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amiro-os / include / amiro / ControllerAreaNetworkRx.h @ 58fe0e0b

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#ifndef AMIRO_CONTROLLER_AREA_NETWORK_RX_H_
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#define AMIRO_CONTROLLER_AREA_NETWORK_RX_H_
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#include <evtimer.h>
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#include <amiro/Color.h>
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#include <Types.h>  // ::kinematic
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#include <amiro/Constants.h>  // CAN::* macros
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namespace amiro {
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  class ControllerAreaNetworkRx : public chibios_rt::BaseStaticThread<128> {
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  public:
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    ControllerAreaNetworkRx(CANDriver *can, const uint8_t boardId);
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    virtual ~ControllerAreaNetworkRx() = 0;
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    uint16_t getProximityRingValue(int index);
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    uint16_t getProximityFloorValue(int index);
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    void getActualSpeed(types::kinematic &targetSpeed);
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    types::position getOdometry();
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    types::power_status& getPowerStatus();
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    uint8_t getRobotID();
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    void calibrateProximityRingValues();
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    void calibrateProximityFloorValues();
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    int rxCmdShell(CANRxFrame *frame);
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  protected:
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    virtual msg_t main();
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    virtual msg_t receiveMessage(CANRxFrame *frame);
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    int decodeBoardId(CANRxFrame *frame);
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    int decodeDeviceId(CANRxFrame *frame);
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    int decodeIndexId(CANRxFrame *frame);
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    int boardId;
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    uint16_t proximityRingValue[8];
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    int actualSpeed[2];
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    uint16_t proximityFloorValue[4];
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    types::position robotPosition;
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    types::power_status powerStatus;
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    uint8_t robotId;
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    chibios_rt::EvtListener rxFullCanEvtListener;
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    chibios_rt::EvtSource *rxFullCanEvtSource;
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  private:
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    msg_t receiveSensorVal(CANRxFrame *frame);
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    CANDriver *canDriver;
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    CANConfig canConfig;
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  };
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}
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#endif /* AMIRO_CONTROLLER_AREA_NETWORK_RX_H_ */
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