driver.h

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#ifndef PUMA_MOTOR_DRIVER_DRIVER_H
#define PUMA_MOTOR_DRIVER_DRIVER_H

#include <stdint.h>
#include <string>

#include "puma_motor_driver/can_proto.h"
#include "puma_motor_msgs/Status.h"

namespace puma_motor_driver
{

class Gateway;
class Message;

class Driver
{
public:
  Driver(Gateway& gateway, uint8_t device_number, std::string device_name);

  void processMessage(const Message& received_msg);

  void requestStatusMessages();

  void requestFeedbackMessages();
  void requestFeedbackDutyCycle();
  void requestFeedbackCurrent();
  void requestFeedbackPosition();
  void requestFeedbackSpeed();
  void requestFeedbackPowerState();
  void requestFeedbackSetpoint();
  void clearStatusCache();
  void commandDutyCycle(float cmd);
  void commandSpeed(double cmd);
  // void currentSet(float cmd);
  // void positionSet(float cmd);
  // void neutralSet();

  void setEncoderCPR(uint16_t encoder_cpr);
  void setGearRatio(float gear_ratio);
  void setMode(uint8_t mode);
  void setMode(uint8_t mode, double p, double i, double d);
  void setGains(double p, double i, double d);

  uint8_t lastFault();
  uint8_t lastPower();
  uint8_t lastMode();
  float lastDutyCycle();
  float lastBusVoltage();
  float lastCurrent();
  float lastOutVoltage();
  float lastTemperature();
  float lastAnalogInput();
  double lastPosition();
  double lastSpeed();
  double lastSetpoint();

  void configureParams();
  void verifyParams();
  bool isConfigured();
  void resetConfiguration();
  void updateGains();
  uint8_t posEncoderRef();
  uint8_t spdEncoderRef();
  uint16_t encoderCounts();

  double getP();
  double getI();
  double getD();
  uint8_t* getRawP();
  uint8_t* getRawI();
  uint8_t* getRawD();
  float statusDutyCycleGet();
  double statusSpeedGet();
  float statusCurrentGet();
  double statusPositionGet();

  Driver operator=(const Driver& rhs)
  {
    return Driver(gateway_, device_number_, device_name_);
  }

  std::string deviceName() { return device_name_; }

  uint8_t deviceNumber() { return device_number_; }

  // Only used internally but is used for testing.
  struct StatusField
  {
    uint8_t data[4];
    bool received;

    float interpretFixed8x8()
    {
      return *(reinterpret_cast<int16_t*>(data)) / static_cast<float>(1<<8);
    }

    double interpretFixed16x16()
    {
      return *(reinterpret_cast<int32_t*>(data)) / static_cast<double>(1<<16);
    }
  };


private:
  Gateway& gateway_;
  uint8_t device_number_;
  std::string device_name_;

  bool configured_;
  uint8_t state_;

  uint8_t control_mode_;
  double gain_p_;
  double gain_i_;
  double gain_d_;
  uint16_t encoder_cpr_;
  float gear_ratio_;

  void sendUint8(uint32_t id, uint8_t value);
  void sendUint16(uint32_t id, uint16_t value);
  void sendFixed8x8(uint32_t id, float value);
  void sendFixed16x16(uint32_t id, double value);

  bool verifyRaw16x16(uint8_t* received, double expected);

  bool verifyRaw8x8(uint8_t* received, float expected);

  StatusField status_fields_[12];

  StatusField* statusFieldForMessage(const Message& msg);
};

}  // namespace puma_motor_driver

#endif  // PUMA_MOTOR_DRIVER_DRIVER_H