Line-Following-Robot/Communication/uart_communication.h

#pragma once

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdint.h>
#include <errno.h>
#include <fcntl.h>
#include <unistd.h>
#include <termios.h>
#include <iostream>
#include <exception>
#include <iostream>
#include <chrono>
#include <cmath>

#include <bitset>


class LFR_UART
{
public:
	std::chrono::milliseconds last;
	int fileDescriptor;
	const char* serialPortPath = "/dev/ttyS0";
	
	void openFile(const char *fileName);
	int closeFile();

	struct termios tty;
	
	void openSerialPort();
	void configureSerialPort();
	void closeSerialPort();


	int writeDataToFile(int8_t *buff, uint32_t bufferLength);
	int readFromFile(int8_t *buff, uint32_t bufferLength);

public:

	int8_t doubleToByte(double in);
	double byteToDouble(int8_t in);

	void sendTelegram(double wheel1, double wheel2, double wheel3, double wheel4);
	bool readTelegram(double* buffer);
	
	LFR_UART();
	~LFR_UART();

};

class CommunicatorException: public std::exception
{
	const char* msg;
public:
	CommunicatorException(const char* msg): msg(msg) {}
	virtual const char* what() const throw()
	{
		return msg;
	}
};