RS405CB.h

#ifndef RS405CB_H
#define RS405CB_H

#include <vector>
#include <utility>
#include "serial_port.h"

enum RS405CB_BAUDRATE
{
	BAUDRATE_9600 = 0x00,
	BAUDRATE_14400 = 0x01,
	BAUDRATE_19200 = 0x02,
	BAUDRATE_28800 = 0x03,
	BAUDRATE_38400 = 0x04,
	BAUDRATE_54600 = 0x05,
	BAUDRATE_76800 = 0x06,
	BAUDRATE_115200 = 0x07,
	BAUDRATE_153600 = 0x08,
	BAUDRATE_230400 = 0x09,
	BAUDRATE_460800 = 0x0A,
};

class RS405CB
{
public:
	RS405CB(const char *, const int);
	~RS405CB();

	/*
	 * get current voltage
	 * return: current voltage. unit is volt [V]
	 * argument: servo id
	 */
	double getVoltage(const int);

	/*
	 * get current temperature
	 * return: current temperature. unit is degree [C]
	 * argument: servo id
	 */
	int getTemperature(const int);

	/*
	 * get current load
	 * return: motor current. unit is milli ampere [mA]
	 * argument: servo id
	 */
	int getLoad(const int);

	/*
	 * set motor torque
	 * return: written length. if error, return -1
	 * arguments: servo id and torque setting
	 *   true: torque on
	 *   false: torque off
	 */
	int setTorque(const int, bool);

	/*
	 * get current angle
	 * return: current angle. unit is degree
	 * argument: servo id
	 */
	double getAngle(const int);

	/*
	 * set target angle
	 * return: written length. if error, return -1
	 * arguments: servo id and target angle
	 *   valid angle range is -150 <= angle <= 150.
	 *   unit is degree.
	 */
	int setAngle(const int, double);

	/*
	 * set target angle to multi servo
	 * return: written length. if error, return -1
	 * argument: a std::vector consisting of servo id and target angle.
	 */
	int setAngles(std::vector<std::pair<int, double>>);

	/*
	 * set moving time
	 * return: written length. if error, return -1
	 * arguments: servo id and moving time
	 *   unit is second [s]
	 *   moving time is zero means use max velocity.
	 */
	int setMovingTime(const int, double);

	/*
	 * set angle and moving time
	 * return: written length. if error, return -1
	 * arguments: servo id, target angle and moving time
	 */
	int setAngleAndMovingTime(const int, double, double);

	/*
	 * store memory map to flash ROM. need to wait 1 second for writing time.
	 * return: written length. if error, return -1
	 * argument: servo id
	 */
	int storeDataToROM(const int);

	/*
	 * reboot servo motor.
	 * return: written length. if error, return -1
	 * argument: servo id
	 */
	int reboot(const int);

	/*
	 * return: written length. if error, return -1
	 * argument: servo id
	 */
	int resetMemoryMap(const int);

	/*
	 * set new ID
	 * return: written length, if error, return -1
	 * arguments: current servo ID and new servo ID
	 */
	int setServoID(const int, const int);

	/*
	 * set rotate direction
	 * return: written length, if error, return -1
	 * arguments: servo ID and direction
	 *   true: reverse mode
	 *   false: no reverse mode
	 */
	int setReverseMode(const int, const bool);

	/*
	 * set baudrate for serial communication
	 * return: written length, if error, return -1
	 * arguments: servo ID and baudrate
	 *   able to use baudrate are: 9600, 14400, 19200, 28800, 38400, 57600, 76800, 115200, 230400, 460800.
	 *   set baudrate by enum RS405CB_BAUDRATE.
	 *   need to reboot after change baudrate
	 */
	int setBaudrate(const int, const RS405CB_BAUDRATE);
private:
	SerialPort port;
	int sendShortPacket(const int, unsigned char, unsigned char, unsigned char, unsigned char);
	int sendShortPacket(const int, unsigned char, unsigned char, unsigned char, unsigned char, std::vector<unsigned char>);
	int sendAndReceiveShortPacket(const int, std::vector<unsigned char> &, unsigned char, unsigned char, unsigned char, unsigned char, std::vector<unsigned char>);
	int sendAndReceiveShortPacket(const int, std::vector<unsigned char> &, unsigned char, unsigned char, unsigned char, unsigned char);
	int sendLongPacket(unsigned char, unsigned char, unsigned char, std::vector<unsigned char>);
	int receivePacket(std::vector<unsigned char> &);
};

#endif