Driver.h

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#ifndef _DRIVER_H
#define _DRIVER_H

//==============================================================================
// Includes
//==============================================================================
#include <boost/lexical_cast.hpp>
#include <base-logging/Logging.hpp>
#include "iodrivers_base/Driver.hpp"

#include "Cmd.h"

//==============================================================================
// Declaration
//==============================================================================
namespace ptu {

class Driver : public iodrivers_base::Driver {
private:
    static const int DEFAULT_BAUDRATE;  
    static const int MAX_PACKET_SIZE;   
    static const float DEGREEPERTICK; 
    static const float DEGREEPERSECARC; 

    float mPanResolutionDeg;
    float mTiltResolutionDeg;
    
    float mMinPanRad;
    float mMaxPanRad;
    float mMinTiltRad;
    float mMaxTiltRad;

protected:
    int extractPacket(const uint8_t* buffer, size_t size) const;


public:
    
    // Constructors and destructors.
    Driver();
    ~Driver();

    float getMinPanRad() { return mMinPanRad; }
    float getMaxPanRad() { return mMaxPanRad; }
    float getMinTiltRad() { return mMinTiltRad; }
    float getMaxTiltRad() { return mMaxTiltRad; }

    void initialize();

    void write(const std::string& msg);

    //TODO fix timeout! Could be remove could be set via iodrivers_base?
    std::string readAns();

    template<typename T>
    T getQuery(const std::string& answer) {
        return boost::lexical_cast<T>( answer.substr(2, answer.find_last_of("0123456789")-1) );
    }

    int getPos(Axis axis, bool offset);

    float getPosDeg(Axis axis, bool offset);
    
    float getPosRad(Axis axis, bool offset);

    bool setPosDeg(const Axis &axis, const bool &offset, const float &val, const bool &awaitCompletion = false);

    bool setPosRad(const Axis &axis, const bool &offset, const float &val, const bool &awaitCompletion = false);

    bool setPos(const Axis& axis, const bool& offset = false, const int& val = 0, 
                const bool& awaitCompletion = false);

    void setSpeed(Axis axis, int speed);
    
    void setSpeedDeg(Axis axis, float speed);
    
    void setSpeedRad(Axis axis, float speed);

    void setHalt();
};
    
} // end of namespace ptu

#endif // _DRIVER_H