ArduinoClient.h

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/***************************************************************

 Mini Grand Challenge 2010
 Pennsylvania State University - Robotics Club
 Learn more at www.psurobotics.org
 Protected by the GNU General Public License

 This source file is developed and maintained by:
 + Jeremy Bridon jbridon@psu.edu

 File: ArduinoClient.h
 Desc: Wraps the communication protocol with the ArduinoServer.
 If there are a certain number of errors (see: MAX_ERRORS) then
 the communication system is reset to resolve the communication
 failures.

***************************************************************/

// Inclusion guard
#ifndef __ARDUINOCLIENT_H_
#define __ARDUINOCLIENT_H_

// Includes
#include <fcntl.h>
#include <string.h>
#include <stdint.h>
#include <stdlib.h>
#include <unistd.h>
#include <cctype>
#include <termios.h>
#include <sys/ioctl.h>
#include <stdlib.h>

// Project includes
#include "../Shared/Utilities.h"

#define DEVICE_ID 1

#define MAX_ERRORS 5

enum ArduinoInstr { CMD_INIT = 0, CMD_UNIT, CMD_SETSPEED, CMD_SETTURN, CMD_GETRANGE, CMD_GETBEARING, CMD_GETSPEED };

enum ArduinoRet { RET_OK = 0, RET_ERROR, RET_VAL };

static const char ArduinoInstrStr[7][4] =
{
        "!IN", // CMD_INIT
        "!UN", // CMD_UNIT
        "!SS", // CMD_SETSPEED
        "!ST", // CMD_SETTURN
        "!GR", // CMD_GETRANGE
        "!GB", // CMD_GETBEARING
        "!GS", // CMD_GETSPEED
};

static const char ArduinoRetStr[2][4] =
{
        "?OK", // RET_OK
        "?ER", // RET_ERROR
};

class ArduinoClient
{
public:

        ArduinoClient(const char *DeviceName, int Baudrate = 9600);

        ~ArduinoClient();

        ArduinoRet SendCommand(ArduinoInstr Instruction, int Argument = -1, int *ToReturn = NULL);

        void Reset();

private:

        void SendMsg(ArduinoInstr Instruction, int Argument = -1);

        ArduinoRet GetMsg(int *Return = NULL);

        int SerialID;   
        int ErrorCount; 
};

// Inclusion guard
#endif

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