TopsideRadio.hpp

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 *  Created on: 06.05.2013.
 *  Author: Dula Nad
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#ifndef TOPSIDERADIO_HPP_
#define TOPSIDERADIO_HPP_
#include <labust/preprocessor/mem_serialized_struct.hpp>
#include <labust/tools/StringUtilities.hpp>
#include <cart2/RadioModemConfig.h>
#include <std_msgs/Float32MultiArray.h>
#include <labust/control/crc16.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 <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>
PP_LABUST_DEFINE_BOOST_SERIALIZED_STRUCT_CLEAN((labust)(radio),TopsideModemData,
                (int8_t, surgeForce)
                (int8_t, torqueForce)
                (int32_t, lat)
                (int32_t, lon)
                (uint8_t, radius)
                (uint8_t, surge)
                (int8_t, yaw)
                (uint8_t, mode)
                (uint8_t, launch)
                (uint8_t, mode_update))

namespace labust
{
        namespace radio
        {
                typedef boost::array<int16_t,4> stateVec;
                typedef boost::array<int16_t,3> measVec;
        }
}
BOOST_CLASS_IMPLEMENTATION(labust::radio::stateVec , boost::serialization::primitive_type)
BOOST_CLASS_IMPLEMENTATION(labust::radio::measVec , boost::serialization::primitive_type)

PP_LABUST_DEFINE_BOOST_SERIALIZED_STRUCT_CLEAN((labust)(radio),CARTModemData,
                (int32_t, origin_lat)
                (int32_t, origin_lon)
                (uint8_t, mode)
                (measVec, state_meas)
                (stateVec, state_hat)
                (measVec, sf_state)
                (int16_t, portRPM)
                (int16_t, stbdRPM)
                (uint8_t, voltage)
                (uint8_t, temp))

namespace labust
{
        namespace control
        {
                class TopsideRadio
                {
                        enum {sync_length=2, chksum_size = 2, topside_package_length=16+chksum_size, cart_package_length=35+chksum_size};
                        //Estimates
                        enum {x=0,y,psi,u};
                public:
                        TopsideRadio();
                        ~TopsideRadio();
                        void onInit();
                        void start();

                private:
                        void dynrec_cb(cart2::RadioModemConfig& config, uint32_t level);
                        void onJoy(const sensor_msgs::Joy::ConstPtr& joy);
                        void onExtPoint(const auv_msgs::NavSts::ConstPtr& isLaunched);
                        void onStateHat(const auv_msgs::NavSts::ConstPtr& estimate);
                        void onStateMeas(const auv_msgs::NavSts::ConstPtr& meas);
                        void onSFMeas(const auv_msgs::NavSts::ConstPtr& meas);
                        void onCartInfo(const std_msgs::Float32MultiArray::ConstPtr& info);
                        void onCurrentMode(const std_msgs::Int32::ConstPtr& mode);
                        void populateDataFromConfig();
                        void local2LatLon(double x, double y);
                        void sendCData();
                        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);
                        template <class MsgType>
                        uint8_t calculateChecksum(MsgType& chdata)
                        {
                                std::ostringstream chk;
                                boost::archive::binary_oarchive chkSer(chk, boost::archive::no_header);
                                chkSer << chdata;
                                return labust::tools::getChecksum(
                                                reinterpret_cast<const uint8_t*>(chk.str().data()), chk.str().size());
                        }
                        template <class MsgType>
                        int calculateCRC16(MsgType& chdata)
                        {
                                std::ostringstream chk;
                                boost::archive::binary_oarchive chkSer(chk, boost::archive::no_header);
                                chkSer << chdata;
                                return compute_crc16(   reinterpret_cast<const char*>(chk.str().data()), chk.str().size());
                        }
                        void onTimeout();

                        ros::NodeHandle nh,ph;
                        ros::Time lastModemMsg;
                        double timeout;
                        ros::Publisher joyOut, launched, hlMsg, stateHatPub, stateMeasPub, info, selectedPoint, selectedNavSts;
                        ros::Subscriber extPoint, joyIn, stateHat, stateMeas, curMode, sfFrame, cartInfo;
                        tf::TransformListener listener;
                        tf::TransformBroadcaster broadcaster;
                        boost::asio::io_service io;
                        boost::asio::serial_port port;
                        boost::thread iorunner;
                        dynamic_reconfigure::Server<cart2::RadioModemConfig> server;
                        cart2::RadioModemConfig config;
                        labust::radio::TopsideModemData data;
                        labust::radio::CARTModemData cdata;
                        boost::mutex dataMux, cdataMux,clientMux;
                        boost::asio::streambuf sbuffer;
                        std::string ringBuffer;
                        bool isTopside, twoWayComms;
                        ros::ServiceClient client;
                        double originLat, originLon;
                        uint8_t lastMode;
                };
        }
}
/* TOPSIDERADIO_HPP_ */
#endif