AMiRo-OS

#include "ch.hpp"

#include "hal.h"

#include "LightRing.h"

#include <global.hpp>

using namespace chibios_rt;

using namespace amiro;

using namespace types;

extern volatile uint32_t shutdown_now;

extern Global global;

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

    : ControllerAreaNetworkTx(can, CAN::LIGHT_RING_ID),

      ControllerAreaNetworkRx(can, CAN::LIGHT_RING_ID),

      tlc5947(tlc5947),

      memory(memory) {

  chDbgCheck(tlc5947 != NULL, "LightRing");

}

void LightRing::setLightBrightness(int brightness) {

  this->tlc5947->setBrightness(brightness);

  this->tlc5947->update();

}

void LightRing::setLightColor(int index, Color color) {

  this->tlc5947->setColor(index, color);

  this->tlc5947->update();

}

msg_t LightRing::receiveMessage(CANRxFrame *frame) {

  int deviceId = this->decodeDeviceId(frame);

  switch (deviceId) {

    case CAN::SHELL_REPLY_ID(CAN::LIGHT_RING_ID):

      if (frame->DLC > 0) {

        sdWrite(&SD1, frame->data8, frame->DLC);

        return RDY_OK;

      }

      break;

    case CAN::SHELL_QUERY_ID(CAN::LIGHT_RING_ID):

      if (frame->DLC != 0) {

        global.sercanmux1.convCan2Serial(frame->data8, frame->DLC);

        return RDY_OK;

      } else {

        global.sercanmux1.rcvSwitchCmd(this->decodeBoardId(frame));

        return RDY_OK;

      }

      break;

    case CAN::COLOR_ID(0):

    case CAN::COLOR_ID(1):

    case CAN::COLOR_ID(2):

    case CAN::COLOR_ID(3):

    case CAN::COLOR_ID(4):

    case CAN::COLOR_ID(5):

    case CAN::COLOR_ID(6):

    case CAN::COLOR_ID(7):

      if (frame->DLC == 3) {

        int index = deviceId & 0x7;

        Color color(frame->data8[0], frame->data8[1], frame->data8[2]);

        this->setLightColor(index, color);

        return RDY_OK;

      }

      break;

    case CAN::BRIGHTNESS_ID:

      if (frame->DLC == 1) {

        int brightness = frame->data8[0];

        this->setLightBrightness(brightness);

        return RDY_OK;

      }

      break;

    case CAN::BROADCAST_SHUTDOWN:

      if (frame->DLC == 2 && frame->data16[0] == CAN::SHUTDOWN_MAGIC) {

        shutdown_now = 0x4;

        return RDY_OK;

      }

      break;

    case CAN::ROBOT_ID:

      if (frame->DLC == 1) {

        this->robotId = frame->data8[0];

        return RDY_OK;

      }

      break;

    default:

      break;

  }

  return -1;

}

ThreadReference LightRing::start(tprio_t PRIO) {

  this->ControllerAreaNetworkRx::start(PRIO + 1);

  this->ControllerAreaNetworkTx::start(PRIO);

  return NULL;

}

msg_t

LightRing::terminate(void) {

  msg_t ret = RDY_OK;

  this->ControllerAreaNetworkTx::requestTerminate();

  ret |= this->ControllerAreaNetworkTx::wait();

  this->ControllerAreaNetworkRx::requestTerminate();

  ret |= this->ControllerAreaNetworkRx::wait();

  return ret;

}

void LightRing::periodicBroadcast() {

}