Stim300Base.hpp

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#ifndef _STIM300_BASE_HPP_
#define _STIM300_BASE_HPP_

#include <iostream>
#include <math.h>
#include <string>
#include <boost/crc.hpp>
#include <boost/math/special_functions/fpclassify.hpp>
#include <Eigen/Geometry> 
#include <iodrivers_base/Driver.hpp>
#include <base/Time.hpp>

namespace imu_stim300
{
    enum STIM300_MODES{INIT, NORMAL, SERVICE};

    enum DATAGRAM_CONTENT{
        RATE = 0x90,
        RATE_ACC = 0x91,
        RATE_INCLI = 0x92,
        RATE_ACC_INCLI_TEMP_REVB = 0x97,
        RATE_ACC_INCLI_TEMP_REVD = 0xA7
    };

    enum ACC_OUTPUT{ACCELERATION, INCREMENTAL_VELOCITY, AVG_ACCELERATION}; // By default it is ACCELERATION but others are possible(read the manual)

    static const double STIM300_GRAVITY = 9.80665; // Internal definition of the standard gravity in the STIM300

    static const unsigned int DEFAULT_SAMPLING_FREQUENCY = 2000; //Selected by default as frequency in the firmware

    class Stim300Base: public iodrivers_base::Driver
    {
        
        protected:
            struct sensor_value
            {
                signed int value:24;
            } __attribute__ ((__packed__));

            struct temp_value
            {
                signed int value:16;
            } __attribute__ ((__packed__));

            typedef struct
            {
                uint8_t counter;
                double gyro[3];
                double acc[3];
                double incl[3];
                std::vector<double> temp;
                double latency;
                bool checksum;
            }sensor_values;

            int baudrate; 
            int sampling_frequency; 
            int counter_ratio; 
        base::Time pckgTimeout; 
            uint8_t prev_counter; 
            sensor_values inertial_values; 
            STIM300_MODES modes; 
            bool internal_error; 
            imu_stim300::DATAGRAM_CONTENT content; 
            ACC_OUTPUT acc_output; 
            boost::uint32_t expectedCRC, calculatedCRC; /* Expected and calculated checksum value **/

        public:

            Stim300Base(int max_packet_size);
            ~Stim300Base();

            void welcome();

            bool open(std::string const& filename);

            bool setBaudrate(int brate);

            bool fullReset();

            bool enterServiceMode();

            virtual int extractPacket(uint8_t const* buffer, size_t buffer_size) const = 0;

            virtual int processPacket() = 0;

        public:
            bool setAcctoIncrementalVelocity();

            void setPackageTimeout(double timeoutSeconds);

        void setFrequency (int sampling_frequency);

        public:
            bool getStatus();

            int getFileDescriptor();

            imu_stim300::ACC_OUTPUT getAccOutputType();

            int getPacketCounter();

            Eigen::Vector3d getAccData ();

            Eigen::Vector3d getGyroData ();

            Eigen::Vector3d getInclData ();

            std::vector<double> getTempData ();

            uint64_t getPacketLatency();

            bool getChecksumStatus();

        public:

            virtual void printInfo() = 0;

        protected:
            double convertGyro2AngularRate(uint8_t const* buffer);

            virtual double convertAcc2Acceleration(uint8_t const* buffer) = 0;

            double convertIncl2Acceleration(uint8_t const* buffer);

            double convertAcc2IncreVel(uint8_t const* buffer);

            double convertTemp2Celsius(uint8_t const* buffer);

            double convertLatency2Microseconds(uint8_t const* buffer);

    };
} // end namespace

#endif //