proximity_sensor_driver.h

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//\Author Philip Roan and Joerg Wagner, Robert Bosch LLC


#ifndef PROXIMITY_SENSOR_DRIVER_H__
#define PROXIMITY_SENSOR_DRIVER_H__

//#include <stdint.h>
#include <libsub.h> //sub20_driver

#include "proximity_sensor_driver/prox_sensor_measurement.h" //message
#include "proximity_sensor_driver/proximity_sensor_measurement.h" //message
#include "proximity_sensor_driver/reinitialize_proximity_sensor.h" //service

//dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include <proximity_sensor_driver/ProximitySensorConfig.h>
                      
class ProxSensor
{
 public:
  ProxSensor( const ros::NodeHandle& nh );
  
  ~ProxSensor();
    
  bool getMeasurement( void );
  
  void checkConnection( void );
  
  void reconfigure_callback( proximity_sensor_driver::ProximitySensorConfig &config, uint32_t level );
  bool reinitialize_callback( proximity_sensor_driver::reinitialize_proximity_sensor::Request &req,
                              proximity_sensor_driver::reinitialize_proximity_sensor::Response &res );
  
  // private:

  enum skin_cell_shape { SQUARE, RECTANGLE, TRIANGLE };
  struct skin_cell
  {
    uint8_t status;
    uint8_t value;
    uint8_t offset;
    uint8_t limit;
    uint8_t U1;
    uint8_t U2;
    uint8_t U3;
    uint8_t dynamic;
  };
  enum ECU_command { INITIALIZE = 1, WRITE_TO_FLASH = 2, SET_DYNAMIC_THRESHOLD = 3, SET_STATIC_THRESHOLD = 4, SET_END_OF_CHAIN = 5, ACTIVATE_SENSOR = 6, DEACTIVATE_SENSOR = 7 };
  enum sensor_activity { ACTIVE = (char)1, INACTIVE = (char)0 };

  
  //Define I2C communication parameters
  static const int PROX_SENSOR_I2C_ADR = 0x01;
  
  static const int RAM_ADR_LENGTH = 2;
  static const int RAM_WRITE_LENGTH = 1;
  static const uint8_t SKIP_MEM_ADR_WRITE = 0;
 
  //Define ProxSensor Hardware parameters
  static const uint16_t COMMAND_ADR = 0x00C0;
  static const uint16_t DYNAMIC_THRESHOLD_ADR = 0x00C2;
  static const uint16_t STATIC_THRESHOLD_ADR = 0x0103;
  static const uint16_t ACTIVATE_ADR = 0x0100;
  static const uint8_t DATA_ADR_HI = 0x01;
  static const uint8_t DATA_ADR_LO = 0x00;
  static const uint8_t STATUS_ADDRESS_HIGH = 0x00;
  static const uint8_t STATUS_ADDRESS_LOW  = 0xC1;
  static const uint8_t STATUS_LENGTH = 2;

  
  static const int MAX_SENSORS = 192;
  static const int MAX_BYTES_PER_I2C = 256;
  static const int SENSORS_PER_I2C = MAX_BYTES_PER_I2C / sizeof(struct skin_cell);
  static const uint8_t END_OF_CHAIN_MARKER = 254;
  static const uint8_t THRESHOLD_DEFAULT = 10;

  
  // skin class members for Xdimax Sub20-Device
  
  sub_handle handle_;
  sub_device subdev_;
  bool skin_connected_;
  // device serial number
  std::string serialNumber_;
  // I2C communication frequency (standard mode: 100 kHz)
  sub_int32_t i2c_frequency_; // value set in constructor
 

  // skin class members for skin cells

  struct skin_cell cells_[MAX_SENSORS];
  skin_cell_shape shapes_[MAX_SENSORS];
  int cell_count_;
  uint8_t noise_;
  uint8_t threshold_;
  uint8_t dynamic_threshold_;

  // bool binit_skin_ok_;
  // bool bMeasAvailable_;
  
  // Status of skin (Go/NoGo - Bit0, Err/NoErr - Bit1)
  bool status_go_;
  bool status_err_;

  bool init( void );

  bool sendToECU( ECU_command command, uint8_t sensor_number, uint8_t data );
  
  //void convert_data_2_uint64_array(char* inp_buf_data, uint64_t* outp_sen_data);

};//class


#endif // PROXIMITY_SENSOR_DRIVER_H__