CNRRemoteRadio.hpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, LABUST, UNIZG-FER
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the LABUST nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  Created on: 28.05.2013.
 *  Author: Dula Nad
 *********************************************************************/
#ifndef CNRRemoteRADIO_HPP_
#define CNRRemoteRADIO_HPP_
#include <cart2/RadioModemConfig.h>

#include <dynamic_reconfigure/server.h>

#include <boost/asio.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread.hpp>
#include <boost/archive/binary_oarchive.hpp>

#include <sensor_msgs/Joy.h>
#include <std_msgs/Int32.h>
#include <std_msgs/Bool.h>
#include <geometry_msgs/PointStamped.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <auv_msgs/NavSts.h>
#include <ros/ros.h>

#include <sstream>

namespace labust
{
        namespace control
        {
                class CNRRemoteRadio
                {
                        enum {sync_length=3, chksum_size = 2};
                        //Estimates
                        enum {id_field = 3, data1_field = 4, data2_field=8, mode_field = 12, launch_field=4};
                        enum {stopbit, startbit, manualbit, automaticbit, remotebit};
                        enum {cart =0, bart=1, station=2};

                        enum {latlonmux = 10000000};
                public:
                        CNRRemoteRadio();
                        ~CNRRemoteRadio();
                        void onInit();
                        void start();

                private:
                        void onStateHat(const auv_msgs::NavSts::ConstPtr& estimate);
                        void onCurrentMode(const std_msgs::Int32::ConstPtr& mode);
                        void onLaunch(const std_msgs::Bool::ConstPtr& launch);
                        void start_receive();
                        void onSync(const boost::system::error_code& error, const size_t& transferred);
                        void onIncomingData(const boost::system::error_code& error, const size_t& transferred);
                        void onTimeout();
                        void reply();
                        void replyBuoy();
                        void dummyRequest();

                        ros::NodeHandle nh,ph;
                        ros::Time lastModemMsg;
                        double timeout, currYaw, yawInc, currLat, currLon, desiredHeading, buoyDistance, desiredLat, desiredLon;
                        ros::Publisher joyOut, launched, hlMsg, posOut, posCOut;
                        ros::Subscriber extPoint, joyIn, stateHat, stateMeas, curMode, launchFlag;
                        boost::asio::io_service io;
                        boost::asio::serial_port port;
                        boost::thread iorunner;
                        boost::mutex cdataMux,clientMux;
                        std::vector<uint8_t> buffer;
                        uint8_t ringBuffer[sync_length];
                        ros::ServiceClient client;
                        int32_t id;
                        bool doDummyRequest, doLaunch, wasLaunched;
                        uint8_t lastmode;
                };
        }
}
/* CNRREMOTERADIO_HPP_ */
#endif