AMiRo-OS

#ifndef _AMIRO_LIGTH_RING_H_

#define _AMIRO_LIGTH_RING_H_

#include <amiro/Constants.h>

#include <amiro/ControllerAreaNetworkRx.h>

#include <amiro/ControllerAreaNetworkTx.h>

#include <amiro/leds/tlc5947.hpp>

#include <amiro/FileSystemInputOutput/FSIOLightRing.hpp>

using namespace chibios_rt;

namespace amiro {

  class LightRing : public ControllerAreaNetworkTx, public ControllerAreaNetworkRx {

  public:

    LightRing(CANDriver *can, TLC5947 *tlc5947, fileSystemIo::FSIOLightRing *memory);

    void setLightBrightness(int brightness);

    void setLightColor(int index, Color color);

    /** \brief Handle the termination of ControllerAreaNetworkTx and ControllerAreaNetworkRx threads

     *         This includes waiting until the threads have terminated, thus this function might block a relatively long time.

     */

    msg_t terminate(void);

    /** \brief Handle the start of ControllerAreaNetworkTx and ControllerAreaNetworkRx threads */

    ThreadReference start(tprio_t PRIO);

  protected:

    virtual msg_t receiveMessage(CANRxFrame *frame);

    virtual void periodicBroadcast();

  private:

    TLC5947 *tlc5947;

    fileSystemIo::FSIOLightRing *memory;

  };

}

#endif /* _AMIRO_LIGTH_RING_H_ */

/** @} */