CANUSB.cpp

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* Author: Gonçalo Cabrita on 01/03/2010
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#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <termios.h>
#include <math.h>
#include <poll.h>
#include <signal.h>
#include <fcntl.h>
#include <iostream>
#include <fstream>

#include "CANUSB.h"

#include <ros/ros.h>

CANUSB::CANUSB(std::string * serial_port_name, boost::function<void(std::string*)> f) : serial_port_()
{
    open_ = false;
    
    try{ serial_port_.open((char*)serial_port_name->c_str(), 115200); }
        catch(cereal::Exception& e)
        {
                ROS_FATAL("CANUSB - %s - Failed to open the serial port!!!", __FUNCTION__);
        ROS_BREAK();
        }
    
    receivedFrameCallback = f;
}

CANUSB::~CANUSB()
{
    closeCANBus();
    
        serial_port_.close();
}

bool CANUSB::openCANBus(CANUSB_BitRate bit_rate)
{
    if(open_) return false;
    
    // Set the desired bit rate
    if( !setCANBitRate(bit_rate) )
    {
        ROS_ERROR("CANUSB - %s - Failed to set bit rate!", __FUNCTION__);
        return false;
    }
    
    char msg[3];
    
    msg[0] = 'O';
    msg[1] = CANUSB_OK;
    msg[2] = 0;
    
    // Open the CAN bus
    try{ serial_port_.write(msg); }
    catch(cereal::Exception& e)
    {
        ROS_ERROR("CANUSB - %s - Failed to send open message!", __FUNCTION__);
        return false;
    }
    
    // Reply
    char reply;
    serial_port_.read(&reply, 1);
    if(reply != CANUSB_OK) return false;
    
    open_ = true;
    
    // Clear the buffers
    /*if( !clearBuffers() )
    {
        ROS_ERROR("CANUSB - %s - Failed to clear the buffers!", __FUNCTION__);
        return false;
    }*/
    
    // Start streaming data
    if( !serial_port_.startReadBetweenStream(boost::bind(&CANUSB::newFrameCallback, this, _1), 't', CANUSB_OK) )
        {
        closeCANBus();
        ROS_ERROR("CANUSB - %s - Failed to start streaming data!", __FUNCTION__);
                return false;
        }
    
    return true;
}

bool CANUSB::closeCANBus()
{
    if(!open_) return false;
    
    serial_port_.stopStream();
    
    char msg[3];
    
    msg[0] = 'C';
    msg[1] = CANUSB_OK;
    msg[2] = 0;
    
    try{ serial_port_.write(msg); }
    catch(cereal::Exception& e)
    {
        ROS_ERROR("CANUSB - %s - Failed to send close msg!", __FUNCTION__);
        return false;
    }
    
    // Reply
    char reply;
    serial_port_.read(&reply, 1);
    if(reply == CANUSB_OK)
    {
        open_ = false;
        return true;
    }
    
    ROS_ERROR("CANUSB - %s - Did not get reply - %d", __FUNCTION__, (int)reply);
    return false;
}

bool CANUSB::reset()
{
    if(open_) return false;
    
    char msg[3];
    
    msg[0] = 'R';
    msg[1] = CANUSB_OK;
    msg[2] = 0;
    
    try{ serial_port_.write(msg); }
    catch(cereal::Exception& e)
    {
        ROS_ERROR("CANUSB - %s - Failed to send reset msg!", __FUNCTION__);
        return false;
    }
    
    // Reply
    char reply;
    serial_port_.read(&reply, 1);
    if(reply == CANUSB_OK) return true;
    
    ROS_ERROR("CANUSB - %s - Did not get reply - %d", __FUNCTION__, (int)reply);
    return false;
}

bool CANUSB::setCANBitRate(CANUSB_BitRate bit_rate)
{
    if(open_) return false;
    
    char msg[4];
    
    msg[0] = 'S';
    msg[1] = bit_rate+48;
    msg[2] = CANUSB_OK;
    msg[3] = 0;
    
    try{ serial_port_.write(msg); }
    catch(cereal::Exception& e)
    {
        ROS_INFO("CANUSB - %s - Unable to send bit rate!", __FUNCTION__);
        return false;
    }
    
    // Reply
    char reply;
    serial_port_.read(&reply, 1);
    if(reply == CANUSB_OK) return true;
    
    ROS_ERROR("CANUSB - %s - Did not get reply - %d", __FUNCTION__, (int)reply);
    return false;
}

bool CANUSB::transmitStandardFrame(std::string * frame)
{
    if(!open_) return false;
    
    char ok[2];
    ok[0] = CANUSB_OK;
    ok[1] = 0;
    
    std::string msg;
    
    msg = "t";
    msg.append(*frame);
    msg.append(ok);
    
    serial_port_.pauseStream();
    
    try{ serial_port_.write(msg.c_str()); }
    catch(cereal::Exception& e)
    {
        return false;
    }
    
    // Reply
    char reply;
    serial_port_.read(&reply, 1);
    
    serial_port_.resumeStream();
    
    if(reply == 'z') return true;
    
    ROS_ERROR("CANUSB - %s - Did not get reply - %d", __FUNCTION__, (int)reply);
    return false;
}

// TODO: Implement this function!
bool CANUSB::transmitExtendedFrame(std::string * frame)
{
    if(!open_) return false;
    
    return false;
}

// TODO: Implement this function!
int CANUSB::getVersion()
{
    if(open_) return false;
    
    return 0;
}

// TODO: Implement this function!
int CANUSB::getSerialNumber()
{
    if(open_) return false;
    
    return 0;
}

void CANUSB::newFrameCallback(std::string * frame)
{
    receivedFrameCallback(frame);
}

// EOF