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use driver::Attribute;
use driver::AttributeResult;
pub trait Device {
fn get_attribute(&mut self, name: &str) -> &Attribute;
/// Returns the name of the port that the motor is connected to.
fn get_address(&mut self) -> AttributeResult<String> {
self.get_attribute("address").get_str()
}
/// Sends a command to the device controller.
fn set_command(&mut self, command: String) -> AttributeResult<()> {
self.get_attribute("command").set_str(command)
}
/// Returns a space separated list of commands that are supported by the device controller.
fn get_commands(&mut self) -> AttributeResult<Vec<String>> {
self.get_attribute("commands").get_vec()
}
/// Returns the name of the driver that provides this device.
fn get_driver_name(&mut self) -> AttributeResult<String> {
self.get_attribute("driver_name").get_str()
}
}
pub trait Motor: Device {}
pub trait Sensor: Device {
/// Reading the file will give the unscaled raw values in the `value<N>` attributes.
/// Use `bin_data_format`, `num_values` and the individual sensor documentation to determine how to interpret the data.
fn get_bin_data(&mut self) -> AttributeResult<String> {
self.get_attribute("bin_data").get_str()
}
/// Returns the format of the values in `bin_data` for the current mode. Possible values are:
// * u8: Unsigned 8-bit integer (byte)
// * s8: Signed 8-bit integer (sbyte)
// * u16: Unsigned 16-bit integer (ushort)
// * s16: Signed 16-bit integer (short)
// * s16_be: Signed 16-bit integer, big endian
// * s32: Signed 32-bit integer (int)
// * s32_be: Signed 32-bit integer, big endian
// * float: IEEE 754 32-bit floating point (float)
fn get_bin_data_format(&mut self) -> AttributeResult<String> {
self.get_attribute("bin_data_format").get_str()
}
/// Returns the number of decimal places for the values in the `value<N>` attributes of the current mode.
fn get_decimals(&mut self) -> AttributeResult<isize> {
self.get_attribute("decimals").get_int()
}
/// Returns the firmware version of the sensor if available.
/// Currently only NXT/I2C sensors support this.
fn get_fw_version(&mut self) -> AttributeResult<String> {
self.get_attribute("fw_version").get_str()
}
/// Returns the current mode.
/// See the individual sensor documentation for a description of the modes available for each type of sensor.
fn get_mode(&mut self) -> AttributeResult<String> {
self.get_attribute("mode").get_str()
}
/// Sets the sensor to that mode.
/// See the individual sensor documentation for a description of the modes available for each type of sensor.
fn set_mode(&mut self, mode: String) -> AttributeResult<()> {
self.get_attribute("mode").set_str(mode)
}
/// Returns a list of the valid modes for the sensor.
fn get_modes(&mut self) -> AttributeResult<Vec<String>> {
self.get_attribute("modes").get_vec()
}
/// Returns the number of `value<N>` attributes that will return a valid value for the current mode.
fn get_num_values(&mut self) -> AttributeResult<isize> {
self.get_attribute("num_values").get_int()
}
/// Returns the polling period of the sensor in milliseconds.
/// Returns `-EOPNOTSUPP` if changing polling is not supported.
/// Note: Setting poll_ms too high can cause the input port autodetection to fail.
/// If this happens, use the mode attribute of the port to force the port to `nxt-i2c mode`. Values must not be negative.
fn get_poll_ms(&mut self) -> AttributeResult<isize> {
self.get_attribute("poll_ms").get_int()
}
/// Sets the polling period of the sensor in milliseconds.
/// Setting to 0 disables polling.
/// Note: Setting poll_ms too high can cause the input port autodetection to fail.
/// If this happens, use the mode attribute of the port to force the port to `nxt-i2c mode`. Values must not be negative.
fn set_poll_ms(&mut self, poll_ms: isize) -> AttributeResult<()> {
self.get_attribute("poll_ms").set_int(poll_ms)
}
/// Returns the units of the measured value for the current mode. May return empty string if units are unknown.
fn get_units(&mut self) -> AttributeResult<String> {
self.get_attribute("units").get_str()
}
fn get_value0(&mut self) -> AttributeResult<isize> {
self.get_attribute("value0").get_int()
}
fn get_value1(&mut self) -> AttributeResult<isize> {
self.get_attribute("value1").get_int()
}
fn get_value2(&mut self) -> AttributeResult<isize> {
self.get_attribute("value2").get_int()
}
fn get_value3(&mut self) -> AttributeResult<isize> {
self.get_attribute("value3").get_int()
}
fn get_value4(&mut self) -> AttributeResult<isize> {
self.get_attribute("value4").get_int()
}
fn get_value5(&mut self) -> AttributeResult<isize> {
self.get_attribute("value5").get_int()
}
fn get_value6(&mut self) -> AttributeResult<isize> {
self.get_attribute("value6").get_int()
}
fn get_value7(&mut self) -> AttributeResult<isize> {
self.get_attribute("value7").get_int()
}
/// Returns a space delimited string representing sensor-specific text values. Returns `-EOPNOTSUPP` if a sensor does not support text values.
fn get_text_value(&mut self) -> AttributeResult<String> {
self.get_attribute("text_value").get_str()
}
}
pub trait Port {
fn address(&self) -> String;
}
pub enum MotorPort {
OutA,
OutB,
OutC,
OutD,
}
impl Port for MotorPort {
fn address(&self) -> String {
match self {
MotorPort::OutA => String::from("outA"),
MotorPort::OutB => String::from("outB"),
MotorPort::OutC => String::from("outC"),
MotorPort::OutD => String::from("outD"),
}
}
}
pub enum SensorPort {
In1,
In2,
In3,
In4,
}
impl Port for SensorPort {
fn address(&self) -> String {
match self {
SensorPort::In1 => String::from("in1"),
SensorPort::In2 => String::from("in2"),
SensorPort::In3 => String::from("in3"),
SensorPort::In4 => String::from("in4"),
}
}
}