qb_device_communication_handler.h

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#ifndef QB_DEVICE_COMMUNICATION_HANDLER_H
#define QB_DEVICE_COMMUNICATION_HANDLER_H

// Standard libraries
#include <mutex>
#include <regex>

// ROS libraries
#include <ros/ros.h>

// internal libraries
#include <qb_device_driver/qb_device_driver.h>
#include <qb_device_srvs/qb_device_srvs.h>

namespace qb_device_communication_handler {
class qbDeviceCommunicationHandler {
 public:
  qbDeviceCommunicationHandler();

  qbDeviceCommunicationHandler(qb_device_driver::qbDeviceAPIPtr device_api);

  virtual ~qbDeviceCommunicationHandler();

 protected:
  ros::NodeHandle node_handle_;
  std::map<std::string, std::unique_ptr<std::mutex>> serial_protectors_;  // only callbacks must lock the serial resources
  std::map<std::string, comm_settings> file_descriptors_;
  std::map<int, std::string> connected_devices_;

  virtual int activate(const int &id, const int &max_repeats);

  bool activateCallback(qb_device_srvs::TriggerRequest &request, qb_device_srvs::TriggerResponse &response);

  virtual int close(const std::string &serial_port);

  virtual int deactivate(const int &id, const int &max_repeats);

  bool deactivateCallback(qb_device_srvs::TriggerRequest &request, qb_device_srvs::TriggerResponse &response);

  virtual int getCurrents(const int &id, const int &max_repeats, std::vector<short int> &currents);

  virtual int getInfo(const int &id, const int &max_repeats, std::string &info);

  bool getInfoCallback(qb_device_srvs::TriggerRequest &request, qb_device_srvs::TriggerResponse &response);

  virtual int getMeasurements(const int &id, const int &max_repeats, std::vector<short int> &currents, std::vector<short int> &positions);

  bool getMeasurementsCallback(qb_device_srvs::GetMeasurementsRequest &request, qb_device_srvs::GetMeasurementsResponse &response);

  virtual int getParameters(const int &id, std::vector<int> &limits, std::vector<int> &resolutions);

  virtual int getPositions(const int &id, const int &max_repeats, std::vector<short int> &positions);

  virtual int getSerialPortsAndDevices(const int &max_repeats);

  virtual int isActive(const int &id, const int &max_repeats, bool &status);

  virtual int isConnected(const int &id, const int &max_repeats);

  virtual bool isInConnectedSet(const int &id);

  virtual bool isInOpenMap(const std::string &serial_port);

  virtual bool initializeCallback(qb_device_srvs::InitializeDeviceRequest &request, qb_device_srvs::InitializeDeviceResponse &response);

  virtual int open(const std::string &serial_port);

  virtual int setCommandsAndWait(const int &id, const int &max_repeats, std::vector<short int> &commands);

  virtual int setCommandsAsync(const int &id, std::vector<short int> &commands);

  bool setCommandsCallback(qb_device_srvs::SetCommandsRequest &request, qb_device_srvs::SetCommandsResponse &response);

  int setPID(const int &id, const int &max_repeats, std::vector<float> &pid);

  bool setPIDCallback(qb_device_srvs::SetPIDRequest &request, qb_device_srvs::SetPIDResponse &response);

 private:
  ros::AsyncSpinner spinner_;
  ros::ServiceServer activate_motors_;
  ros::ServiceServer deactivate_motors_;
  ros::ServiceServer get_info_;
  ros::ServiceServer get_measurements_;
  ros::ServiceServer initialize_device_;
  ros::ServiceServer set_commands_;
  ros::ServiceServer set_pid_;
  qb_device_driver::qbDeviceAPIPtr device_api_;

  virtual int activate(const int &id, const bool &command, const int &max_repeats);

  inline bool isReliable(int const &failures, int const &max_repeats) { return failures >= 0 && failures <= max_repeats; }
};
}  // namespace qb_device_communication_handler

#endif // QB_DEVICE_COMMUNICATION_HANDLER_H