Ardusim.h

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* Author: Gonçalo Cabrita on 14/10/2010
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#include <ros/ros.h>
#include <cereal_port/CerealPort.h>

#include <list>
#include <vector>
#include <string>

#include <lse_sensor_msgs/Thermistor.h>
#include <lse_sensor_msgs/Anemometer.h>
#include <lse_sensor_msgs/Nostril.h>
#include <lse_sensor_msgs/TPA.h>
#include <lse_sensor_msgs/Range.h>

#define VERSION                         10

// Sensor modules
#define ARDUSIM_RANGE           0
#define ARDUSIM_NOSE            1       
#define ARDUSIM_TPA                     2
#define ARDUSIM_ANEMOMETER      3
#define ARDUSIM_NUNCHUCK        4
#define ARDUSIM_SHTXX           5

// Modes
#define ARDUSIM_QUERY    'Q'
#define ARDUSIM_STREAM   'S'
#define ARDUSIM_INFO     'I'
#define ARDUSIM_AUTO     'A'
#define ARDUSIM_VERSION  'V'

// Chars
#define STRT    '@'
#define END             'e'
#define SPRT    ','

namespace ardusim
{

class Ardusim
{
        public:
                

                Ardusim(std::string port_name);
                ~Ardusim();
                

                int checkVersion(int timeout);


                bool sensorDiscovery(int timeout){ return autoRequests(timeout, ARDUSIM_AUTO); }

                bool setAutoRequests(int timeout){ return autoRequests(timeout, ARDUSIM_INFO); }
                

                void setRequests(int * requests, int num_of_requests);

                void getRequests(std::list<int> * requests);

                bool getSensorData(int timeout);
        

                bool loadAnemometerCalibFile(std::string * file_path);
                
                // Getters
                bool getRange(std::vector<lse_sensor_msgs::Range> * range);
                bool getNose(std::vector<lse_sensor_msgs::Nostril> * nose);
                bool getTPA(std::vector<lse_sensor_msgs::TPA> * tpa);
                bool getAnemometer(std::vector<lse_sensor_msgs::Anemometer> * anemometer);
                bool getThermistor(std::vector<lse_sensor_msgs::Thermistor> * thermistor);
                
        private:
        
                // Serial Port
                cereal::CerealPort * serial_port_;
                
                std::list<int> requests_;
                ros::Time now_;
                

                bool sendCommand(int timeout, char mode, std::string * reply);
                

                bool autoRequests(int timeout, char mode);
                

                void addValue(std::string * data, int value);

                int getValue(std::string * data);
                
                

                bool parseData(std::string * data);
                
                void parseRange(std::string * data);
                void parseNose(std::string * data);
                void parseTPA(std::string * data);
                void parseAnemometer(std::string * data);
                
                std::vector<lse_sensor_msgs::Range> range_msgs_;
                std::vector<lse_sensor_msgs::Nostril> nose_msgs_;
                std::vector<lse_sensor_msgs::TPA> tpa_msgs_;
                std::vector<lse_sensor_msgs::Anemometer> anemometer_msgs_;
                std::vector<lse_sensor_msgs::Thermistor> thermistor_msgs_;
        
                struct AnemometerCalibData
                {
                        float angle;
                        float velocity;
                        int ch0, ch1, ch2, ch3;
                };
        
                std::vector<AnemometerCalibData> calib_data_;
                
                struct TopDistances
                {
                        float velocity;
                        
                        int index[2];
                        float distance[2];
                        float weight[2];
                };
};

} // namespace

// EOF