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/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

/**

 * @file usb_serial.cpp

 * @brief USB_Serial

 *

 * Implementation of functions for USB/Serial use.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Lalitha Ganesan

 **/

#include <ros/ros.h>

#include "usb_serial.h"

/**

 * @defgroup usb_serial USB_Serial

 * @brief Functions for using the USB/Serial Ports

 *

 * @{

 **/

/* USB/Serial state variables */

int data; /**< The USB serial data received. */

//int num_data_bits; /**< The number of bits that store data. */

//int num_stop_bits; /**< The number of bits that indicate the end of data. */

//int parity_type; /**< The parity type of the data being sent over. */

//int baud_rate; /**< The baud rate of the USB/Serial (bits/sec). */

/**

 * @brief Sends USB/Serial data.

 *

 * Sets the state vars based on subscription to the serial_data_out topic.

 */

void send_serial_data(const usb_serial::serial_data::ConstPtr& msg)

{

    data = msg->data;

    //num_data_bits = msg->num_data_bits;

    //num_stop_bits = msg->num_stop_bits;

    //parity_type = msg->parity_type;

    //baud_rate = msg->baud_rate;

    // Write the data to hardware here

}

/**

 * @brief USB_Serial driver. This is a ROS node that controls USB/Serial 

 *        port data.

 *

 * This is the main function for the usb_serial node. It is run when the node

 * starts and initializes USB/Serial ports. It then subscribes to the

 * serial_data_out topic, and publishes to the serial_data_in message.

 */

int main(int argc, char **argv)

{

    /* Initialize in ROS the usb_serial driver node */

    ros::init(argc, argv, "usb_serial_driver");

    ros::NodeHandle n;

    /* Subscribe to the topic of outgoing serial data (which will be written

     * to the hardware) and if we receive any, send it via serial_data_out. */

    ros::Subscriber sub = n.subscribe("serial_data_out",

                                      QUEUE_SIZE, send_serial_data);

    /* Publish ingoing serial data messages back to the library. As part of

     * its main() function, this node reads hardware data and if a new

     * serial message is found, this publisher sends it inbound over ROS */

    ros::Publisher pub = n.advertise<usb_serial::serial_data>("serial_data_in",                                                               QUEUE_SIZE);

    // Initialize hardware for USB/Serial ports

    ROS_INFO("Ready to set USB/Serial. [Unimplemented]");

    // Get and publish serial data here.

    ros::spin();

    return 0;

}

/** @} */