arduinomicro.cpp

/*
 *	arduinomicro.cpp
 *
 *	MSU STARX Exosuit
 *	Software Version 2.3
 *	Created on: September 30, 2018
 *	All rights reserved
 */

 #include "arduinomicro.h"

std::string ArduinoMicro::createPacket(std::string command, std::vector<std::string> parameters = {}){
    std::string message = "";
    message.reserve(message.capacity() * 10); // Increase message capacity for appending parameters
    message.append(command);
    if(!parameters.empty()) {
        for(int i = 0; i < parameters.size(); i++) {
            message.append(PacketDelimiterString);
            message.append(parameters[i]);
        }
    }
    message.append(PacketTerminatorString);
    return message;
}

std::string ArduinoMicro::getADC(void){
    packet = this->createPacket(GetADCValuesString).c_str();
    arduinoPort.writePort(packet);
    usleep(waitTime * 1000); // Delay before reading buffer
    data = arduinoPort.readPort();
    return std::string(data);
}

std::string ArduinoMicro::getGPIO(void){
    packet = this->createPacket(GetGPIOValuesString).c_str();
    arduinoPort.writePort(packet);
    usleep(waitTime * 1000); // Delay before reading buffer
    data = arduinoPort.readPort();
    return std::string(data);
}

std::string ArduinoMicro::setPWM(std::vector<std::string> dutyCycles){
    packet = this->createPacket(SetPWMDutyCycleString, dutyCycles).c_str();
    arduinoPort.writePort(packet);
    usleep(waitTime * 1000); // Delay before reading buffer
    data = arduinoPort.readPort();
    return std::string(data);
}

void ArduinoMicro::setupSerial(std::string portName, int baudRate){
    arduinoPort.portName = portName.c_str();
    arduinoPort.baudRate = baudRate;
    arduinoPort.openPort();
    arduinoPort.setPort();
}