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