arduino_interface.hpp

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//\Author Joshua Vasquez, Kai Franke, and Philip Roan, Robert Bosch LLC

#ifndef ARDUINO_INTERFACE_H_
#define ARDUINO_INTERFACE_H_

// ROS headers for debugging output
#include <ros/console.h>

#include <bosch_drivers_hardware_interface.hpp>
#include <bosch_drivers_parameters.hpp>

#include <uniserial.hpp>
#include "arduino_constants.hpp"

using namespace bosch_drivers_common;

class ArduinoInterface: public bosch_hardware_interface
{
public:
 
  ArduinoInterface( std::string dev_port );
  ~ArduinoInterface();

 
  bool initialize();

  ssize_t read( int device_address, interface_protocol protocol, int frequency, int* flags, uint8_t reg_address, uint8_t* data, size_t num_bytes );
  
  ssize_t write( int device_address, interface_protocol protocol, int frequency, int* flags, uint8_t reg_address, uint8_t* data, size_t num_bytes );

  bool supportedProtocol( interface_protocol protocol );
  
  std::string getID();

private:

  ssize_t arduinoSpiRead( uint8_t frequency, uint8_t flags, uint8_t reg_address, uint8_t* data, size_t num_bytes );
  ssize_t arduinoSpiWrite( uint8_t frequency, uint8_t flags, uint8_t reg_address, uint8_t* data, size_t num_bytes );
  ssize_t arduinoI2cRead( uint8_t device_address, uint32_t frequency, uint8_t reg_address, uint8_t* data, size_t num_bytes );                
  ssize_t arduinoI2cWrite( uint8_t device_address, uint32_t frequency, uint8_t reg_address, uint8_t* data, size_t num_bytes );
        ssize_t arduinoPwmWrite( uint32_t frequency, uint8_t reg_address, uint8_t data );
        ssize_t arduinoGpioRead( uint8_t flags, uint8_t pin, uint8_t* value );
        ssize_t arduinoGpioWrite( uint8_t pin, bool value );
        ssize_t arduinoEncoderRead( int* pin, uint8_t* data );
        ssize_t arduinoEncoderWrite( int* flags, uint8_t* data );
        ssize_t arduinoAdcWrite( uint8_t* voltage );
        ssize_t arduinoAdcRead( uint8_t pin, uint8_t* data );

  bool waitOnBytes( int num_bytes );

  uniserial* serial_port_;  
  std::string port_name_;
 
  int file_descriptor_; 


  int baud_rate_;
  
  bool connection_failure_;
  
  double timeout_;

  bool is_initialized_;
 
  uint8_t data_packet_;
  
  uint16_t _reference_voltage;

};
#endif //ARDUINO_INTERFACE_H_