RokubiminiSerialBusManager.hpp

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#pragma once
 
// std
#include <memory>
#include <mutex>
 
// rokubimini
#include <rokubimini_serial/RokubiminiSerial.hpp>
 
#include <rokubimini_bus_manager/BusManager.hpp>
#include <utility>
namespace rokubimini
{
namespace serial
{
class RokubiminiSerialBusManager : public RokubiminiBusManager
{
public:
  RokubiminiSerialBusManager() = delete;
 
  explicit RokubiminiSerialBusManager(const std::string& busName, NodeHandlePtr nh)
    : RokubiminiBusManager(busName, std::move(nh)){ /* do nothing */ };
 
  explicit RokubiminiSerialBusManager(const NodeHandlePtr& nh)
    : RokubiminiBusManager(nh){
      /* do nothing */
    };
 
  ~RokubiminiSerialBusManager() override = default;
 
  using RokubiminiBusManager::addRokubiminiToBus;
  bool addRokubiminiToBus(const std::shared_ptr<RokubiminiSerial>& rokubimini) const;
 
  void setConfigMode() override;
 
  void setRunMode() override;
 
  bool startupCommunication() override;
 
  bool createRokubimini(const std::string& rokubiminiName) override;
 
  bool loadBusParameters() override;
 
  double loadTimeStep() override;
 
  void publishBusManagerRosDiagnostics() override{ /* do nothing */ };
 
protected:
  std::string serialPort_;
 
  uint32_t baudRate_;
 
  double timeStep_;
 
private:
  void fetchTimeStep();
};
 
using RokubiminiSerialBusManagerPtr = std::shared_ptr<RokubiminiSerialBusManager>;
 
}  // namespace serial
}  // namespace rokubimini