mtsNDISerial.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*

  Author(s):  Anton Deguet, Ali Uneri
  Created on: 2009-10-13

  (C) Copyright 2009-2012 Johns Hopkins University (JHU), All Rights Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/

#ifndef _mtsNDISerial_h
#define _mtsNDISerial_h

#include <cisstVector/vctFixedSizeVectorTypes.h>
#include <cisstOSAbstraction/osaSerialPort.h>
#include <cisstOSAbstraction/osaStopwatch.h>
#include <cisstMultiTask/mtsMatrix.h>
#include <cisstMultiTask/mtsTaskPeriodic.h>
#include <cisstParameterTypes/prmPositionCartesianGet.h>
#include <sawNDITracker/sawNDITrackerExport.h>  // always include last


class CISST_EXPORT mtsNDISerial : public mtsTaskPeriodic
{
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION_ONEARG, CMN_LOG_ALLOW_DEFAULT);

 protected:
    class Tool
    {
     public:
        Tool(void);
        ~Tool(void) {};

        std::string Name;
        unsigned int FrameNumber;
        double ErrorRMS;
        mtsInterfaceProvided * Interface;
        prmPositionCartesianGet TooltipPosition;
        prmPositionCartesianGet MarkerPosition;

        char PortHandle[3];
        // PHINF 0001
        char MainType[3];
        char ManufacturerID[13];
        char ToolRevision[4];
        char SerialNumber[9];
        // PHINF 0004
        char PartNumber[21];

        vct3 TooltipOffset;
    };

 public:
    mtsNDISerial(const std::string & taskName, const double period) :
        mtsTaskPeriodic(taskName, period, false, 5000) { Construct(); }
    mtsNDISerial(const mtsTaskPeriodicConstructorArg & arg) :
        mtsTaskPeriodic(arg) { Construct(); }
    ~mtsNDISerial(void) {};

    void Construct(void);
    void Configure(const std::string & filename = "");
    void Startup(void) {};
    void Run(void);
    void Cleanup(void);

    size_t GetNumberOfTools(void) const {
        return Tools.size();
    }
    std::string GetToolName(const unsigned int index) const;

    void PortHandlesInitialize(void);
    void PortHandlesQuery(void);
    void PortHandlesEnable(void);

 protected:
    enum { MAX_BUFFER_SIZE = 512 };
    enum { CRC_SIZE = 4 };

    size_t GetSerialBufferSize(void) const {
        return SerialBufferPointer - SerialBuffer;
    }
    size_t GetSerialBufferAvailableSize(void) const {
        return MAX_BUFFER_SIZE - GetSerialBufferSize();
    }
    size_t GetSerialBufferStringSize(void) const {
        if (*(SerialBufferPointer - 1) == '\0') {
            return GetSerialBufferSize() - 1;
        }
        CMN_LOG_CLASS_RUN_ERROR << "GetSerialBufferStringSize: string is not null terminated" << std::endl;
        return 0;
    }

    void CommandInitialize(void);
    void CommandAppend(const char command);
    void CommandAppend(const char * command);
    void CommandAppend(const int command);
    bool CommandSend(void);
    bool CommandSend(const char * command) {
        CommandInitialize();
        CommandAppend(command);
        return CommandSend();
    }
    bool ResponseRead(void);
    bool ResponseRead(const char * expectedMessage);
    unsigned int ComputeCRC(const char * data);
    bool ResponseCheckCRC(void);

    bool ResetSerialPort(void);
    bool SetSerialPortSettings(osaSerialPort::BaudRateType baudRate,
                               osaSerialPort::CharacterSizeType characterSize,
                               osaSerialPort::ParityCheckingType parityChecking,
                               osaSerialPort::StopBitsType stopBits,
                               osaSerialPort::FlowControlType flowControl);
    void Beep(const int & numberOfBeeps);

    void LoadToolDefinitionFile(const char * portHandle, const char * filePath);
    Tool * CheckTool(const char * serialNumber);
    Tool * AddTool(const std::string & name, const char * serialNumber);
    Tool * AddTool(const std::string & name, const char * serialNumber, const char * toolDefinitionFile);

    void ToggleTracking(const bool & track);
    void Track(void);
    void CalibratePivot(const std::string & toolName);
    void ReportStrayMarkers(void);

    osaSerialPort SerialPort;
    char SerialBuffer[MAX_BUFFER_SIZE];
    char * SerialBufferPointer;

    typedef cmnNamedMap<Tool> ToolsType;
    ToolsType Tools;
    cmnNamedMap<Tool> PortToTool;

    bool IsTracking;
    mtsMatrix<double> StrayMarkers;

    double ReadTimeout;
    osaStopwatch ResponseTimer;
};

CMN_DECLARE_SERVICES_INSTANTIATION(mtsNDISerial);

#endif  // _mtsNDISerial_h