gloveServer_impl.h

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#ifndef GLOVESERVER_H
#define GLOVESERVER_H

/* system includes */
#include <string>
#include <vector>
#include <boost/thread.hpp>

/* ros */
#include <ros/ros.h>
#include <sstream>

#include <asr_msgs/AsrGlove.h>

/* my includes */
#include "gloveDevice.h"

#define DIEonERR(value) if (value<0) { \
 fprintf(stderr,"%i DIED in %s line %i with error %i\n",getpid(),__FILE__,__LINE__,-value);exit(1); }

#define DEFAULT_CALIBRATION_PATH "../calibrationData/"

typedef enum
{
        rightGlove = 1, leftGlove
} gloveID;
typedef enum
{
        VALUE, RADIAN
} noteType;

class gloveServer_impl
{
public:
        gloveServer_impl(gloveID id, std::string name);
        bool init(std::string serialPort);
        bool loadCalibFile(const char *srcFileName);
        ~gloveServer_impl();

        void start();
        void stop();
        void join();

        bool threadRunning;
        void workerThread();
        boost::thread * boostWorkerThread;

private:

        gloveID myID;
        std::string myName;
        char* serialID;
        gloveDevice *gloveDev;
        unsigned int GLOVERAW_MAP2_GLOVEINVENTOR[22];

        /* Ros */
        ros::NodeHandle rosNode;
        ros::Publisher gloveDataPub;
        ros::Publisher gloveDataPub_radian;

        std::vector<double> FulcRaw1;
        std::vector<double> FulcRad1;

        std::vector<double> FulcRaw2;
        std::vector<double> FulcRad2;

        double getRadian(int index, unsigned char val);
        double *getRadianArray(unsigned char* data, unsigned int size);

        bool permuteValues(unsigned char* valIn, unsigned char* valOut);

        // ----- Notification Thread ----- //
    bool sendNotificationDataToRos(double* data, unsigned int size, asr_msgs::AsrGlove gloveData, ros::Publisher publisher);

};

#endif /* GLOVESERVER_H */