vesc_interface.h

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// Copyright 2020 F1TENTH Foundation
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//    of conditions and the following disclaimer in the documentation and/or other materials
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// -*- mode:c++; fill-column: 100; -*-

#ifndef VESC_DRIVER_VESC_INTERFACE_H_
#define VESC_DRIVER_VESC_INTERFACE_H_

#include <exception>
#include <functional>
#include <memory>
#include <sstream>
#include <stdexcept>
#include <string>

#include "vesc_driver/vesc_packet.h"

namespace vesc_driver
{

class VescInterface
{
public:
  typedef std::function<void (const VescPacketConstPtr&)> PacketHandlerFunction;
  typedef std::function<void (const std::string&)> ErrorHandlerFunction;

  VescInterface(const std::string& port = std::string(),
                const PacketHandlerFunction& packet_handler = PacketHandlerFunction(),
                const ErrorHandlerFunction& error_handler = ErrorHandlerFunction());

  VescInterface(const VescInterface &) = delete;
  VescInterface & operator=(const VescInterface &) = delete;

  ~VescInterface();

  void setPacketHandler(const PacketHandlerFunction& handler);

  void setErrorHandler(const ErrorHandlerFunction& handler);

  void connect(const std::string& port);

  void disconnect();

  bool isConnected() const;

  void send(const VescPacket& packet);

  void requestFWVersion();
  void requestState();
  void setDutyCycle(double duty_cycle);
  void setCurrent(double current);
  void setBrake(double brake);
  void setSpeed(double speed);
  void setPosition(double position);
  void setServo(double servo);

private:
  // Pimpl - hide serial port members from class users
  class Impl;
  std::unique_ptr<Impl> impl_;
};

// todo: review
class SerialException : public std::exception
{
  // Disable copy constructors
  SerialException& operator=(const SerialException&);
  std::string e_what_;
public:
  explicit SerialException(const char *description)
  {
    std::stringstream ss;
    ss << "SerialException " << description << " failed.";
    e_what_ = ss.str();
  }
  SerialException(const SerialException& other) : e_what_(other.e_what_) {}
  virtual ~SerialException() throw() {}
  virtual const char* what() const throw()
  {
    return e_what_.c_str();
  }
};

}  // namespace vesc_driver

#endif  // VESC_DRIVER_VESC_INTERFACE_H_