Adds TestStand class to r/w cmds for testStand

See Issue #145

crazyflie_groundstation/inc/testStand.h

+#ifndef TESTSTAND_H_
+#define TESTSTAND_H_
+
+#include "serial/serial.h"
+
+
+class TestStand {
+
+    public:
+        TestStand(serial::Serial * ptr);
+
+        void setSerialInterface(serial::Serial * ptr);
+        void zeroHeading();
+        void startStream();
+        void stopStream();
+        void setCycleDelay(int period);
+        void toggleMode();
+        void setModePosition();
+        void setModeRate();
+
+        std::string getCurrentValue();
+        std::string getCurrentPosition();
+        std::string getCurrentRate();
+        std::string getCurrentADCValue();
+
+    private:
+        serial::Serial *serialInterface;
+
+        const uint8_t ZERO_HEADING = '@h';
+        const uint8_t MODE_TOGGLE = '@t';
+        const uint8_t GET_VALUE = '@v';
+        const uint8_t START_STREAM = '@s';
+        const uint8_t STOP_STREAM = '@d';
+        const uint8_t MODE_POSITION = '@p';
+        const uint8_t MODE_RATE = '@r';
+        const uint8_t GET_POSITION = '@P';
+        const uint8_t GET_RATE = '@R';
+        const uint8_t GET_ADC = '@x';
+
+};
+
+#endif

crazyflie_groundstation/src/testStand.cpp

+#include "testStand.h"
+
+/**
+ * @brief Construct a new Test Stand:: Test Stand object
+ *
+ * @param ptr pointer to serial object for writing and reading data
+ */
+TestStand::TestStand(serial::Serial * ptr){
+    setSerialInterface(ptr);
+}
+
+/**
+ * @brief Helper function to set member variable for serial interface ptr
+ *
+ * @param ptr pointer to serial object for writing and reading data
+ */
+void TestStand::setSerialInterface(serial::Serial * ptr){
+    this->serialInterface = ptr;
+}
+
+/**
+ * @brief Zero the heading on the test stand
+ *
+ */
+void TestStand::zeroHeading(){
+    this->serialInterface->write(&ZERO_HEADING, 1);
+}
+
+/**
+ * @brief Starts the streaming mode where the test stand write data nonstop
+ *
+ */
+void TestStand::startStream(){
+    this->serialInterface->write(&START_STREAM, 1);
+}
+
+/**
+ * @brief Stops the streaming mode
+ *
+ */
+void TestStand::stopStream(){
+    this->serialInterface->write(&STOP_STREAM, 1);
+}
+
+/**
+ * @brief Sets the time between samples for streaming mode
+ *
+ * @param period time between samples in microseconds
+ */
+void TestStand::setCycleDelay(int period){
+    uint8_t delayString = ('@w',  std::to_string(period), '!');
+    this->serialInterface->write(&delayString, 6);
+}
+
+/**
+ * @brief Toggles between Position Mode and Rate Mode
+ *
+ */
+void TestStand::toggleMode(){
+    this->serialInterface->write(&MODE_TOGGLE, 1);
+}
+
+/**
+ * @brief Sets the Test Stand to Position Mode
+ *
+ */
+void TestStand::setModePosition(){
+    this->serialInterface->write(&MODE_POSITION, 1);
+}
+
+/**
+ * @brief Sets the Test Stand to Rate Mode
+ *
+ */
+void TestStand::setModeRate(){
+    this->serialInterface->write(&MODE_RATE, 1);
+}
+
+/**
+ * @brief Gets the current value from the Test Stand
+ *
+ * @return std::string string containing sample from Test Stand
+ */
+std::string TestStand::getCurrentValue(){
+    this->serialInterface->write(&GET_VALUE, 1);
+    return this->serialInterface->readline();
+}
+
+/**
+ * @brief Gets the current value from the Test Stand as a Position
+ *
+ * @return std::string string containing sample from Test Stand as Position
+ */
+std::string TestStand::getCurrentPosition(){
+    this->serialInterface->write(&GET_POSITION, 1);
+    return this->serialInterface->readline();
+}
+
+/**
+ * @brief Gets the current value from the Test Stand as a Rate
+ *
+ * @return std::string string containing sample from Test Stand as Rate
+ */
+std::string TestStand::getCurrentRate(){
+    this->serialInterface->write(&GET_RATE, 1);
+    return this->serialInterface->readline();
+}
+
+/**
+ * @brief Gets the current value from the ADC on the Test Stand
+ *
+ * @return std::string string containing raw sample from ADC
+ */
+std::string TestStand::getCurrentADCValue(){
+    this->serialInterface->write(&GET_ADC, 1);
+    return this->serialInterface->readline();
+}
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