rfid_driver_wrapper.h

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#ifndef __RFID_DRIVER_WRAPPER_H__
#define __RFID_DRIVER_WRAPPER_H__

#include <ros/ros.h>
#include "rfid_driver_interface.h"

// third party driver headers
#include <feusb.h>
#include <feisc.h>
#include <FedmIscCore.h>
#include <impl/core/i_scan/tag_handler/FedmIscTagHandler_EPC_Class1_Gen2.h>

class RfidDriverWrapper : public RfidDriverInterface {
    public:
        RfidDriverWrapper();

        ~RfidDriverWrapper();

        int open_device(long num_device);

        int close_device();

        std::string get_uid_label();

        std::string* get_tags();

        std::string get_type_reader();

        int get_num_labels();

        void set_num_labels(int num_labels);

        void read_hf(unsigned char data[BLOCK_SIZE_HF], unsigned char uc_db_address);

        void write_hf(unsigned char data[BLOCK_SIZE_HF], unsigned char uc_db_address, std::string uid);

        int write_tag_epc(unsigned char* data, std::string epc, unsigned int mem_bank, unsigned int address,
                          unsigned int num_blocks);

        int inventory();

    private:
        int set_type_reader(int index);

        int set_port_hand(long num_device);

        int _device_handle, _reader_handle, _lenght, _num_max_labels, _num_devices;
        long _id_device;

        std::string _device_name;
        std::string _snr;
        std::string _DSFID;

        std::vector<std::string> _labels;

        FEDM_ISCReaderModule _rfid_reader;
};
#endif