sub20_interface.hpp

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

#ifndef SUB20_INTERFACE_H_
#define SUB20_INTERFACE_H_

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

#include <libsub.h>
#include <bosch_drivers_common.hpp>
#include <bosch_drivers_hardware_interface.hpp>


using namespace bosch_drivers_common;

class Sub20Interface: public bosch_hardware_interface
{

public:
  Sub20Interface( std::string sub20_serial_number =  "null" ); 

  ~Sub20Interface(); // destructor
  

  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();

  int numDevices();

private:
  bool spiConfigRoutine( int frequency, int flags );
  
  interface_protocol protocol_;
  int error_code;
  sub_handle handle_; 
  sub_device subdev_;
  std::string serialNumber_;
  int num_devices_;
  int spi_configuration_;
  bool is_initialized_;
};

#endif //SUB20_INTERFACE_H_