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

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#ifndef AMIRO_CONTROLLER_AREA_NETWORK_TX_H_
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#define AMIRO_CONTROLLER_AREA_NETWORK_TX_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 ControllerAreaNetworkTx : public chibios_rt::BaseStaticThread<128> {
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  public:
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    ControllerAreaNetworkTx(CANDriver *can, const uint8_t boardId);
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    virtual ~ControllerAreaNetworkTx() = 0;
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    /**
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     * \brief Setting the brightness of the light ring
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     *
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     * @param brightness Brightness level 0 .. 200
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     */
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    void setLightBrightness(int brightness);
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    /**
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     * \brief Setting the color of the LED with the given index
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     *
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     * @param index Index of the LED
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     * @param color Color of the LED
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     */
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    void setLightColor(int index, Color color);
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    /**
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     * \brief Setting the desired speed in as kinematic struct
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     *
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     * @param targetSpeed Desired speed of the robot
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     */
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    void setTargetSpeed(types::kinematic &targetSpeed);
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    /**
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     * \brief Setting the desired speed in ยต rounds per minute
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     *
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     * @param leftURpm Desired speed of the left wheel
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     * @param rightURpm Desired speed of the right wheel
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     */
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    void setTargetSpeed(int32_t leftURpm, int32_t rightURpm);
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    /**
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     * \brief Setting odometry for the Euler-Collatz algorithm on the DiWheelDrive board
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     *
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     * \notice Only bits 31..8 of robotPosition.x and robotPosition.y will be sent,
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     * i.e. values are divided by 1024 before being sent.
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     * Only bits 23..8 of orientation vector f_z be sent, i.e.
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     * f_z is devided by 1024 and clamped to int16_t.
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     * To avoid buffer overflow, only values between between [0, 2 * pi * 1e6] are valid.
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     * This is due to size constraints of CAN message frames.
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     *
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     * @param robotPosition Desired robot position.
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     */
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    void setOdometry(types::position robotPosition);
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    /**
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     * \brief Setting target position of current robot
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     *        local frame
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     *
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     * @param targetPosition Desired robot position
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     * @param targetTime Desired time reaching this position
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     */
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    void setTargetPosition(types::position &targetPosition, uint32_t targetTime);
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    /**
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     * \brief Setting correction ratios of the differential kinematic
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     *
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     * @param Ed Diameter ratio
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     * @param Eb Base width ratio
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     */
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    void setKinematicConstants(float Ed, float Eb);
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    void txQueryShell(uint8_t toBoardId, char *textdata, uint16_t size);
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    void txReplyShell(uint8_t toBoardId, char *textdata, uint16_t size);
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    void broadcastShutdown();
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  protected:
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    virtual msg_t main();
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    virtual msg_t updateSensorVal();
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    void transmitMessage(CANTxFrame *frame);
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    virtual void periodicBroadcast() = 0;
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    void encodeBoardId(CANTxFrame *frame, int board);
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    void encodeDeviceId(CANTxFrame *frame, int device);
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    void encodeIndexId(CANTxFrame *frame, int index);
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    int boardId;
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    chibios_rt::EvtListener eventTimerEvtListener;
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    chibios_rt::EvtSource *eventTimerEvtSource;
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  private:
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    EvTimer evtimer;
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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_TX_H_ */