arduino_interface.hpp
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00036 
00037 //\Author Joshua Vasquez, Kai Franke, and Philip Roan, Robert Bosch LLC
00038 
00039 #ifndef ARDUINO_INTERFACE_H_
00040 #define ARDUINO_INTERFACE_H_
00041 
00042 // ROS headers for debugging output
00043 #include <ros/console.h>
00044 
00045 #include <bosch_drivers_hardware_interface.hpp>
00046 #include <bosch_drivers_parameters.hpp>
00047 
00048 #include <uniserial.hpp>
00049 #include "arduino_constants.hpp"
00050 
00051 using namespace bosch_drivers_common;
00052 
00053 class ArduinoInterface: public bosch_hardware_interface
00054 {
00070 public:
00071  
00076   ArduinoInterface( std::string dev_port );
00080   ~ArduinoInterface();
00081 
00082  
00083   bool initialize();
00084 
00096   ssize_t read( int device_address, interface_protocol protocol, int frequency, int* flags, uint8_t reg_address, uint8_t* data, size_t num_bytes );
00097   
00109   ssize_t write( int device_address, interface_protocol protocol, int frequency, int* flags, uint8_t reg_address, uint8_t* data, size_t num_bytes );
00110 
00116   bool supportedProtocol( interface_protocol protocol );
00117   
00121   std::string getID();
00122 
00123 private:
00124 
00125   ssize_t arduinoSpiRead( uint8_t frequency, uint8_t flags, uint8_t reg_address, uint8_t* data, size_t num_bytes );
00126   ssize_t arduinoSpiWrite( uint8_t frequency, uint8_t flags, uint8_t reg_address, uint8_t* data, size_t num_bytes );
00127   ssize_t arduinoI2cRead( uint8_t device_address, uint32_t frequency, uint8_t reg_address, uint8_t* data, size_t num_bytes );                
00128   ssize_t arduinoI2cWrite( uint8_t device_address, uint32_t frequency, uint8_t reg_address, uint8_t* data, size_t num_bytes );
00129         ssize_t arduinoPwmWrite( uint32_t frequency, uint8_t reg_address, uint8_t data );
00130         ssize_t arduinoGpioRead( uint8_t flags, uint8_t pin, uint8_t* value );
00131         ssize_t arduinoGpioWrite( uint8_t pin, bool value );
00132         ssize_t arduinoEncoderRead( int* pin, uint8_t* data );
00133         ssize_t arduinoEncoderWrite( int* flags, uint8_t* data );
00134         ssize_t arduinoAdcWrite( uint8_t* voltage );
00135         ssize_t arduinoAdcRead( uint8_t pin, uint8_t* data );
00136 
00137   bool waitOnBytes( int num_bytes );
00138 
00145   uniserial* serial_port_;  
00146   std::string port_name_;
00147  
00151   int file_descriptor_; 
00152 
00153 
00160   int baud_rate_;
00161   
00162   bool connection_failure_;
00163   
00168   double timeout_;
00169 
00174   bool is_initialized_;
00175  
00185   uint8_t data_packet_;
00186   
00190   uint16_t _reference_voltage;
00191 
00192 };
00193 #endif //ARDUINO_INTERFACE_H_
00194 


arduino_interface
Author(s): Joshua Vasquez and Philip Roan. Maintained by Philip Roan
autogenerated on Sat Dec 28 2013 16:49:06