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         return 0;
  31 }
  32
  33 int oled_send_hw_status(uint8_t *buff, int buff_size, uint8_t *status)
  34 {
  35         if(buff_size < HW_STATUS_MSG_SIZE)
  36                 return -1;
  37
  38         buff[0] = MSG_START;
  39         buff[1] = HW_STATUS_MSG;
  40         buff[2] = status[0];
  41         buff[3] = status[1];
  42         buff[4] = status[2];
  43         buff[5] = status[3];
  44         buff[6] = status[4];
  45         buff[7] = status[5];
  46         buff[8] = MSG_TERM;
  47         return 0;
  48 }
  49
  50 int oled_set_color(uint8_t *buff, int buff_size, uint8_t color)
  51 {
  52         if(buff_size < COLOR_MSG_SIZE)
  53                 return -1;
  54
  55         buff[0] = MSG_START;
  56         buff[1] = COLOR_MSG;
  57         buff[2] = color;
  58         buff[3] = MSG_TERM;
  59         return 0;
  60 }
  61
  62 int oled_switch_mode(uint8_t *buff, int buff_size, uint8_t mode, uint8_t status)
  63 {
  64         if(buff_size < SWITCH_MODE_MSG_SIZE)
  65                 return -1;
  66
  67         *buff = MSG_START;
  68         *(buff+1) = CHANGE_MODE_REP;
  69         *(buff+2) = status;
  70         *(buff+3) = mode;
  71         *(buff+4) = MSG_TERM;
  72
  73         return 0;
  74 }
  75
  76 int oled_send_voltage(uint8_t *buff, int buff_size, struct pwr_voltage_type *volt)
  77 {
  78
  79         if(buff_size < VOLTAGE_MSG_SIZE)
  80                 return -1;
  81
  82         buff[0] = MSG_START;
  83
  84         buff[1] = VOLTAGE_MSG;
  85
  86         sprintf((char*)(buff+2),"%1.2f",volt->voltage33);
  87
  88         sprintf((char*)(buff+6),"%1.2f",volt->voltage50);
  89
  90         sprintf((char*)(buff+10),"%1.2f",volt->voltage80);
  91
  92         sprintf((char*)(buff+14),"%2.2f",volt->voltageBAT);
  93
  94         *(buff+19) = MSG_TERM;
  95
  96         return 0;
  97 }
  98
  99 int oled_send_position(uint8_t *buff, int buff_size, struct est_pos_type *pos)
 100 {
 101         if(buff_size < POSITION_MSG_SIZE)
 102                 return -1;
 103
 104         buff[0] = MSG_START;
 105
 106         buff[1] = POSITION_MSG;
 107
 108         sprintf((char*)(buff+2),"%1.2f",pos->x);
 109
 110         sprintf((char*)(buff+6),"%1.2f",pos->y);
 111
 112         *(buff+10) = MSG_TERM;
 113
 114         return 0;
 115 }
 116 int oled_send_fsm_state(uint8_t *buff, int buff_size, const char *name, int len)
 117 {
 118         int i;
 119
 120         if(buff_size > FSM_STATE_MSG_SIZE)
 121                 return -1;
 122
 123         buff[0] = MSG_START;
 124
 125         buff[1] = FSM_STATE_MSG;
 126         for(i=0; i<len; i++)
 127                 buff[2+i] = name[i];
 128         buff[2+i] = MSG_TERM;
 129
 130         return 0;
 131 }
 132