class_dioc.cpp

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#include <atlasmv_base/class_dioc.h>

class_dioc::class_dioc(const char*pdevice)
{
        //Get the device
        device=(char*)malloc((strlen(pdevice)+10)*sizeof(char));
        strcpy(device,pdevice);
        
        active=false;//comm off-line
        
        //Comm config params
        struct termios params;
        int ret;
        
        memset( &params,0, sizeof(params)); //setting all structure values to zero
        
        //Opens port comm with the servos
        printf("Opening comm %s ... ",device);fflush(stdout);
        port = open( device, O_RDWR | O_NONBLOCK ); //open com device. read write and non blocking modes        
        if(port == -1) //if could not open
        {perror("Failed to open port");return;}
        printf("Done\n");
        
        active=true;//Comm is now active
        
        printf("Set new parameters ... ");fflush(stdout);
        params.c_cflag = B9600 | CS8 | CLOCAL | CREAD | IGNPAR;
        params.c_iflag = IGNPAR;
        params.c_oflag = 0;
        
        ret=tcsetattr(port, TCSANOW, &params ); // set serial communication parameters
        if( ret < 0 )
        {perror("Set serial communication parameters failed");return;}
        printf("Done\n");
        
        return;
}

class_dioc::~class_dioc()
{
        if(active)
                close(port);
}

void class_dioc::CleanBuffer(void)
{
        int ret=1;
        char data;
        
        if(!active)
                return;
        
        while(ret!=0)
        {
                ret=read(port,&data,1);
                if(ret<0)
                        return;
        }
}

int class_dioc::SetStatus(id_enum ID, int STATUS)
{
        char msg;
        
        if(STATUS)
                msg = 0x80 | ID;
        else
                msg = ID;
        
        ret = write(port,&msg,sizeof(msg));
        if(ret<0)
        {
                strcpy(err,"Cannot write to port");
                return -3;
        }
        
        return 0;
}

int class_dioc::SetStatus(id_enum ID,status_enum STATUS)
{
        char msg;
        
        if(STATUS == ON || STATUS == BLINK3)
                msg = 0x80 | ID;
        else
                msg = ID;
        
        ret = write(port,&msg,sizeof(msg));
        if(ret<0)
        {
                strcpy(err,"Cannot write to port");
                return -3;
        }
        
        return 0;
}

int class_dioc::CommStatus(void)
{
        unsigned char msg = 0x00;
        unsigned char data;
        int nbytes_to_read=0;
        
        //Clean input buffer
        CleanBuffer();
        
        ret = write(port,&msg,sizeof(msg));
        if(ret<0)
        {
                strcpy(err,"Cannot write to port");
                return -3;
        }
        
        double ts=ros::Time::now().toSec();
        double tl=0;
        while(nbytes_to_read!=1)
        {
                ret=ioctl(port,FIONREAD,&nbytes_to_read); 
                usleep(1000);
                tl=ros::Time::now().toSec()-ts;
                
                if(tl>1)
                {
                        strcpy(err,"DIOC is not responding (read timeout)");
                        return -1;
                }
        }
        
        ret=read(port,&data,1);
        if(ret<0)
        {
                strcpy(err,"Cannot read responce");
                return -3;
        }
        
        if(data == 0x80)
                return 1;
        else
                return 0;
}

int class_dioc::GetStatus(id_enum ID)
{
        unsigned char msg;
        int nbytes_to_read=0;
        unsigned char data;
        unsigned char status;
        
        switch(ID)
        {
                case CROSS_A:                   
                case CROSS_B:
                        msg=ID;
                        break;
                default:
                        strcpy(err,"This IO does not respond its current state");
                        return -1;
        }
        
        //Clean input buffer
        CleanBuffer();
        
        ret = write(port,&msg,sizeof(msg));
        if(ret<0)
        {
                strcpy(err,"Cannot write to port");
                return -3;
        }
        
        double ts=ros::Time::now().toSec();
        double tl=0;
        while(nbytes_to_read!=1)
        {
                ret=ioctl(port,FIONREAD,&nbytes_to_read); 
                usleep(1000);
                tl=ros::Time::now().toSec()-ts;
                
                if(tl>1)
                {
                        strcpy(err,"DIOC is not responding (read timeout)");
                        return -1;
                }
        }
        
        ret=read(port,&data,1);
        if(ret<0)
        {
                strcpy(err,"Cannot read responce");
                return -3;
        }
        
        status = (data & 0x80) >> 7;
        
        return status;
}

void class_dioc::perr(int ret)
{
        if(ret==-1)
        {
                printf("Error!!   ");
                printf("%s (raising SIGINT)\n",err);
                raise(SIGINT);
        }else if(ret==-2)
        {
                printf("Warning!! ");
                printf("%s\n",err);
        }else if(ret==-3)
        {
                printf("Error!!   ");
                printf("%s, ",err);fflush(stdout);
                perror(NULL);
                raise(SIGINT);
        }
}