Program Listing for File imu_control_parameters.h

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/*******************************************************************************
 *   @file   imu_control_parameters.h
 *   @brief  Set ros parameter in libiio
 *   @author Vasile Holonec (Vasile.Holonec@analog.com)
 *******************************************************************************/
// Copyright 2023 Analog Devices, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef ADI_IMU__IMU_CONTROL_PARAMETERS_H_
#define ADI_IMU__IMU_CONTROL_PARAMETERS_H_

#include <list>
#include <map>
#include <memory>
#include <string>

#include "adi_imu/adis_register_map.h"
#include "adi_imu/iio_wrapper.h"
#include "rcl_interfaces/msg/set_parameters_result.hpp"
#include "rclcpp/rclcpp.hpp"

namespace adi_imu
{
class ImuControlParameters
{
public:
  ImuControlParameters(
    std::shared_ptr<rclcpp::Node> & node, std::shared_ptr<ADISRegisterMap> & device_descriptor);

  ~ImuControlParameters();

  void handleControlParams();

private:
  void declareAdisAttributes();

  void mapIIOUpdateFunctionsInt32();

  void mapIIOGetFunctionsInt32();

  void mapIIOUpdateFunctionsUint32();

  void mapIIOGetFunctionsUint32();

  void mapIIOUpdateFunctionsDouble();

  void mapIIOGetFunctionsDouble();

  void mapIIOCommandFunctions();

  void declareParameterDescription();

  void declareParameters();

  void updateParamsFromHardware();

  void handleDoubleParamChange();

  void handleInt32ParamChange();

  void handleUint32ParamChange();

  void handleCommands();

  std::shared_ptr<rclcpp::Node> m_node;

  IIOWrapper m_iio_wrapper;

  std::string m_command_to_execute;

  typedef bool (IIOWrapper::*UpdateUint32Params)(uint32_t);

  typedef std::map<std::string, UpdateUint32Params> UpdateUint32ParamsMapType;

  UpdateUint32ParamsMapType m_func_map_update_uint32_params;

  typedef bool (IIOWrapper::*GetUint32Params)(uint32_t &);

  typedef std::map<std::string, GetUint32Params> GetUint32ParamsMapType;

  GetUint32ParamsMapType m_func_map_get_uint32_params;

  typedef bool (IIOWrapper::*UpdateInt32Params)(int32_t);

  typedef std::map<std::string, UpdateInt32Params> UpdateInt32ParamsMapType;

  UpdateInt32ParamsMapType m_func_map_update_int32_params;

  typedef bool (IIOWrapper::*GetInt32Params)(int32_t &);

  typedef std::map<std::string, GetInt32Params> GetInt32ParamsMapType;

  GetInt32ParamsMapType m_func_map_get_int32_params;

  typedef bool (IIOWrapper::*UpdateDoubleParams)(double);

  typedef std::map<std::string, UpdateDoubleParams> UpdateDoubleParamsMapType;

  UpdateDoubleParamsMapType m_func_map_update_double_params;

  typedef bool (IIOWrapper::*GetDoubleParams)(double *);

  typedef std::map<std::string, GetDoubleParams> GetDoubleParamsMapType;

  GetDoubleParamsMapType m_func_map_get_double_params;

  typedef bool (IIOWrapper::*ExecuteCommands)();

  typedef std::map<std::string, ExecuteCommands> ExecuteCommandsMapType;

  ExecuteCommandsMapType m_func_map_execute_commands;

  std::list<std::string> m_attr_current_device;

  std::map<std::string, int32_t> m_int32_current_params;

  std::map<std::string, int64_t> m_uint32_current_params;

  std::map<std::string, double> m_double_current_params;

  std::map<std::string, std::string> m_param_description;

  std::map<std::string, rcl_interfaces::msg::IntegerRange> m_param_constraints_integer;

  std::map<std::string, rcl_interfaces::msg::FloatingPointRange> m_param_constraints_floating;

  std::shared_ptr<ADISRegisterMap> m_device_descriptor;
};

}  // namespace adi_imu

#endif  // ADI_IMU__IMU_CONTROL_PARAMETERS_H_