AMiRo-OS

#ifndef AMIRO_CONTROLLER_AREA_NETWORK_TX_H_

#define AMIRO_CONTROLLER_AREA_NETWORK_TX_H_

#include <evtimer.h>

#include <amiro/Color.h>

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

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

namespace amiro {

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

  public:

    ControllerAreaNetworkTx(CANDriver *can, const uint8_t boardId);

    virtual ~ControllerAreaNetworkTx() = 0;

    /**

     * \brief Setting the brightness of the light ring

     *

     * @param brightness Brightness level 0 .. 200

     */

    void setLightBrightness(int brightness);

    /**

     * \brief Setting the color of the LED with the given index

     *

     * @param index Index of the LED

     * @param color Color of the LED

     */

    void setLightColor(int index, Color color);

    /**

     * \brief Setting the desired speed in as kinematic struct

     *

     * @param targetSpeed Desired speed of the robot

     */

    void setTargetSpeed(types::kinematic &targetSpeed);

    /**

     * \brief Setting the desired speed in µ rounds per minute

     *

     * @param leftURpm Desired speed of the left wheel

     * @param rightURpm Desired speed of the right wheel

     */

    void setTargetSpeed(int32_t leftURpm, int32_t rightURpm);

    /**

     * \brief Setting odometry for the Euler-Collatz algorithm on the DiWheelDrive board

     *

     * \notice Only bits 31..8 of robotPosition.x and robotPosition.y will be sent,

     * i.e. values are divided by 1024 before being sent.

     * Only bits 23..8 of orientation vector f_z be sent, i.e.

     * f_z is devided by 1024 and clamped to int16_t.

     * To avoid buffer overflow, only values between between [0, 2 * pi * 1e6] are valid.

     * This is due to size constraints of CAN message frames.

     *

     * @param robotPosition Desired robot position.

     */

    void setOdometry(types::position robotPosition);

    /**

     * \brief Setting target position of current robot

     *        local frame

     *

     * @param targetPosition Desired robot position

     * @param targetTime Desired time reaching this position

     */

    void setTargetPosition(types::position &targetPosition, uint32_t targetTime);

    /**

     * \brief Setting correction ratios of the differential kinematic

     *

     * @param Ed Diameter ratio

     * @param Eb Base width ratio

     */

    void setKinematicConstants(float Ed, float Eb);

    void txQueryShell(uint8_t toBoardId, char *textdata, uint16_t size);

    void txReplyShell(uint8_t toBoardId, char *textdata, uint16_t size);

    void broadcastShutdown();

  protected:

    virtual msg_t main();

    virtual msg_t updateSensorVal();

    void transmitMessage(CANTxFrame *frame);

    virtual void periodicBroadcast() = 0;

    void encodeBoardId(CANTxFrame *frame, int board);

    void encodeDeviceId(CANTxFrame *frame, int device);

    void encodeIndexId(CANTxFrame *frame, int index);

    int boardId;

    chibios_rt::EvtListener eventTimerEvtListener;

    chibios_rt::EvtSource *eventTimerEvtSource;

  private:

    EvTimer evtimer;

    CANDriver *canDriver;

    CANConfig canConfig;

  };

}

#endif /* AMIRO_CONTROLLER_AREA_NETWORK_TX_H_ */