plc.h

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#ifndef _PLC_H_
#define _PLC_H_

#include <ros/ros.h>
#include <iostream>

// #include <tcp_client/class_tcp.h>
#include <tcp_client/AsyncClient.h>

#include <atlascar_base/PlcStatus.h>
#include <atlascar_base/PlcCommand.h>

#include <topic_priority/topic_priority.h>

#include <boost/format.hpp>
#include <boost/thread/thread.hpp>
#include <boost/spirit/include/qi.hpp>
#include <boost/spirit/include/phoenix_core.hpp>
#include <boost/spirit/include/phoenix_operator.hpp>


#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>

using namespace std;

namespace atlascar_base
{

class SimpleCalibration 
{
        public:
                
                double maximum_value_;
                double minimum_value_;
                
                double maximum_required_;
                double minimum_required_;
        
                double remap(double value)
                {
                        assert(minimum_value_!=maximum_value_);
                        assert(minimum_required_!=maximum_required_);
                        
                        if(minimum_value_>maximum_value_)
                                return remapInverted(value);
                        
                        if(value<minimum_value_)
                                value=minimum_value_;
                        
                        if(value>maximum_value_)
                                value=maximum_value_;
                        
                        double m = (maximum_required_-minimum_required_)/(maximum_value_-minimum_value_);
                        double b = maximum_required_ - m*maximum_value_;
                        
                        return value*m+b;
                }
                
                
                double remapInverted(double value)
                {
                        assert(minimum_value_!=maximum_value_);
                        assert(minimum_required_!=maximum_required_);
                        
                        if(value>minimum_value_)
                                value=minimum_value_;
                        
                        if(value<maximum_value_)
                                value=maximum_value_;
                        
                        double m = (maximum_required_-minimum_required_)/(maximum_value_-minimum_value_);
                        double b = maximum_required_ - m*maximum_value_;
                        
                        return value*m+b;
                }
                
        private:
                
};
        
class Plc
{
        public:
                Plc(const ros::NodeHandle& nh,std::string ip, std::string port);
                
                ~Plc();
                
                void init();
                
                void setupMessaging();
                
                void loop();
                
        private:
                
                void diagnostics(diagnostic_updater::DiagnosticStatusWrapper& stat)
                {
                        if(!comm_.isConnected())
                        {
                                stat.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "No connection to hardware.");
                                stat.add("Status",comm_.error_.message());
                                stat.add("Trying to connect to",server_ip_);
                                stat.add("Port number",server_port_);
                        }else
                        {
                                stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "No problems.");
                                stat.add("Connected with",server_ip_);
                                stat.add("Port number",server_port_);
                                
                                boost::format fmt("%.2f");
                                fmt % (ros::Time::now()-status_.header.stamp).toSec();
                                
                                stat.add("Last message sent", fmt.str()+" seconds ago" );
                        }
                }
                
                void newData(string data);
                
                int sendCommand(void);
                
                int sendMessage(char*message_string);

                void commandCallback(const atlascar_base::PlcCommandPtr& command);
                
                SimpleCalibration steering_wheel_calibration_;
                SimpleCalibration steering_wheel_to_plc_calibration_;
                
                SimpleCalibration brake_calibration_;
                SimpleCalibration clutch_calibration_;
                
                std::string server_ip_;
                std::string server_port_;
                
                ros::NodeHandle nh_;
                ros::Subscriber command_sub_;
                ros::Publisher status_pub_;
                TopicQueuePriority<atlascar_base::PlcCommandPtr> command_queue_;                
                int connection_status_;
                bool verbose_;
                char received_message_[1024];
                atlascar_base::PlcCommandPtr command_;
                atlascar_base::PlcCommandPtr safety_command_;
                atlascar_base::PlcStatus status_;
                
                diagnostic_updater::Updater updater_;
                diagnostic_updater::HeaderlessTopicDiagnostic status_freq_;
                double status_max_frequency_;
                double status_min_frequency_;
                
                boost::asio::io_service io_service_;
                AsyncClient comm_;
};

}

#endif