src/ulcdd/oledlib.cc

   1 #include <sys/types.h>
   2
   3 #include <stdio.h>
   4 #include <stdlib.h>
   5 #include <fcntl.h>
   6 #include <unistd.h>
   7 #include <string.h>
   8
   9 #include <robottype.h>
  10 #include <robottype_eb2008.h>
  11 #include <robot_eb2008.h>
  12
  13 #include "oledlib.h"
  14
  15 int oled_set_balls(uint8_t *buff, int buff_size, uint8_t *carousel)
  16 {
  17         if(buff_size < BALLS_MSG_SIZE)
  18                 return -1;
  19
  20         buff[0] = MSG_START;
  21         buff[1] = BALLS_MSG;
  22         buff[2] = carousel[0];
  23         buff[3] = carousel[1];
  24         buff[4] = carousel[2];
  25         buff[5] = carousel[3];
  26         buff[6] = carousel[4];
  27         buff[7] = 0;//FIXME
  28         buff[8] = 0;//FIXME
  29         buff[9] = MSG_TERM;
  30         printf("\n");
  31         return 0;
  32 }
  33
  34 int oled_send_hw_status(uint8_t *buff, int buff_size, uint8_t *status)
  35 {
  36         if(buff_size < HW_STATUS_MSG_SIZE)
  37                 return -1;
  38
  39         buff[0] = MSG_START;
  40         buff[1] = HW_STATUS_MSG;
  41         buff[2] = status[0];
  42         buff[3] = status[1];
  43         buff[4] = status[2];
  44         buff[5] = status[3];
  45         buff[6] = status[4];
  46         buff[7] = status[5];
  47         buff[8] = MSG_TERM;
  48         printf("\n");
  49         return 0;
  50 }
  51
  52 int oled_set_color(uint8_t *buff, int buff_size, uint8_t color)
  53 {
  54         if(buff_size < COLOR_MSG_SIZE)
  55                 return -1;
  56
  57         buff[0] = MSG_START;
  58         buff[1] = COLOR_MSG;
  59         buff[2] = color;
  60         buff[3] = MSG_TERM;
  61         printf("\n");
  62         return 0;
  63 }
  64
  65 int oled_switch_mode(uint8_t *buff, int buff_size, uint8_t mode, uint8_t status)
  66 {
  67         if(buff_size < SWITCH_MODE_MSG_SIZE)
  68                 return -1;
  69
  70         *buff = MSG_START;
  71         *(buff+1) = CHANGE_MODE_REP;
  72         *(buff+2) = status;
  73         *(buff+3) = mode;
  74         *(buff+4) = MSG_TERM;
  75
  76         return 0;
  77 }
  78
  79 int oled_send_voltage(uint8_t *buff, int buff_size, struct pwr_voltage_type *volt)
  80 {
  81
  82         if(buff_size < VOLTAGE_MSG_SIZE)
  83                 return -1;
  84
  85         buff[0] = MSG_START;
  86
  87         buff[1] = VOLTAGE_MSG;
  88
  89         sprintf((char*)(buff+2),"%1.2f",volt->voltage33);
  90
  91         sprintf((char*)(buff+6),"%1.2f",volt->voltage50);
  92
  93         sprintf((char*)(buff+10),"%1.2f",volt->voltage80);
  94
  95         sprintf((char*)(buff+14),"%2.2f",volt->voltageBAT);
  96
  97         *(buff+19) = MSG_TERM;
  98
  99         return 0;
 100 }
 101
 102 int oled_send_position(uint8_t *buff, int buff_size, struct est_pos_type *pos)
 103 {
 104         if(buff_size < POSITION_MSG_SIZE)
 105                 return -1;
 106
 107         buff[0] = MSG_START;
 108
 109         buff[1] = POSITION_MSG;
 110
 111         sprintf((char*)(buff+2),"%1.2f",pos->x);
 112
 113         sprintf((char*)(buff+6),"%1.2f",pos->y);
 114
 115         *(buff+10) = MSG_TERM;
 116
 117         return 0;
 118 }
 119 int oled_send_fsm_state(uint8_t *buff, int buff_size, const char *name, int len)
 120 {
 121         int i;
 122
 123         if(buff_size > FSM_STATE_MSG_SIZE)
 124                 return -1;
 125
 126         buff[0] = MSG_START;
 127
 128         buff[1] = FSM_STATE_MSG;
 129         for(i=0; i<len; i++)
 130                 buff[2+i] = name[i];
 131         buff[2+i] = MSG_TERM;
 132
 133         return 0;
 134 }
 135