OpenInterface.h

/*
 Copyright (c) 2011 Andy "Bob" Brockhurst

 Permission is hereby granted, free of charge, to any person obtaining
 a copy of this software and associated documentation files (the
 "Software"), to deal in the Software without restriction, including
 without limitation the rights to use, copy, modify, merge, publish,
 distribute, sublicense, and/or sell copies of the Software, and to
 permit persons to whom the Software is furnished to do so, subject to
 the following conditions:

 The above copyright notice and this permission notice shall be
 included in all copies or substantial portions of the Software.

 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
#ifndef OpenInterface_h
#define OpenInterface_h

//OP Codes
#define OC_START                0x80 //128
#define OC_BAUD                 0x81 //129
#define OC_CONTROL              0x82 //130
#define OC_SAFE                 0x83 //131
#define OC_FULL                 0x84 //132
#define OC_SPOT                 0x86 //134
#define OC_COVER                0x87 //135
#define OC_DEMO                 0x88 //136
#define OC_DRIVE                0x89 //137
#define OC_LOW_SIDE_DRIVERS     0x8a //138
#define OC_LEDS                 0x8b //139
#define OC_SONG                 0x8c //140
#define OC_PLAY_SONG            0x8d //141
#define OC_SENSORS              0x8e //142
#define OC_COVER_AND_DOCK       0x8f //143
#define OC_PWM_LOW_SIDE_DRIVERS 0x90 //144
#define OC_DIRECT_DRIVE         0x91 //145
#define OC_DIGITAL_OUTPUTS      0x93 //147
#define OC_STREAM               0x94 //148
#define OC_QUERY_LIST           0x95 //149
#define OC_PAUSE_RESUME_STREAM  0x96 //150
#define OC_SEND_IR              0x97 //151
#define OC_SCRIPT               0x98 //152
#define OC_PLAY_SCRIPT          0x99 //153
#define OC_SHOW_SCRIPT          0x9a //154
#define OC_WAIT_TIME            0x9b //155
#define OC_WAIT_DISTANCE        0x9c //156
#define OC_WAIT_ANGLE           0x9d //157
#define OC_WAIT_EVENT           0x9e //158
// Sensor Packet Groups
#define PACKET_GRP_7_26   0
#define PACKET_GRP_7_16   1
#define PACKET_GRP_17_20  2
#define PACKET_GRP_21_26  3
#define PACKET_GRP_27_34  4
#define PACKET_GRP_35_42  5
#define PACKET_GRP_7_42   6

// OI Modes
#define OI_MODE_OFF     0
#define OI_MODE_PASSIVE 1
#define OI_MODE_SAFE    2
#define OI_MODE_FULL    3

// Sensors
#define OI_SENSOR_WHEELDROPS_BUMPS  7
#define OI_SENSOR_IR                17
#define OI_SENSOR_BAT_VOLTAGE       22
#define OI_SENSOR_BAT_CURRENT       23
#define OI_SENSOR_BAT_TEMPERATURE   24
#define OI_SENSOR_BAT_CHARGE        25
#define OI_SENSOR_BAT_CHARGE_REMAIN 26
#define OI_SENSOR_OI_MODE           35
#define OI_SENSOR_REQ_VEL           39
#define OI_SENSOR_REQ_RADIUS        40
#define OI_SENSOR_REQ_RIGHT_VEL     41
#define OI_SENSOR_REQ_LEFT_VEL      42

/// Masks wheedrops and bumps OI_SENSOR_REQ_WHEELDROPS_BUMPS (packet id 7)
#define OI_MASK_BUMP_RIGHT  1
#define OI_MASK_BUMP_LEFT   2
#define OI_MASK_DROP_RIGHT  4
#define OI_MASK_DROP_LEFT   8
#define OI_MASK_DROP_CASTER 16

// Other stuff
#define READ_TIMEOUT 1000

#include <inttypes.h>
#include <WProgram.h>

/**
 * Callback functions for user implemented features
 */
typedef void (*callbackWithOneInt)(int);
typedef void (*callbackWithTwoInts)(int, int);
typedef void (*callbackWithByteArr)(uint8_t[]);
typedef void (*callbackWithOneByte)(uint8_t);
typedef void (*callbackWithThreeBytes)(uint8_t, uint8_t, uint8_t);

class OpenInterface
{
private:
  /**
   * Sensors
   */
  int     sensorInt[42];
  uint8_t sensor[42];
  uint8_t songs[16][32];
  uint8_t script[101]; //max 100 command length + 1 for storing the length

  HardwareSerial* serial;

  /**
   * Callbacks
   */
  callbackWithTwoInts    driveDirectCallback;
  callbackWithTwoInts    driveCallback;
  callbackWithByteArr    songCallback;
  callbackWithOneInt     waitDistanceCallback;
  callbackWithOneInt     waitAngleCallback;
  callbackWithOneByte    waitEventCallback;
  callbackWithOneByte    controlLsdOutputCallback;
  callbackWithOneByte    controlDigitalOutputCallback;
  callbackWithOneByte    sendIrCallback;
  callbackWithThreeBytes controlLedsCallback;
  callbackWithThreeBytes controlLsdPwmCallback;

  void handleOpCode(byte);

  void getSensors();

  void queryList();

  void stream();

  void showScript();

  void scriptSet();

  void scriptPlay();

  void song();

  void songPlay();

  void drive();

  void driveDirect();

  void waitAction(callbackWithOneInt);

  void waitTime();

  bool readBytes(uint8_t*, uint8_t);

  bool readByte(uint8_t*);

  bool isDoublePacket(uint8_t packet);

  uint8_t opCodeDataLen(uint8_t opCode);

  void callCallbackWithThreeBytes(callbackWithThreeBytes);

  void callCallbackWithOneByte(callbackWithOneByte);

public:
  /**
   * Constructor
   */
  OpenInterface(HardwareSerial* serialPort = &Serial);

  /**
   * Initialise interface
   */
  void init(long);

  /**
   * Main loop
   */
  void handle();

  /**
   * Register callbacks for user implemented features
   */
  void registerDriveDirect(callbackWithTwoInts f) {driveDirectCallback = f;}
  void registerDrive(callbackWithTwoInts f) {driveCallback = f;}
  void registerSong(callbackWithByteArr f) {songCallback = f;}
  void registerWaitDistance(callbackWithOneInt f) {waitDistanceCallback = f;}
  void registerWaitAngle(callbackWithOneInt f) {waitAngleCallback = f;}
  void registerWaitEvent(callbackWithOneByte f) {waitEventCallback = f;}
  void registerLedControl(callbackWithThreeBytes f) {controlLedsCallback = f;}
  void registerLsdPwmControl(callbackWithThreeBytes f) {controlLsdPwmCallback = f;}
  void registerLsdOutputCallback(callbackWithOneByte f) {controlLsdOutputCallback = f;}
  void registerDigitalOutputCallback(callbackWithOneByte f) {controlDigitalOutputCallback = f;}
  void registerSendIrCallback(callbackWithOneByte f) {sendIrCallback = f;}
  /**
   * Sensor information
   */
  void setSensorValue(uint8_t, uint8_t);
  void setSensorValue(uint8_t, int);

  /**
   * Battery sensor information
   */
  void setBatteryInfo(int, int, int, int, uint8_t);
  void updateBatteryVoltageCurrent(int, int);
  void updateBatteryCurrent(int);
  void updateBatteryVoltage(int);
  void updateBatteryTemperature(uint8_t);
  void updateBatteryChargeEstimate(int);
};

#endif