1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83

//! LEGO EV3 light sensor.

use super::{Sensor, SensorPort};
use crate::{sensor_mode, Attribute, Device, Driver, Ev3Error, Ev3Result};
use std::cell::Cell;

/// LEGO EV3 light sensor.
#[derive(Debug, Clone, Device, Sensor)]
pub struct LightSensor {
    driver: Driver,
    reflect_scale: Cell<Option<f32>>,
    ambient_scale: Cell<Option<f32>>,
}

impl LightSensor {
    fn new(driver: Driver) -> Self {
        Self {
            driver,
            reflect_scale: Cell::new(None),
            ambient_scale: Cell::new(None),
        }
    }

    findable!(
        "lego-sensor",
        ["lego-nxt-light"],
        SensorPort,
        "LightSensor",
        "in"
    );

    sensor_mode!(
        "REFLECT",
        MODE_REFLECT,
        "Reflected light. LED on",
        set_mode_reflect,
        is_mode_reflect
    );
    sensor_mode!(
        "AMBIENT",
        MODE_AMBIENT,
        "Ambient light. LED off",
        set_mode_ambient,
        is_mode_ambient
    );

    /// A measurement of the light intensity, unscaled.
    pub fn get_light_intensity(&self) -> Ev3Result<i32> {
        self.get_value0()
    }

    /// A measurement of the reflected light intensity, as a percentage.
    pub fn get_reflected_light_intensity(&self) -> Ev3Result<f32> {
        let scale_field = self.reflect_scale.get();
        let scale = match scale_field {
            Some(s) => s,
            None => {
                let decimals = self.get_decimals()?;
                let s = 10f32.powi(-decimals);
                self.reflect_scale.set(Some(s));
                s
            }
        };

        Ok((self.get_value0()? as f32) * scale)
    }

    /// A measurement of the ambient light intensity, as a percentage.
    pub fn get_ambient_light_intensity(&self) -> Ev3Result<f32> {
        let scale_field = self.ambient_scale.get();
        let scale = match scale_field {
            Some(s) => s,
            None => {
                let decimals = self.get_decimals()?;
                let s = 10f32.powi(-decimals);
                self.ambient_scale.set(Some(s));
                s
            }
        };

        Ok((self.get_value0()? as f32) * scale)
    }
}