CTOC.h

// Copyright (c) 2013, Jan Winkler <winkler@cs.uni-bremen.de>
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of Universität Bremen nor the names of its
//       contributors may be used to endorse or promote products derived from
//       this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.


/* \author Jan Winkler */


#ifndef __C_TOC_H__
#define __C_TOC_H__


// System
#include <list>
#include <string>
#include <cstdlib>
#include <iostream>
#include <fstream>
#include <vector>

// Private
#include "CCrazyRadio.h"
#include "CCrazyflie.h"
#include "CCRTPPacket.h"


/*! \brief Storage element for logged variable identities */
struct TOCElement {
  /*! \brief The numerical ID of the log element on the copter's
      internal table */
  int nID;
  /*! \brief The (ref) type of the log element */
  int nType;
  /*! \brief The string group name of the log element */
  std::string strGroup;
  /*! \brief The string identifier of the log element */
  std::string strIdentifier;
  bool bIsLogging;
  double dValue;
  double timeLastUpdated;
};


struct LoggingBlock {
  std::string strName;
  int nID;
  double dFrequency;
  std::list<int> lstElementIDs;
  bool isActive;
};

// Backward declaration of the CCrazyflie and CCrazyradio class to make the compiler happy
class CCrazyflie;
class CCrazyRadio;

class CTOC {
 private:
  int m_nPort;
  int m_nRadioChannel;
  CCrazyRadio *m_crRadio;
  CCrazyflie *m_crazyflie;
  uint16_t m_nItemCount;
  std::list<struct TOCElement> m_lstTOCElements;
  std::list<struct LoggingBlock> m_lstLoggingBlocks;
  std::vector<std::string> m_lstActiveLogging;
  int updateAmount = 0;
  std::ofstream param_toc_file;
  std::ofstream log_toc_file;
  std::string paramfilename;
  std::string logidfilename;

  bool requestInitialItem();
  bool requestItem(int nID, bool bInitial);
  bool requestItem(int nID);
  bool requestNextItem();
  bool processItem(CCRTPPacket* crtpItem);
  bool processNextItem(CCRTPPacket* crtpItem);
  
  
  CCRTPPacket* sendAndReceive(CCRTPPacket* crtpSend, int nChannel);

 public:
  CTOC(CCrazyRadio* crRadio, CCrazyflie *crazyflie, int radioChannel, int nPort);
  ~CTOC();

  bool sendTOCPointerReset();
  bool requestMetaData();
  bool requestItems();
  bool downloadTOC();

  void printLoggingBlocksInitialized();

  struct TOCElement elementForName(std::string strName, bool& bFound);
  struct TOCElement elementForID(int nID, bool &bFound);
  int idForName(std::string strName);
  int typeForName(std::string strName);

  // For loggable variables only
  bool registerLoggingBlock(std::string strName, double dFrequency, uint16_t id);
  bool unregisterLoggingBlock(std::string strName);
  bool unregisterLoggingBlocks();
  struct LoggingBlock loggingBlockForName(std::string strName, bool& bFound);
  struct LoggingBlock loggingBlockForID(int nID, bool& bFound);

  bool startLogging(std::string strName, std::string strBlockName);
  bool stopLogging(std::string strName);
  bool isLogging(std::string strName);

  double doubleValue(std::string strName);

  bool enableLogging(std::string strBlockName);
  bool disableLogging(std::string strBlockName);
  void setBlockActive(int nID, bool activity);
  std::string createActiveHeader();

//  void processPackets(std::list<CCRTPPacket*> lstPackets);
  void processPackets(CCRTPPacket *crtpPacket);

  int elementIDinBlock(int nBlockID, int nElementIndex);
  bool setFloatValueForElementID(int nElementID, float fValue);
  bool setLastUpdateForElementID(int nElementID);
  bool addElementToBlock(int nBlockID, int nElementID);
  bool unregisterLoggingBlockID(int nID);

  void openLogTOCFile(char *baseFileName);
  void openParamTOCFile(char *baseFileName);
  std::string getLogTOCFile();
  std::string getParamTOCFile();

  std::string activeLogName(int index);
  int sizeOfActiveList();
};


#endif /* __C_TOC_H__ */