ArduinoDAQ_LowLevel.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2016-17, Universidad de Almeria
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */


#pragma once

#include <mrpt/version.h>
#if MRPT_VERSION>=0x199
# include <mrpt/comms/CSerialPort.h>
using mrpt::comms::CSerialPort;
#else
# include <mrpt/hwdrivers/CSerialPort.h>
using mrpt::hwdrivers::CSerialPort;
#endif

#ifdef HAVE_ROS
#include <ros/ros.h>
#include <std_msgs/UInt8.h>
#include <std_msgs/Bool.h>
#include <std_msgs/Float64.h>
#endif

#include <mrpt/utils/COutputLogger.h>
#include <arduinodaq2pc-structs.h>
#include <functional>


class ArduinoDAQ_LowLevel : public mrpt::utils::COutputLogger
{
public:
        ArduinoDAQ_LowLevel();
        virtual ~ArduinoDAQ_LowLevel();

#ifdef HAVE_ROS

        ros::NodeHandle m_nh;
        ros::NodeHandle m_nh_params;

        std::vector<ros::Subscriber> m_sub_GPIO_outputs, m_sub_dac, m_sub_PWM_outputs;
        ros::Publisher  m_pub_ADC, m_pub_ENC, m_pub_ENC_ABS;
#endif

        void setSerialPort(const std::string &sSerialName) {
                m_serial_port_name = sSerialName;
        }
        std::string getSerialPort() const {
                return m_serial_port_name;
        }

        bool initialize();

        bool iterate();

        bool CMD_GPIO_output(int pin, bool pinState);
        bool CMD_DAC(int dac_index, double dac_value_volts);
        bool CMD_ADC_START(const TFrameCMD_ADC_start_payload_t &enc_config);
        bool CMD_ADC_STOP();
        bool CMD_PWM(int pin_index, uint8_t pwm_value);
        bool CMD_ENCODERS_START(const TFrameCMD_ENCODERS_start_payload_t &enc_config);
        bool CMD_ENCODERS_STOP();
        bool CMD_ENCODER_ABS_START(const TFrameCMD_EMS22A_start_payload_t &enc_config);
        bool CMD_ENCODER_ABS_STOP();

        void set_ADC_readings_callback(const std::function<void(TFrame_ADC_readings_payload_t)> &f) {
                m_adc_callback = f;
        }
        void set_ENCODERS_readings_callback(const std::function<void(TFrame_ENCODERS_readings_payload_t)> &f) {
                m_enc_callback = f;
        }
        void set_ENCODER_ABS_readings_callback(const std::function<void(TFrame_ENCODER_ABS_reading_payload_t)> &f) {
                m_encabs_callback = f;
        }

protected:
        // Local class members:
        std::string m_serial_port_name;
        int         m_serial_port_baudrate;
        CSerialPort m_serial;  
        int         m_NOP_sent_counter {0};

        // Local methods:
        bool AttemptConnection();   
        bool IsConnected() const;       
        bool ReceiveFrameFromController(std::vector<uint8_t> &rx_data); 
        void processIncommingFrame(const std::vector<uint8_t> &rxFrame);
        bool WriteBinaryFrame( const uint8_t *full_frame, const size_t full_frame_len); 
        bool SendFrameAndWaitAnswer(
                const uint8_t *full_frame,
                const size_t full_frame_len,
                const int num_retries = 10,
                const int retries_interval_ms = 40,
                uint8_t expected_ans_opcode = 0 //<! 0 means the default convention: full_frame[1]+0x70,
                ); 

        std::function<void(TFrame_ADC_readings_payload_t)> m_adc_callback;
        std::function<void(TFrame_ENCODERS_readings_payload_t)> m_enc_callback;
        std::function<void(TFrame_ENCODER_ABS_reading_payload_t)> m_encabs_callback;

#ifdef HAVE_ROS
        void daqSetDigitalPinCallback(int index, const std_msgs::Bool::ConstPtr& msg);
        void daqSetDACCallback(int dac_index, const std_msgs::Float64::ConstPtr& msg);
        void daqSetPWMCallback(int pwm_pin_index, const std_msgs::UInt8::ConstPtr& msg);
#endif
        void daqOnNewADCCallback(const TFrame_ADC_readings_payload_t &data);
        void daqOnNewENCCallback(const TFrame_ENCODERS_readings_payload_t &data);
        void daqOnNewENCAbsCallback(const TFrame_ENCODER_ABS_reading_payload_t &data);

};