device_wrapper.h

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#ifndef DEVICE_WRAPPER_H
#define DEVICE_WRAPPER_H
 
#include <stdbool.h>
#include <string>
#include "actpack_struct.h"
#include "netmaster_struct.h"
#include "cellscreener_struct.h"
#include "battcycler_struct.h"
#include "i2t_struct.h"
 
#ifdef __cplusplus
extern "C"
{
#endif
 
typedef enum fxError
{
    FxSuccess = 0,
    FxFailure,
    FxInvalidParam,
    FxInvalidDevice,
    FxNotStreaming,
 
} FxError;
 
typedef enum fxControlMode
{
    FxPosition  = 0, 
    FxVoltage   = 1, 
    FxCurrent   = 2, 
    FxImpedance = 3, 
    FxNone      = 4, 
    FxCustom    = 5,
    FxMeasRes   = 6,
    FxStalk     = 7, 
 
} FxControlMode;
 
typedef enum fxAppType
{
    FxInvalidApp = -1,
    FxActPack = 0,
    FxExo,
    FxNetMaster,
    FxBMS,
    FxHabsolute,
    FxCellScreener,
    FxBattCycler
 
} FxAppType;
 
struct ActPackState;    
struct NetMasterState;  
struct BMSState;        
struct HabsoluteState;  
struct CellScreenerState;
struct BattCyclerState;
 
#define NUM_TIMER_FREQS     11
 
#define FX_MAX_DEVICES      10
 
#define MIN_UVLO            15000
#define MAX_UVLO            50000
 
#define MIN_UNIQUE_ID       0
#define MAX_UNIQUE_ID       65535
 
#define MIN_CURRENT_OFFSET  -15
#define MAX_CURRENT_OFFSET  15
 
 
int fxOpen(const char* portName,
        unsigned int baudRate,
        unsigned int logLevel);
 
bool fxIsOpen(unsigned int deviceId);
 
bool fxIsActiveDevice(unsigned int deviceId);
 
FxError fxClose(unsigned int deviceId);
 
 
void fxCloseAll();
 
int fxGetDeviceIds(int* idArray, unsigned int size);
 
FxError fxStartStreaming(unsigned int deviceId,
            unsigned int frequency,
            bool shouldLog);
 
FxError fxStopStreaming(unsigned int deviceId);
 
int fxGetValidStreamingFrequencies(unsigned int deviceId, int validFrequencies[NUM_TIMER_FREQS]);
 
bool fxIsStreaming(unsigned int deviceId);
FxError fxReadDevice(unsigned int deviceId, ActPackState* readData);
 
FxError fxReadNetMasterDevice(unsigned int deviceId, NetMasterState* readData);
 
FxError fxReadBMSDevice(unsigned int deviceId, BMSState* readData);
 
FxError fxReadHabsoluteDevice(unsigned int deviceId, HabsoluteState* readData);
 
FxError fxReadCellScreenerDevice(unsigned int deviceId, CellScreenerState* readData);
 
FxError fxReadBattCyclerDevice(unsigned int deviceId, BattCyclerState* readData);
 
FxError fxSetReadDataQueueSize(unsigned int deviceId,
                unsigned int size);
 
int fxGetReadDataQueueSize(unsigned int deviceId);
 
int fxReadDeviceAll(unsigned int deviceId,
            ActPackState* readData,
            unsigned int n);
 
int fxReadNetMasterDeviceAll(unsigned int deviceId,
            NetMasterState* readData,
            unsigned int n);
 
int fxReadBMSDeviceAll(unsigned int deviceId,
            BMSState* readData,
            unsigned int n);
 
int fxReadHabsoluteDeviceAll(unsigned int deviceId,
            HabsoluteState* readData,
            unsigned int n);
 
int fxReadCellScreenerDeviceAll(unsigned int deviceId,
                             CellScreenerState* readData,
                             unsigned int n);
 
int fxReadBattCyclerDeviceAll(unsigned int deviceId,
                                BattCyclerState* readData,
                                unsigned int n);
 
FxError fxSetGains(unsigned int deviceId,
            unsigned int kp,
            unsigned int ki,
            unsigned int kd,
            unsigned int K,
            unsigned int B,
            unsigned int ff);
 
FxError fxSendMotorCommand(unsigned int deviceId, FxControlMode controlMode, int value);
 
 
FxAppType fxGetAppType(unsigned int deviceId);
 
FxError fxSetUVLO(unsigned int deviceId, unsigned int mV);
 
FxError fxRequestUVLO(unsigned int deviceId);
 
int fxGetLastReceivedUVLO(unsigned int deviceId);
 
FxError fxSetUniqueId(unsigned int deviceId, unsigned int uid);
 
FxError fxSetCurrentOffset(unsigned int deviceId, int offset);
 
FxError fxRequestCurrentOffset(unsigned int deviceId);
 
int fxGetLastReceivedCurrentOffset(unsigned int deviceId);
 
FxError fxSetI2T(unsigned int deviceId, i2tVals i2tValsToWrite);
 
FxError fxRequestI2T(unsigned int deviceId);
 
i2tVals fxGetLastReceivedI2T(unsigned int deviceId);
 
FxError fxSendEventFlags(int flag, int time);
 
FxError fxFindPoles(unsigned int deviceId);
 
FxError fxSetAnkleTorquePoints(unsigned int deviceId, int16_t *newAnkleTorque, uint8_t controller, uint8_t points);
 
FxError fxReadAnkleTorquePoints(unsigned int deviceId, uint8_t points);
 
int16_t * fxGetLastReceivedAnkleTorquePoints(unsigned int deviceId);
 
FxError fxActivateBootloader(unsigned int deviceId, uint8_t target);
 
FxError fxIsBootloaderActivated(unsigned int deviceId);
 
double fxGetTimingGain(unsigned int deviceId, bool *isValid, double *highestTimingGain);
 
#ifdef __cplusplus
} // extern "C"
#endif
 
#endif // DEVICE_WRAPPER_H