AMiRo-OS

#ifndef AMIRO_CONTROLLER_AREA_NETWORK_RX_H_

#define AMIRO_CONTROLLER_AREA_NETWORK_RX_H_

#include <evtimer.h>

#include <amiro/Color.h>

#include <Types.h>  // ::kinematic

#include <amiro/Constants.h>  // CAN::* macros

namespace amiro {

  class ControllerAreaNetworkRx : public chibios_rt::BaseStaticThread<128> {

  public:

    ControllerAreaNetworkRx(CANDriver *can, const uint8_t boardId);

    virtual ~ControllerAreaNetworkRx() = 0;

    uint16_t getProximityRingValue(int index);

    uint16_t getProximityFloorValue(int index);

    void getActualSpeed(types::kinematic &targetSpeed);

    types::position getOdometry();

    types::power_status& getPowerStatus();

    uint8_t getRobotID();

    int32_t getMagnetometerValue(int axis);

    int16_t getGyroscopeValue(int axis);

    void calibrateProximityRingValues();

    void calibrateProximityFloorValues();

    int rxCmdShell(CANRxFrame *frame);

  protected:

    virtual msg_t main();

    virtual msg_t receiveMessage(CANRxFrame *frame);

    int decodeBoardId(CANRxFrame *frame);

    int decodeDeviceId(CANRxFrame *frame);

    int decodeIndexId(CANRxFrame *frame);

    int boardId;

    uint16_t proximityRingValue[8];

    int actualSpeed[2];

    uint16_t proximityFloorValue[4];

    int32_t magnetometerValue[3];

    int16_t gyroscopeValue[3];

    types::position robotPosition;

    types::power_status powerStatus;

    uint8_t robotId;

    chibios_rt::EvtListener rxFullCanEvtListener;

    chibios_rt::EvtSource *rxFullCanEvtSource;

  private:

    msg_t receiveSensorVal(CANRxFrame *frame);

    CANDriver *canDriver;

    CANConfig canConfig;

  };

}

#endif /* AMIRO_CONTROLLER_AREA_NETWORK_RX_H_ */