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- /*
- * Copyright (C) 2018 dimercur
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- */
-
- #ifndef __COMROBOT_H__
- #define __COMROBOT_H__
-
- #include "messages.h"
- #include <string>
-
- using namespace std;
-
- /**
- * Class used for communicating with robot over serial
- *
- * @brief Communication class with robot
- *
- */
- class ComRobot {
- public:
-
- /**
- * Constructor
- */
- ComRobot() {
- }
-
- /**
- * Destructor
- */
- virtual ~ComRobot() {
- }
-
- /**
- * Open serial link with robot
- * @return File descriptor
- * @throw std::runtime_error if it fails
- */
- int Open();
-
- /**
- * Open serial link with robot
- * @param usart Filename of usart to open
- * @return File descriptor
- * @throw std::runtime_error if it fails
- */
- int Open(string usart);
-
- /**
- * Close serial link
- * @return Success if above 0, failure if below 0
- */
- int Close();
-
- /**
- * Send a message to robot
- * @param msg Message to send to robot
- * @return A message containing either an answer (Ack/Nak/Timeout/Error) or a value (battery level, robot state) depending of the command
- * @attention Input message is destroyed (delete) after being sent. You do not need to delete it yourself
- * @attention Write produce an answer message. You have to dispose it (delete) when you have finished using it
- * @attention Write is blocking until message is written into buffer (linux side)
- * @warning Write is not thread save : check that multiple tasks can't access this method simultaneously
- */
- Message *Write(Message* msg);
-
- /**
- * Function called at beginning of Write method
- * Use it to do some synchronization (call of mutex, for example)
- */
- virtual void Write_Pre() {
- }
-
- /**
- * Function called at end of Write method
- * Use it to do some synchronization (call of mutex, for example)
- */
- virtual void Write_Post() {
- }
-
- Message *SendCommand(Message* msg, MessageID answerID, int maxRetries);
-
- static Message *Ping() {
- return new Message(MESSAGE_ROBOT_PING);
- }
-
- static Message *Reset() {
- return new Message(MESSAGE_ROBOT_RESET);
- }
-
- static Message *PowerOff() {
- return new Message(MESSAGE_ROBOT_POWEROFF);
- }
-
- static Message *StartWithWD() {
- return new Message(MESSAGE_ROBOT_START_WITH_WD);
- }
-
- static Message *StartWithoutWD() {
- return new Message(MESSAGE_ROBOT_START_WITHOUT_WD);
- }
-
- static Message *ReloadWD() {
- return new Message(MESSAGE_ROBOT_RELOAD_WD);
- }
-
- static Message *Move(int length) {
- return new MessageInt(MESSAGE_ROBOT_MOVE, length);
- }
-
- static Message *Turn(int angle) {
- return new MessageInt(MESSAGE_ROBOT_TURN, angle);
- }
-
- static Message *Stop() {
- return new Message(MESSAGE_ROBOT_STOP);
- }
-
- static Message *GoForward() {
- return new Message(MESSAGE_ROBOT_GO_FORWARD);
- }
-
- static Message *GoBackward() {
- return new Message(MESSAGE_ROBOT_GO_BACKWARD);
- }
-
- static Message *GoLeft() {
- return new Message(MESSAGE_ROBOT_GO_LEFT);
- }
-
- static Message *GoRight() {
- return new Message(MESSAGE_ROBOT_GO_RIGHT);
- }
-
- static Message *GetBattery() {
- return new Message(MESSAGE_ROBOT_BATTERY_GET);
- }
-
- static Message *GetState() {
- return new Message(MESSAGE_ROBOT_STATE_GET);
- }
-
- protected:
- /**
- * Serial link file descriptor
- */
- int fd;
-
- /**
- * Get an answer from robot
- * @return String containing answer from robot
- * @attention Read method is blocking until a message is received (timeout of 500 ms)
- * @warning Read is not thread safe : Do not call it in multiple tasks simultaneously
- */
- string Read();
-
- /**
- * Convert a string to its message representation (when receiving data from robot)
- * @param s String from robot containing answer
- * @return Message corresponding to received array of char
- */
- Message* StringToMessage(string s);
-
- /**
- * Convert a message to its string representation (for sending command to robot)
- * @param msg Message to be sent to robot
- * @return String containing command to robot
- */
- string MessageToString(Message *msg);
-
- /**
- * Add a checksum and carriage return to a command string
- * @param[in,out] s String containing command for robot, without ending char (carriage return)
- */
- void AddChecksum(string &s);
-
- /**
- * Verify if checksum of an incoming answer from robot is valid,
- * then remove checksum from incoming answer (if checksum is ok)
- * @param[in,out] s String containing incoming answer from robot
- * @return true is checksum is valid, false otherwise.
- */
- bool VerifyChecksum(string &s);
- };
-
- #endif /* __COMROBOT_H__ */
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