serial_controller.h

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#ifndef SERIAL_CONTROLLER_H
#define SERIAL_CONTROLLER_H

#include <ros/ros.h>
#include <serial/serial.h>

#include <mutex>
#include <condition_variable>  // std::condition_variable

#include <thread>

using namespace std;

namespace roboteq {

typedef function<void (string data) > callback_data_t;

class serial_controller
{
public:
    serial_controller(string port, unsigned long baudrate);

    ~serial_controller();
    bool start();
    bool stop();

    bool command(string msg, string params="", string type="!");

    bool query(string msg, string params="", string type="?");

    string getQuery(string msg, string params="")
    {
        if(query(msg, params))
        {
            return get();
        }
        else
        {
            return "";
        }
    }

    bool setParam(string msg, string params="") {
        return command(msg, params, "^");
    }

    string getParam(string msg, string params="") {
        if(query(msg, params, "~"))
        {
            return get();
        }
        else
        {
            return "";
        }
    }

    bool maintenance(string msg, string params="")
    {
        return command(msg, params, "%");
    }

    string get()
    {
        return sub_data;
    }
    string getVersionScript()
    {
        return "V" + _script_ver;
    }

    void reset()
    {
        // Send reset command
        mSerial.write("%RESET 321654987");
        // Wait one second after reset
        ros::Duration(1).sleep();
    }

    bool factoryReset()
    {
        return maintenance("EERST");
    }
    bool loadFromEEPROM()
    {
        return maintenance("EELD");
    }

    bool saveInEEPROM() {
        return maintenance("EESAV");
    }

    bool script(bool status) {
        if(status)
        {
            return command("R");
        } else
        {
            return command("R", "0");
        }
    }
    bool echo(bool type) {
        if(type) {
            return setParam("ECHOF", "0");
        } else
        {
            return setParam("ECHOF", "1");
        }
    }
    bool downloadScript();
    bool addCallback(const callback_data_t &callback, const string data);
    template <class T> bool addCallback(void(T::*fp)(const string), T* obj, const string data) {
        return addCallback(bind(fp, obj, _1), data);
    }
private:
    // Serial port object
    serial::Serial mSerial;
    // Serial port name
    string mSerialPort;
    // Serial port baudrate
    uint32_t mBaudrate;
    // Timeout open serial port
    uint32_t mTimeout;
    // Used to stop the serial processing
    bool mStopping;
    // Last message sent
    string mMessage;
    string sub_data;
    bool sub_data_cmd;
    bool data;
    // Async reader controller
    std::thread first;
    // Mutex to sto concurent sending
    mutex mWriteMutex;
    mutex mReaderMutex;
    std::condition_variable cv;
    // Hashmap with all type of message
    map<string, callback_data_t> hashmap;
    // HLD mode - To download script - reference [pag. 183]
    bool isHLD;
    // Version script
    string _script_ver;
    void async_reader();
    bool enableDownload();
};

}

#endif // SERIAL_CONTROLLER_H