PNI_TCM.h

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#ifndef PNI_TCM_H
#define PNI_TCM_H

#include "component/SyncComponent.h"
#include "io/LoadControl.h"
#include "io/UartStream.h"
#include "logger/Logger.h"

class UniversalDataReader;
class UniversalDataWriter;

class PNI_TCM : public SyncSensorComponent
{
public:

    PNI_TCM( const Module* module );

    virtual ~PNI_TCM();

    virtual void run();

    virtual RunState start();

    virtual RunState starting();

    virtual RunState pause();

    virtual RunState paused();

    virtual RunState resume();

    virtual RunState resuming();

    virtual RunState runnable();

    virtual RunState resetting()
    {
        return stop();
    }

    virtual RunState stop();

    virtual RunState stopping();

    virtual RunState stopped();

    virtual void uninitialize();

    virtual ConfigURI getConfigURI( ConfigOption configOption ) const;

private:

    // Note that the copy constructor below is private and not given a body.
    // Any attempt to call it will return a compiler error.
    PNI_TCM( const PNI_TCM& old ); // disallow copy constructor

    // scan configuraiton settings
    void readConfig();

    static PNI_TCM* Instance_;

    // Slate inputs
    UniversalDataReader* latitudeReader_;
    UniversalDataReader* longitudeReader_;
    UniversalDataReader* depthReader_;

    // Slate outputs
    DataWriter* compassHeadingWriter_;
    DataWriter* compassTemperatureWriter_;
    DataWriter* mxWriter_;
    DataWriter* myWriter_;
    DataWriter* mzWriter_;

    UniversalDataWriter* magneticHeadingWriter_;
    UniversalDataWriter* trueHeadingWriter_;
    UniversalDataWriter* pitchWriter_;
    UniversalDataWriter* rollWriter_;
    UniversalBlobWriter* rotationMatrixWriter_;

    ConfigReader* verbosityCfgReader_;
    ConfigReader* magDeviationCfgReader_;
    ConfigReader* pitchOffsetCfgReader_;
    ConfigReader* rollOffsetCfgReader_;

// DEBUG : These need to be replaced by real frame IDs with a calculated CRC after EcoHAB spring is finished. For now they remain hard coded.
    static const unsigned int CMD_SIZE = 24;
    static const unsigned int DATA_RESP_SIZE = 41; // byte count (2), Frame ID (1), payload (36), CRC (2)
    // Commands
    static char setConfigAutoCal_[CMD_SIZE];
    static char setConfigCalNumPts_[CMD_SIZE];
    static char setConfigMagCoeff_[CMD_SIZE];
    static char setConfigMountingRef_[CMD_SIZE];
    static char setConfigBaudRate_[CMD_SIZE];
    static char setBigEndian_[CMD_SIZE];
    static char setDataComponents_[CMD_SIZE];
    static char startCalFullRange_[CMD_SIZE];
    static char startContinuousMode_[CMD_SIZE];
    static char stopContinuousMode_[CMD_SIZE];
    static char setAcqParams_[CMD_SIZE];
    static char save_[CMD_SIZE];

    static const float HEADING_LIMIT[];
    static const float PITCH_LIMIT[];
    static const float ROLL_LIMIT[];

    typedef enum
    {
        SETDATA,   // Sets the data to be output from the device
        MOUNTING,  // Sets the mounting reference
        ENDIAN,    // Sets the endian
        PARAMS,    // Sets the aquisition parameters
        PARAMRESPONSE,
        DONE,      // Ready to run
    } StartupSequence;

    StartupSequence startup_;

    // returns true if data is requested from one of the readers
    bool isDataRequested();

    // Debugging outputs
    bool debug_;
    int verbosity_;

    // Instance of load controller
    LoadControl loadControl_;

    bool checksum_matches_;
    float heading_, pitch_, roll_, magHeading_, trueHeading_; // TODO: make rotation matrix member variable
    float mX_, mY_, mZ_; // TODO: make vector member variable
    float temperature_;
    Matrix3x3 rotationFromVehicleToNavigationFrame_;

    float magDeviation_;
    float magVariation_;

    float pitchOffset_;
    float rollOffset_;

    Timespan poTimeout_, validTimeout_;
    Timestamp startTime_;

    int readAccelerationsCfg_;
    int readMagneticsCfg_;

    // Stores the current response from the modem
    char deviceResponse_[96];

    // Holds the communications device
    UartStream uart_;


    // getDataResp returning Heading (magnetic), Pitch, Roll, MagX, MagY, MagZ, Temperature. Values are float32
    bool receiveGetDataResp( void );

    void processData( void );

    // Writes the data
    void writeData( void );

    // Parses the calibration score which may take > 1 minute to be calculated.
    bool parseCalScore( float &magScore, float &distError, float &tiltError, float &tiltRange );

    unsigned short CRC( const char* data, unsigned int len );

    // Flips endian and converts 4 bytes to floating point
    float extractFloat( char * convertFloat );

    // Flips endian and converts 2 bytes to short
    unsigned short extractShort( char * convertFloat );

    // Sets the writer's validity to valid or invalid
    void setWritersInvalid( bool invalid );

    // Gets the magnetic variation
    void getMagneticVariation();

};

#endif /*PNI_TCM_H*/