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use std::thread;
use std::time::Duration;
use std::str;
use std::str::Utf8Error;
use std::result;
use thiserror::Error;
use embedded_hal as hal;
use hal::blocking::i2c;
use std::error::Error as StdError;
#[derive(Error, Debug)]
pub enum EzoBoardError<E: StdError + 'static> {
#[error(transparent)]
I2c(#[from] E),
#[error(transparent)]
Utf8Error(Utf8Error),
#[error("Read buffer is not ready")]
NotReady,
#[error("No Data To Send")]
NoDataToSend,
#[error("Syntax Error")]
SyntaxError,
#[error("unknown EzoReadError")]
Unknown,
}
pub struct EzoBoard<I2C> {
i2c: I2C,
address: u8
}
impl<I2C, E> EzoBoard<I2C>
where I2C: i2c::Read<Error= E> + i2c::Write<Error = E>, E: std::error::Error {
pub fn new(i2c:I2C, address: u8) -> Self {
EzoBoard {
i2c,
address
}
}
pub fn send_command(&mut self, command: &[u8], delay: Duration) -> result::Result<(), EzoBoardError<E>> {
self.i2c.write(self.address, command)?;
if delay != Duration::new(0, 0) {
thread::sleep(delay);
}
Ok(())
}
pub fn read_response(&mut self) -> result::Result<String, EzoBoardError<E>> {
let mut buff : [u8; 40] = [0; 40];
self.i2c.read(self.address,&mut buff[..])?;
match &buff[0] {
1 => Ok(str::from_utf8(&buff[1..]).map_err(|e| EzoBoardError::Utf8Error(e))?.to_string()),
2 => Err(EzoBoardError::SyntaxError),
254 => Err(EzoBoardError::NotReady),
255 => Err(EzoBoardError::NoDataToSend),
_ => Err(EzoBoardError::Unknown)
}
}
}