMD_QUICK_STOP = 4,
                CMD_SET_RELAY1 = 8,
                CMD_SET_RELAY2 = 16,
                CMD_SET_RELAY3 = 32,
                CMD_SET_RELAY4 = 64,
                CMD_SET_RELAY5 = 128,
                CMD_SET_RELAY6 = 256,
                CMD_ZERO_GYRO = 512
        };

        enum RelBoardConfig
        {
                CONFIG_HAS_IOBOARD = 1,
                CONFIG_HAS_USBOARD = 2,
                CONFIG_HAS_GYROBOARD = 4,
                CONFIG_HAS_RADARBOARD1 = 8,
                CONFIG_HAS_RADARBOARD2 = 16,
                CONFIG_HAS_DRIVES = 32,
        };

        enum TypeLCD
        {
                LCD_20CHAR_TEXT,
                LCD_60CHAR_TEXT,
                RELAY_BOARD_1_4
        };

protected:
        

        std::string m_sNumComPort;

        void txCharArray();
        void rxCharArray();

        void convDataToSendMsg(unsigned char cMsg[]);
        bool convRecMsgToData(unsigned char cMsg[]);

        Mutex m_Mutex;
        
        int m_iNumBytesSend;
        int m_iTypeLCD; 

        unsigned char m_cTextDisplay[60];

        //relayboard 1.4:
        int m_iVelCmdMotRearRightEncS;
        int m_iVelCmdMotRearLeftEncS;
        char m_cSoftEMStop;
        char m_cDebugRearRight[4];
        int m_iPosMeasMotRearRightEnc;
        int m_iVelMeasMotRearRightEncS;
        int m_iPosMeasMotRearLeftEnc;
        char m_cDebugRearLeft[4];
        int m_iVelMeasMotRearLeftEncS;
        int m_iMotRearRightStatus;
        int m_iMotRearLeftStatus;
        double m_dLastPosRearRight;
        double m_dLastPosRearLeft;      

        //-----------------------
        // send data

        // RelayBoard
        int m_iConfigRelayBoard;
        int m_iCmdRelayBoard;

        // IOBoard
        int m_iIOBoardDigOut;

        // MotCtrlBoards
        int m_iVelCmdMotRightEncS;
        int m_iVelCmdMotLeftEncS;

        // USBoard
        int m_iUSBoardSensorActive;

        //-----------------------
        // rec data
        int m_iRelBoardStatus;
        int m_iChargeCurrent;
        int m_iRelBoardBattVoltage;
        int m_iRelBoardKeyPad;
        int m_iRelBoardAnalogIn[4];
        int m_iRelBoardTempSensor;
        
        int m_iDigIn;
        int m_iProtocolVersion;
        int m_NUM_BYTE_SEND;

        SerialIO m_SerIO;

        bool m_bComInit;
};


//-----------------------------------------------
#endif