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amiro-os / devices / LightRing / LightRing.cpp @ 58fe0e0b

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#include "ch.hpp"
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#include "hal.h"
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#include "LightRing.h"
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#include <global.hpp>
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using namespace chibios_rt;
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using namespace amiro;
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using namespace types;
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extern volatile uint32_t shutdown_now;
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extern Global global;
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LightRing::LightRing(CANDriver *can, TLC5947 *tlc5947, fileSystemIo::FSIOLightRing *memory)
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    : ControllerAreaNetworkTx(can, CAN::LIGHT_RING_ID),
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      ControllerAreaNetworkRx(can, CAN::LIGHT_RING_ID),
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      tlc5947(tlc5947),
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      memory(memory) {
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  chDbgCheck(tlc5947 != NULL, "LightRing");
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}
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void LightRing::setLightBrightness(int brightness) {
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  this->tlc5947->setBrightness(brightness);
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  this->tlc5947->update();
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}
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void LightRing::setLightColor(int index, Color color) {
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  this->tlc5947->setColor(index, color);
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  this->tlc5947->update();
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}
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msg_t LightRing::receiveMessage(CANRxFrame *frame) {
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  int deviceId = this->decodeDeviceId(frame);
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  switch (deviceId) {
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    case CAN::SHELL_REPLY_ID(CAN::LIGHT_RING_ID):
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      if (frame->DLC > 0) {
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        sdWrite(&SD1, frame->data8, frame->DLC);
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        return RDY_OK;
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      }
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      break;
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    case CAN::SHELL_QUERY_ID(CAN::LIGHT_RING_ID):
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      if (frame->DLC != 0) {
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        global.sercanmux1.convCan2Serial(frame->data8, frame->DLC);
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        return RDY_OK;
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      } else {
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        global.sercanmux1.rcvSwitchCmd(this->decodeBoardId(frame));
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        return RDY_OK;
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      }
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      break;
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    case CAN::COLOR_ID(0):
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    case CAN::COLOR_ID(1):
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    case CAN::COLOR_ID(2):
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    case CAN::COLOR_ID(3):
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    case CAN::COLOR_ID(4):
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    case CAN::COLOR_ID(5):
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    case CAN::COLOR_ID(6):
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    case CAN::COLOR_ID(7):
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      if (frame->DLC == 3) {
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        int index = deviceId & 0x7;
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        Color color(frame->data8[0], frame->data8[1], frame->data8[2]);
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        this->setLightColor(index, color);
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        return RDY_OK;
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      }
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      break;
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    case CAN::BRIGHTNESS_ID:
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      if (frame->DLC == 1) {
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        int brightness = frame->data8[0];
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        this->setLightBrightness(brightness);
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        return RDY_OK;
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      }
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      break;
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    case CAN::BROADCAST_SHUTDOWN:
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      if (frame->DLC == 2 && frame->data16[0] == CAN::SHUTDOWN_MAGIC) {
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        shutdown_now = 0x4;
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        return RDY_OK;
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      }
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      break;
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    case CAN::ROBOT_ID:
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      if (frame->DLC == 1) {
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        this->robotId = frame->data8[0];
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        return RDY_OK;
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      }
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      break;
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    default:
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      break;
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  }
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  return -1;
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}
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ThreadReference LightRing::start(tprio_t PRIO) {
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  this->ControllerAreaNetworkRx::start(PRIO + 1);
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  this->ControllerAreaNetworkTx::start(PRIO);
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  return NULL;
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}
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msg_t
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LightRing::terminate(void) {
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  msg_t ret = RDY_OK;
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  this->ControllerAreaNetworkTx::requestTerminate();
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  ret |= this->ControllerAreaNetworkTx::wait();
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  this->ControllerAreaNetworkRx::requestTerminate();
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  ret |= this->ControllerAreaNetworkRx::wait();
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  return ret;
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}
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void LightRing::periodicBroadcast() {
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}