evarobot_driver.h

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#ifndef INCLUDE_EVAROBOT_DRIVER_H_
#define INCLUDE_EVAROBOT_DRIVER_H_

#include "ros/ros.h"
#include "geometry_msgs/Twist.h"


#include "IMPWM.h"
#include "IMGPIO.h"
#include "IMADC.h"

#include <stdio.h> 
#include <math.h> 
#include <sstream>

#include <dynamic_reconfigure/server.h>
#include <evarobot_driver/ParamsConfig.h>

#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>

#include "im_msgs/SetRGB.h"
#include "im_msgs/Voltage.h"
#include "im_msgs/WheelVel.h"

#include <ros/console.h>
#include "ErrorCodes.h"

#include <boost/shared_ptr.hpp>

using namespace std;


bool b_is_received_params = false;

double g_d_max_lin;
double g_d_max_ang;
double g_d_wheel_separation;
double g_d_wheel_diameter;

class IMDRIVER
{
public:
        IMDRIVER(double d_limit_voltage,
                         float f_max_lin_vel, 
                         float f_max_ang_vel, 
                         float f_wheel_separation, 
                         float f_wheel_diameter,
                         double d_frequency, 
                         unsigned int u_i_counts, 
                         double d_duty, 
                         int i_mode,
                         boost::shared_ptr< IMGPIO > * m1_in, 
                         boost::shared_ptr< IMGPIO > * m2_in,
                         IMGPIO * m1_en,
                         IMGPIO * m2_en,
                         IMADC * adc,
                         ros::ServiceClient & client,
                         double _timeout);
                         
        ~IMDRIVER();
                         
        void CallbackWheelVel(const im_msgs::WheelVel::ConstPtr & msg);
        void ProduceDiagnostics(diagnostic_updater::DiagnosticStatusWrapper &stat);
        im_msgs::Voltage GetMotorVoltage() const;

        bool CheckMotorCurrent();
        bool CheckTimeout();
        
        void UpdateParams();
        void ApplyVel(float f_left_wheel_velocity, float f_right_wheel_velocity);
        void Enable();
        void Disable();
        
        int CheckError();
        
private:
        IMPWM * pwm;
        boost::shared_ptr< IMGPIO > * m1_in;
        boost::shared_ptr< IMGPIO > * m2_in;
        IMGPIO * m1_en;
        IMGPIO * m2_en;
        
        IMADC * adc;
        ros::ServiceClient client;
        
        float f_max_lin_vel; 
        float f_max_ang_vel; 
        float f_wheel_separation; 
        float f_wheel_diameter;

        float f_left_motor_voltage;
        float f_right_motor_voltage;

        double d_frequency;
        double d_duty;
        double d_limit_voltage;
        
        double d_timeout;
        
        bool b_motor_error, b_left_motor_error, b_right_motor_error;
        bool b_timeout_err;
        
        unsigned int u_i_counts;
        int i_mode;    
        int i_const_count;
        
        ros::Time curr_vel_time;
};

#endif