SerRelayBoard.h

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#ifndef SerRelayBoard_INCLUDEDEF_H
#define SerRelayBoard_INCLUDEDEF_H

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


#include <SerialIO.h>
#include <Mutex.h>
#include <StrUtil.h>
#include <DriveParam.h>
#include <CanMsg.h>
#include <CmdRelaisBoard.h>


#include <vector>
#include <boost/array.hpp>

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

class SerRelayBoard
{
public:
        SerRelayBoard();
        //SerRelayBoard(int iTypeLCD, std::string pathToConf="../depreciatedConfig/"); //Deprecated
        ~SerRelayBoard();

        // Platform - for function description see interface CanCtrlPltfItf (Old Syntax)
        bool initPltf();
        bool resetPltf();
        bool shutdownPltf();
        int evalRxBuffer();
        bool isComError();
        bool isDriveError();
        bool isEMStop();
        bool isScannerStop();
        void readConfig(        int iTypeLCD,std::string pathToConf, std::string sNumComPort,   int hasMotorRight, 
                                int hasMotorLeft, int hasMotorRearRight, int hasMotorRearLeft,
                                int hasIOBoard, int hasUSBoard, int hasRadarBoard, int hasGyroBoard, 
                                double quickfix1, double quickfix2, double quickfix3, double quickfix4, 
                                DriveParam driveParamLeft, DriveParam driveParamRight,
                                DriveParam driveParamRearLeft, DriveParam driveParamRearRight
        );
        //new Syntax: 
        int sendRequest(); //sends collected data and requests response (in the Old version this was done by: setWheelVel() or setWheelPosVel();

        //Care-O-Bots Syntax
        bool init();
        bool reset();
        bool shutdown();
        SerRelayBoard(std::string ComPort, int ProtocolVersion = 1);
        
        
        // Drives - for function description see interface CanCtrlPltfItf
        int setWheelVel(int iCanIdent, double dVel, bool bQuickStop);
        int setWheelPosVel(int iCanIdent, double dPos, double dVel, bool bQuickStop);
        void execMotion(int iGroupID) {}
        void sendSynch() {}
        void sendHeartbeat() {}

        void requestDriveStatus();
        int requestMotPosVel(int iCanIdent);
        
        int getWheelPosVel(     int iCanIdent, double* pdAngWheelRad, double* pdVelWheelRadS);

        int getWheelDltPosVel(  int iCanIdent, double* pdDltAngWheelRad, double* pdVelWheelRadS);

        void getStatus(int iCanIdent, int* piStatus, int* piTempCel);
        int disableBrake(int iCanIdent, bool bDisabled);
        int execHoming(int CanIdent); // NOT IMPLEMENTED !!!!
        
        // Relayboard
        int getRelayBoardDigIn();
        int setRelayBoardDigOut(int iChannel, bool bOn);
        int getRelayBoardDigOut();
        int getRelayBoardAnalogIn(int* piAnalogIn);
        void setEMStop();
        void resetEMStop();

        // IOBoard - for function description see interface CanCtrlPltfItf
        void requestIOBoardData();
        void getIOBoardJoyValNorm(double* pdJoyXNorm, double* pdJoyYNorm);
        void getIOBoardJoyValWheelMean(double* pdVelWheelLeftMean, double* pdVelWheelRightMean);
        int getIOBoardBattVoltage();
        void requestIOBoardDigIn() { }
        int getIOBoardDigIn();
        int getIOBoardDigOut();
        int setIOBoardDigOut(int iChannel, bool bVal);
        void requestIOBoardAnalogIn();
        int getIOBoardAnalogIn(int* piAnalogIn);
        void writeIOBoardLCD(int iLine, int iColumn, const std::string& sText);

        // USBoard - for function description see interface CanCtrlPltfItf
        int startUS(int iChannelActive);
        int stopUS();   
        void requestUSBoardData1To8();
        void requestUSBoardData9To16();
        int getUSBoardData1To8(int* piUSDistMM);
        int getUSBoardData9To16(int* piUSDistMM);
        void requestUSBoardAnalogIn();
        void getUSBoardAnalogIn(int* piAnalogIn);

        // GyroBoard - for function description see interface CanCtrlPltfItf
        void zeroGyro(bool bZeroActive);
        void requestGyroBoardData() { } // done by RelayBoard
        int getGyroBoardAng(double* pdAngRad, double dAcc[]);
        int getGyroBoardAngBoost(double* pdAngRad, boost::array<double, 3u>& dAcc);
        int getGyroBoardDltAng(double* pdAng, double dAcc[]);

        // RadarBoard - for function description see interface CanCtrlPltfItf
        void requestRadarBoardData();
        int getRadarBoardData(double* pdVelMMS);

        // CanClientGeneric - for function description see interface CanCtrlPltfItf
        void addGenericCANListeningId(int id);
        void removeGenericCANListeningId(int id);
        void getGenericCANMessages(std::vector<CANTimedMessage>& pMessages);
        void sendGenericCANMessage(CanMsg& message);

        //Logging
        void enable_logging();
        void disable_logging();
        void log_to_file(int direction, unsigned char cMsg[]);

        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,
                MSG_CONFIG = 6,
                MSG_DATA = 7
        };

        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,
                CONFIG_HAS_4_DRIVES = 64

        };

        enum CANNode
        {
                CANNODE_IOBOARD = 0,
                CANNODE_MOTORRIGHT = 1,
                CANNODE_MOTORLEFT = 2,
                CANNODE_USBOARD = 3,
                CANNODE_MOTORREARRIGHT = 4,
                CANNODE_MOTORREARLEFT = 5

        };

        enum MotionType
        {
                MOTIONTYPE_VELCTRL,
                MOTIONTYPE_POSCTRL
        };

        enum TypeLCD
        {
                LCD_20CHAR_TEXT,
                LCD_60CHAR_TEXT,
                RELAY_BOARD_1_4,
                RELAY_BOARD_2
        };

protected:
        int protocol_version;
        std::string m_sNumComPort;

        DriveParam m_DriveParamLeft, m_DriveParamRight, m_DriveParamRearLeft, m_DriveParamRearRight;

        Mutex m_Mutex;

        double m_dLastPosRight;
        double m_dLastPosLeft;
        unsigned char m_cDebugLeft[4]; 
        unsigned char m_cDebugRight[4];
        unsigned char m_cTextDisplay[60];

        int m_iNumBytesSend;
        int m_iTypeLCD;
        
        //logging
        bool logging;


        //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

        // Relaisboard
        int m_iRelBoardStatus;
        int m_iChargeCurrent;
        int m_iRelBoardBattVoltage;
        int m_iRelBoardKeyPad;
        int m_iRelBoardIRSensor[4];
        int m_iRelBoardTempSensor;
        
        // IOBoard
        int m_iIOBoardBattVoltage;
        int m_iIOBoardStatus;
        int m_iIOBoardDigIn;
        int m_iIOBoardAnalogIn[8];

        // MotCtrlBoards
        int m_iMotRightStatus;
        int m_iMotLeftStatus;
        int m_iPosMeasMotRightEnc;
        int m_iVelMeasMotRightEncS;
        int m_iPosMeasMotLeftEnc;
        int m_iVelMeasMotLeftEncS;

        // GyroBoard
        int m_iGyroBoardStatus;
        bool m_bGyroBoardZeroGyro;
        int m_iGyroBoardAng;
        int m_iGyroBoardAcc[3];
        
        // RadarBoards
        int m_iRadarBoardStatus;
        int m_iRadarBoardVel[4];

        // USBoard
        int m_iUSBoardStatus;
        int m_iUSBoardSensorData[16];
        int m_iUSBoardAnalogData[4];

        SerialIO m_SerIO;

        bool m_bComInit;

        void readConfiguration();
        void sendNetStartCanOpen();

        void txCharArray();
        void rxCharArray();

        void convDataToSendMsg(unsigned char cMsg[]);

        void convDataToSendMsgRelayBoard2(unsigned char cMsg[]);
        
        bool convRecMsgToData(unsigned char cMsg[]);

        bool convRecMsgToDataRelayBoard2(unsigned char cMsg[]);

private:

        int m_iFoundMotors;
        int m_iHomedMotors;
        int m_iFoundExtHardware;
        int m_iConfigured;
        int m_iNumBytesRec;
        bool initRelayBoard2(); //configure relayboard 2
        int evalRxBufferRelayBoard2();
        bool autoSendRequest;
        double quickFix[4]; //TODO: quick and dirty odometry fix (rostopic echo /odom)

        //data indicators
        int m_ihasRelayData;
        int m_ihas_LCD_DATA;
        int m_iHasIOBoard;
        int m_iHasUSBoard;
        int m_iHasSpeakerData; 
        int m_iChargeState;


};


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