rflex_driver.h

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#ifndef RFLEX_DRIVER_H
#define RFLEX_DRIVER_H

#include <rflex/rflex_info.h>
#include <pthread.h>

class RFLEX {
    public:
        RFLEX();
        virtual ~RFLEX();

        int initialize(const char* devname);

        void configureSonar(const unsigned long echoDelay, const unsigned long pingDelay,
                            const unsigned long setDelay, const unsigned long val);

        void setIrPower(const bool power);
        void setBrakePower(const bool power);

        void setDigitalIoPeriod(const long period);

        void setOdometryPeriod(const long period);

        void motionSetDefaults();

        bool getBrakePower() const {
            return brake;
        }

        int  getIrCount() const {
            return numIr;
        }

        void setVelocity(const long transVelocity, const long rotVelocity,
                         const long acceleration);

        void sendSystemStatusCommand();

    protected:

        virtual void processDioEvent(unsigned char address, unsigned short data);

        int distance;                   
        int bearing;                    
        int transVelocity;              
        int rotVelocity;                

        int sonar_ranges[SONAR_MAX_COUNT];      
        long voltage;   
        bool brake;             

        unsigned short dioData[24];     

        int lcdX, lcdY;
        unsigned char * lcdData;

        int numIr; 
        unsigned char * irRanges; 
        int home_bearing_found;
        int odomReady;

    private:
        void parsePacket(const unsigned char* buffer);
        void parseMotReport(const unsigned char* buffer);
        void parseDioReport(const unsigned char* buffer);
        void parseIrReport(const unsigned char* buffer);
        void parseSysReport(const unsigned char* buffer);
        void parseSonarReport(const unsigned char* buffer);
        void parseJoyReport(const unsigned char* buffer);

        // IO Stuff
        int fd;                         
        pthread_t thread;       
        pthread_mutex_t writeMutex; 

        unsigned char readBuffer[BUFFER_SIZE];
        unsigned char writeBuffer[BUFFER_SIZE];

        bool found;
        int offset;

        static void *readThread(void *ptr); 

        bool sendCommand(const unsigned char port, const unsigned char id, const unsigned char opcode, const int length, unsigned char* data);

        void readPacket(); 
        int readData();    
        bool writePacket(const int length) const; 
        unsigned char computeCRC(const unsigned char *buffer, const int n); 

        // Not allowed to use these
        RFLEX(const RFLEX &rflex);                              
        RFLEX &operator=(const RFLEX &rflex);   
};
#endif