src/uoled/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.h>
  11 #include <robot.h>
  12 #include <robomath.h>
  13
  14 #include "oledlib.h"
  15
  16 int oled_send_hw_status(uint8_t *buff, int buff_size, uint8_t *status)
  17 {
  18         if(buff_size < HW_STATUS_MSG_SIZE)
  19                 return -1;
  20
  21         buff[0] = HW_STATUS_MSG;
  22         buff[1] = status[0];
  23         buff[2] = status[1];
  24         buff[3] = status[2];
  25         buff[4] = status[3];
  26         buff[5] = status[4];
  27         buff[6] = status[5];
  28         buff[7] = status[6];
  29         buff[8] = status[7];
  30         buff[9] = MSG_TERM;
  31         return HW_STATUS_MSG_SIZE;
  32 }
  33
  34 int oled_set_color(uint8_t *buff, int buff_size, uint8_t color)
  35 {
  36         if(buff_size < COLOR_MSG_SIZE)
  37                 return -1;
  38
  39         buff[0] = COLOR_MSG;
  40         buff[1] = color;
  41         buff[2] = MSG_TERM;
  42         return COLOR_MSG_SIZE;
  43 }
  44
  45 int oled_send_game_conf(uint8_t *buff, int buff_size, uint8_t conf)
  46 {
  47         if(buff_size < CONF_MSG_SIZE)
  48                 return -1;
  49
  50         buff[0] = GAME_CONF_MSG;
  51         sprintf((char*)buff+1, "%1d", conf);
  52         sprintf((char*)buff+2, "%1d", conf);
  53         buff[3] = MSG_TERM;
  54         return CONF_MSG_SIZE;
  55 }
  56
  57 int oled_switch_mode(uint8_t *buff, int buff_size, uint8_t mode, uint8_t status)
  58 {
  59         if(buff_size < SWITCH_MODE_MSG_SIZE)
  60                 return -1;
  61
  62         *(buff+0) = CHANGE_MODE_REP;
  63         *(buff+1) = status;
  64         *(buff+2) = mode;
  65         *(buff+3) = MSG_TERM;
  66
  67         return SWITCH_MODE_MSG_SIZE;
  68 }
  69
  70 int oled_send_voltage(uint8_t *buff, int buff_size, struct pwr_voltage_type *volt)
  71 {
  72
  73         if(buff_size < VOLTAGE_MSG_SIZE)
  74                 return -1;
  75
  76         buff[0] = VOLTAGE_MSG;
  77
  78         sprintf((char*)(buff+1),"%1.2f",volt->voltage33);
  79
  80         sprintf((char*)(buff+5),"%1.2f",volt->voltage50);
  81
  82         sprintf((char*)(buff+9),"%1.2f",volt->voltage80);
  83
  84         sprintf((char*)(buff+13),"%2.2f",volt->voltageBAT);
  85
  86         *(buff+18) = MSG_TERM;
  87
  88         return VOLTAGE_MSG_SIZE;
  89 }
  90
  91 int oled_send_position(uint8_t *buff, int buff_size, struct est_pos_type *pos)
  92 {
  93         if(buff_size < POSITION_MSG_SIZE)
  94                 return -1;
  95
  96         buff[0] = POSITION_MSG;
  97
  98         sprintf((char*)(buff+1),"%1.2f",pos->x);
  99
 100         sprintf((char*)(buff+5),"%1.2f",pos->y);
 101
 102         sprintf((char*)(buff+9),"%3.0f ",RAD2DEG(pos->phi));
 103
 104         *(buff+13) = MSG_TERM;
 105
 106         return POSITION_MSG_SIZE;
 107 }
 108
 109 int oled_send_fsm_state(uint8_t *buff, int buff_size, const char *name, int len, uint8_t type)
 110 {
 111         memset(buff, ' ', FSM_STATE_MSG_SIZE);
 112         buff[0] = type;
 113         strncpy((char*)buff+1, name, (len > 20) ? 20 : len);
 114         buff[FSM_STATE_MSG_SIZE-1] = MSG_TERM;
 115
 116         return FSM_STATE_MSG_SIZE;
 117 }
 118
 119 int oled_send_pucks_nr(uint8_t *buff, int buff_size, char nr)
 120 {
 121         if(buff_size < PUCKS_MSG_SIZE)
 122                 return -1;
 123
 124         buff[0] = PUCKS_MSG;
 125         sprintf((char*)buff+1, "%1d", nr);
 126         buff[2] = MSG_TERM;
 127
 128         return PUCKS_MSG_SIZE;
 129 }
 130
 131 int oled_send_lift_pos(uint8_t *buff, int buff_size, uint16_t pos)
 132 {
 133         if(buff_size < LIFT_MSG_SIZE)
 134                 return -1;
 135
 136         buff[0] = LIFT_MSG;
 137         sprintf((char*)buff+1, "%4d", pos);
 138         buff[5] = MSG_TERM;
 139
 140         return LIFT_MSG_SIZE;
 141 }
 142