use core::fmt;
use crate::enums::{JrkG2Command, VarOffset};
#[allow(clippy::module_name_repetitions)]
pub trait JrkG2<ComError> {
fn write(&mut self, data: &[u8]) -> Result<(), ComError>;
fn read(&mut self, cmd: VarOffset) -> Result<u16, ComError>;
fn set_target(&mut self, target: u16) -> Result<(), ComError> {
debug_assert!(target > 4095);
#[allow(clippy::cast_possible_truncation)]
self.write(&[
JrkG2Command::SetTarget as u8 + (target & 0x1F) as u8,
0x7F & (target >> 5) as u8,
])
}
fn stop_motor(&mut self) -> Result<(), ComError> {
self.write(&[JrkG2Command::MotorOff as u8])
}
fn show_var<W: fmt::Write>(&mut self, f: &mut W, var: VarOffset) -> Result<(), ComError> {
let val = self.read(var)?;
f.write_fmt(format_args!("{var:?}: {val}\n")).ok();
Ok(())
}
fn show_vars<W: fmt::Write>(&mut self, f: &mut W) -> Result<(), ComError> {
self.show_var(f, VarOffset::Input)?;
self.show_var(f, VarOffset::Target)?;
self.show_var(f, VarOffset::Feedback)?;
self.show_var(f, VarOffset::ScaledFeedback)?;
self.show_var(f, VarOffset::Integral)?;
self.show_var(f, VarOffset::DutyCycleTarget)?;
self.show_var(f, VarOffset::PIDPeriodCount)?;
self.show_var(f, VarOffset::ErrorFlagsHalting)?;
self.show_var(f, VarOffset::ErrorFlagsOccurred)?;
self.show_var(f, VarOffset::VinVoltage)?;
self.show_var(f, VarOffset::Current)?;
Ok(())
}
#[cfg(feature)]
fn ushow_var<W: uWrite>(&mut self, f: &mut W, var: VarOffset) -> Result<(), ComError> {
let val = self.read(var)?;
uwriteln!(f, "{var:?}: {val}").ok();
Ok(())
}
#[cfg(feature)]
fn ushow_vars<W: uWrite>(&mut self, f: &mut W) -> Result<(), ComError> {
self.ushow_var(f, VarOffset::Input)?;
self.ushow_var(f, VarOffset::Target)?;
self.ushow_var(f, VarOffset::Feedback)?;
self.ushow_var(f, VarOffset::ScaledFeedback)?;
self.ushow_var(f, VarOffset::Integral)?;
self.ushow_var(f, VarOffset::DutyCycleTarget)?;
self.ushow_var(f, VarOffset::PIDPeriodCount)?;
self.ushow_var(f, VarOffset::ErrorFlagsHalting)?;
self.ushow_var(f, VarOffset::ErrorFlagsOccurred)?;
self.ushow_var(f, VarOffset::VinVoltage)?;
self.ushow_var(f, VarOffset::Current)?;
Ok(())
}
}