HummingBirdUavComm.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP 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.
//
// MIP 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 MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------


#ifndef __HUMMING_BIRD_UAV_COMM_H__
#define __HUMMING_BIRD_UAV_COMM_H__

#ifdef MIP_HOST_APPLE
#include <applePatch.h>
#endif

// --- Included to manage serial communication
#include <termios.h>
#include <unistd.h>

#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
// ---

#include "HBstructs.h"
// #include "baselib.h"
#include <iostream>

#define CHARSIZE sizeof(char)
#define LABDATASIZE sizeof(LABROB_FLIGHT_DATA)

using namespace std;

namespace MipResources {
 /* @{ */
 
 
 class HummingBirdUavComm {
 private:
 char  recC;
 bool  WaitSeq;
 int  state;
 int  nTry;
 // Wait for init sequence
 int BytesRead;
 unsigned short  struct_l;   
 unsigned char  struct_d;   
 unsigned short  crc_chksum;  

 const char *portName;      
 uint port;                 
 struct termios pOptions;   
 int   startstring_size;

 void InitializeComPort(const char *portname = "/dev/ttyUSB0");

 void updateChksum(LABROB_CTRL_INPUT &ctr) {
 ctr.chksum = ctr.pitch + ctr.roll + ctr.yaw + ctr.thrust + ctr.ctrl + ctr.height_ref + 0xAAAA;
 };

 void updateChksum(LABROB_CTRL_FLAGS &ctr) {
 ctr.chksum = ctr.send + ctr.controllers + ctr.flight_data_delay + ctr.ctrl_flags_delay + ctr.ctrl_input_delay + ctr.height_control_delay + 0xAAAA;
 };

 void updateChksum(LABROB_CONTROLLERS_GAINS &ctr) {
 ctr.chksum = ctr.height_pid[0] + ctr.height_pid[1] + ctr.height_pid[2] + 0xAAAA;
 };

 void updateChksum(LABROB_FILTERS_GAINS &ctr) {
 ctr.chksum = ctr.sonar_height_filter[0] + ctr.sonar_height_filter[1] + 0xAAAA;
 };

 void updateChksum(LABROB_POSE_INPUT &ctr) {
 ctr.chksum = ctr.pos_x + ctr.pos_y + ctr.pos_z + ctr.ori_x + ctr.ori_y + ctr.ori_z + ctr.time[0] + ctr.time[1] + 0xAAAA;
 };

 unsigned short crc_update(unsigned short crc, unsigned char data);
 public:
 string getObjectName() const {
 return "HummingBirdUavComm";
 }

 HummingBirdUavComm(int argc, const char *argv[]);

 HummingBirdUavComm(const char *portname);

 ~HummingBirdUavComm();

 uint getPort() { return port; };

 int send(void *msg, unsigned short size);

 int receive(void *buffer, unsigned short numChar);

 int requestData(unsigned short dataType);

 int waitForData(void * dataP, int &packet_descriptor);

 int transmitControl(struct LABROB_CTRL_INPUT &ctrl);

 int transmitControlFlags(struct LABROB_CTRL_FLAGS &ctrl);

 int transmitControlGains(struct LABROB_CONTROLLERS_GAINS &ctrl);

 int transmitFilterGains(struct LABROB_FILTERS_GAINS &ctrl);

 int transmitPoseInput(struct LABROB_POSE_INPUT &ctrl);

 unsigned short crc16(void *data, unsigned short cnt);
 };

}; // end of namespace MipResources


#endif

/* @} */