cntronbase.h

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#ifndef __CNTRONBASE_H__
#define __CNTRONBASE_H__

#include <termios.h>
#include <string>
#include <time.h>
#include <vector>
#include <map>

#define MAX_AGE 100
#define MAX_NO_ACK 20
#define PENALIZACION 5
#define DEFAULT_ID -1
// Max. time a beacon can be penalized (seconds)
#define MAX_PENALIZATION_TIME 15

#define RANGETO(ID) std::string("RangeTo ") + ID + "\r\n"
#define GETBEACONS(AGE) std::string("GetNodeIDList ") + #AGE + "\r\n"
#define READNODEID std::string("ReadNodeIDAdd\r\n")

struct CNTronRange {
        int emitterId;          // Unique emitter node ID
        int beaconId;           // Unique recever node ID
        int time;           // Age of the range.
        float range;            // Estimated range in meters
};

struct CNTronNode {
        int failures;
        int penalization;
        int id;
        timespec penalizationTime;
        char mac[13];
};

class CNTronBase {
public:

        CNTronBase(int baseId = DEFAULT_ID);

        ~CNTronBase(void);

        int init(const char *pDev);

        void finish(void);

        int readRange(unsigned int node, CNTronRange& pData, std::string& msg);

        unsigned int numBeacons() const;

        int checkPenalization(CNTronNode& nodeInf);

        int getBaseId() const;

        int detectBeacons();

        // Print functions
        void printBeacons() const;

protected:

        int readBaseID();

        int sendCommand(const char* command, int size);

        int chartohex(char * cnum);

        int m_portHandler;

        char m_readBuff[256];

        int m_baseId;

        std::vector<int> m_nodeIDs;

        std::map<int, CNTronNode> m_nodes;
};

#endif