SerialModularRobotInterface.hpp

//------------------------------------------------------------------------------
//-- SerialModularRobotInterface
//------------------------------------------------------------------------------
//--
//-- Interface to the modular robot via serial port
//--
//------------------------------------------------------------------------------
//--
//-- This file belongs to the Hormodular project
//-- (https://github.com/David-Estevez/hormodular.git)
//--
//------------------------------------------------------------------------------
//-- Author: David Estevez-Fernandez
//--
//-- Released under the GPL license (more info on LICENSE.txt file)
//------------------------------------------------------------------------------

#ifndef SERIAL_MODULAR_ROBOT_INTERFACE_H
#define SERIAL_MODULAR_ROBOT_INTERFACE_H

#include "ModularRobotInterface.hpp"
#include "ConfigParser.h"
#include <string>
#include <vector>
#include <iostream>
#include <SerialStream.h>

namespace hormodular {

class SerialModularRobotInterface : public ModularRobotInterface
{
    public:
        SerialModularRobotInterface(ConfigParser configParser);


        virtual bool start();

        virtual bool stop();

        virtual bool destroy();

        virtual bool reset();



        virtual bool setProperty(std::string property, std::string value);



        virtual float getTravelledDistance();

        virtual bool sendJointValues(std::vector<float> joint_values, float step_ms=0);

        virtual std::vector<float> getJointValues();

   private:
        std::string port_name;
        SerialPort* serialPort;

        int step_ms;

        int num_modules;
        std::vector<float> joint_values;

        //-- Serial port related functions:
        bool initSerialPort();

        bool checkConnection();

        bool toggleLED();

        bool sendJointValuesSerial(std::vector<float> joint_values);
};

}

#endif //-- SERIAL_MODULAR_ROBOT_INTERFACE_H