use crate::{
byte_converter::*, converting_callback_receiver::ConvertingCallbackReceiver, converting_receiver::ConvertingReceiver, device::*,
ip_connection::GetRequestSender,
};
pub enum CompassBrickletFunction {
GetHeading,
SetHeadingCallbackConfiguration,
GetHeadingCallbackConfiguration,
GetMagneticFluxDensity,
SetMagneticFluxDensityCallbackConfiguration,
GetMagneticFluxDensityCallbackConfiguration,
SetConfiguration,
GetConfiguration,
SetCalibration,
GetCalibration,
GetSpitfpErrorCount,
SetBootloaderMode,
GetBootloaderMode,
SetWriteFirmwarePointer,
WriteFirmware,
SetStatusLedConfig,
GetStatusLedConfig,
GetChipTemperature,
Reset,
WriteUid,
ReadUid,
GetIdentity,
CallbackHeading,
CallbackMagneticFluxDensity,
}
impl From<CompassBrickletFunction> for u8 {
fn from(fun: CompassBrickletFunction) -> Self {
match fun {
CompassBrickletFunction::GetHeading => 1,
CompassBrickletFunction::SetHeadingCallbackConfiguration => 2,
CompassBrickletFunction::GetHeadingCallbackConfiguration => 3,
CompassBrickletFunction::GetMagneticFluxDensity => 5,
CompassBrickletFunction::SetMagneticFluxDensityCallbackConfiguration => 6,
CompassBrickletFunction::GetMagneticFluxDensityCallbackConfiguration => 7,
CompassBrickletFunction::SetConfiguration => 9,
CompassBrickletFunction::GetConfiguration => 10,
CompassBrickletFunction::SetCalibration => 11,
CompassBrickletFunction::GetCalibration => 12,
CompassBrickletFunction::GetSpitfpErrorCount => 234,
CompassBrickletFunction::SetBootloaderMode => 235,
CompassBrickletFunction::GetBootloaderMode => 236,
CompassBrickletFunction::SetWriteFirmwarePointer => 237,
CompassBrickletFunction::WriteFirmware => 238,
CompassBrickletFunction::SetStatusLedConfig => 239,
CompassBrickletFunction::GetStatusLedConfig => 240,
CompassBrickletFunction::GetChipTemperature => 242,
CompassBrickletFunction::Reset => 243,
CompassBrickletFunction::WriteUid => 248,
CompassBrickletFunction::ReadUid => 249,
CompassBrickletFunction::GetIdentity => 255,
CompassBrickletFunction::CallbackHeading => 4,
CompassBrickletFunction::CallbackMagneticFluxDensity => 8,
}
}
}
pub const COMPASS_BRICKLET_THRESHOLD_OPTION_OFF: char = 'x';
pub const COMPASS_BRICKLET_THRESHOLD_OPTION_OUTSIDE: char = 'o';
pub const COMPASS_BRICKLET_THRESHOLD_OPTION_INSIDE: char = 'i';
pub const COMPASS_BRICKLET_THRESHOLD_OPTION_SMALLER: char = '<';
pub const COMPASS_BRICKLET_THRESHOLD_OPTION_GREATER: char = '>';
pub const COMPASS_BRICKLET_DATA_RATE_100HZ: u8 = 0;
pub const COMPASS_BRICKLET_DATA_RATE_200HZ: u8 = 1;
pub const COMPASS_BRICKLET_DATA_RATE_400HZ: u8 = 2;
pub const COMPASS_BRICKLET_DATA_RATE_600HZ: u8 = 3;
pub const COMPASS_BRICKLET_BOOTLOADER_MODE_BOOTLOADER: u8 = 0;
pub const COMPASS_BRICKLET_BOOTLOADER_MODE_FIRMWARE: u8 = 1;
pub const COMPASS_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT: u8 = 2;
pub const COMPASS_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT: u8 = 3;
pub const COMPASS_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT: u8 = 4;
pub const COMPASS_BRICKLET_BOOTLOADER_STATUS_OK: u8 = 0;
pub const COMPASS_BRICKLET_BOOTLOADER_STATUS_INVALID_MODE: u8 = 1;
pub const COMPASS_BRICKLET_BOOTLOADER_STATUS_NO_CHANGE: u8 = 2;
pub const COMPASS_BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT: u8 = 3;
pub const COMPASS_BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT: u8 = 4;
pub const COMPASS_BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH: u8 = 5;
pub const COMPASS_BRICKLET_STATUS_LED_CONFIG_OFF: u8 = 0;
pub const COMPASS_BRICKLET_STATUS_LED_CONFIG_ON: u8 = 1;
pub const COMPASS_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT: u8 = 2;
pub const COMPASS_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS: u8 = 3;
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct HeadingCallbackConfiguration {
pub period: u32,
pub value_has_to_change: bool,
pub option: char,
pub min: i16,
pub max: i16,
}
impl FromByteSlice for HeadingCallbackConfiguration {
fn bytes_expected() -> usize { 10 }
fn from_le_byte_slice(bytes: &[u8]) -> HeadingCallbackConfiguration {
HeadingCallbackConfiguration {
period: <u32>::from_le_byte_slice(&bytes[0..4]),
value_has_to_change: <bool>::from_le_byte_slice(&bytes[4..5]),
option: <char>::from_le_byte_slice(&bytes[5..6]),
min: <i16>::from_le_byte_slice(&bytes[6..8]),
max: <i16>::from_le_byte_slice(&bytes[8..10]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct MagneticFluxDensity {
pub x: i32,
pub y: i32,
pub z: i32,
}
impl FromByteSlice for MagneticFluxDensity {
fn bytes_expected() -> usize { 12 }
fn from_le_byte_slice(bytes: &[u8]) -> MagneticFluxDensity {
MagneticFluxDensity {
x: <i32>::from_le_byte_slice(&bytes[0..4]),
y: <i32>::from_le_byte_slice(&bytes[4..8]),
z: <i32>::from_le_byte_slice(&bytes[8..12]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct MagneticFluxDensityCallbackConfiguration {
pub period: u32,
pub value_has_to_change: bool,
}
impl FromByteSlice for MagneticFluxDensityCallbackConfiguration {
fn bytes_expected() -> usize { 5 }
fn from_le_byte_slice(bytes: &[u8]) -> MagneticFluxDensityCallbackConfiguration {
MagneticFluxDensityCallbackConfiguration {
period: <u32>::from_le_byte_slice(&bytes[0..4]),
value_has_to_change: <bool>::from_le_byte_slice(&bytes[4..5]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct MagneticFluxDensityEvent {
pub x: i32,
pub y: i32,
pub z: i32,
}
impl FromByteSlice for MagneticFluxDensityEvent {
fn bytes_expected() -> usize { 12 }
fn from_le_byte_slice(bytes: &[u8]) -> MagneticFluxDensityEvent {
MagneticFluxDensityEvent {
x: <i32>::from_le_byte_slice(&bytes[0..4]),
y: <i32>::from_le_byte_slice(&bytes[4..8]),
z: <i32>::from_le_byte_slice(&bytes[8..12]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct Configuration {
pub data_rate: u8,
pub background_calibration: bool,
}
impl FromByteSlice for Configuration {
fn bytes_expected() -> usize { 2 }
fn from_le_byte_slice(bytes: &[u8]) -> Configuration {
Configuration {
data_rate: <u8>::from_le_byte_slice(&bytes[0..1]),
background_calibration: <bool>::from_le_byte_slice(&bytes[1..2]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct Calibration {
pub offset: [i16; 3],
pub gain: [i16; 3],
}
impl FromByteSlice for Calibration {
fn bytes_expected() -> usize { 12 }
fn from_le_byte_slice(bytes: &[u8]) -> Calibration {
Calibration { offset: <[i16; 3]>::from_le_byte_slice(&bytes[0..6]), gain: <[i16; 3]>::from_le_byte_slice(&bytes[6..12]) }
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct SpitfpErrorCount {
pub error_count_ack_checksum: u32,
pub error_count_message_checksum: u32,
pub error_count_frame: u32,
pub error_count_overflow: u32,
}
impl FromByteSlice for SpitfpErrorCount {
fn bytes_expected() -> usize { 16 }
fn from_le_byte_slice(bytes: &[u8]) -> SpitfpErrorCount {
SpitfpErrorCount {
error_count_ack_checksum: <u32>::from_le_byte_slice(&bytes[0..4]),
error_count_message_checksum: <u32>::from_le_byte_slice(&bytes[4..8]),
error_count_frame: <u32>::from_le_byte_slice(&bytes[8..12]),
error_count_overflow: <u32>::from_le_byte_slice(&bytes[12..16]),
}
}
}
#[derive(Clone, Debug, Default, PartialEq, Eq, Hash)]
pub struct Identity {
pub uid: String,
pub connected_uid: String,
pub position: char,
pub hardware_version: [u8; 3],
pub firmware_version: [u8; 3],
pub device_identifier: u16,
}
impl FromByteSlice for Identity {
fn bytes_expected() -> usize { 25 }
fn from_le_byte_slice(bytes: &[u8]) -> Identity {
Identity {
uid: <String>::from_le_byte_slice(&bytes[0..8]),
connected_uid: <String>::from_le_byte_slice(&bytes[8..16]),
position: <char>::from_le_byte_slice(&bytes[16..17]),
hardware_version: <[u8; 3]>::from_le_byte_slice(&bytes[17..20]),
firmware_version: <[u8; 3]>::from_le_byte_slice(&bytes[20..23]),
device_identifier: <u16>::from_le_byte_slice(&bytes[23..25]),
}
}
}
#[derive(Clone)]
pub struct CompassBricklet {
device: Device,
}
impl CompassBricklet {
pub const DEVICE_IDENTIFIER: u16 = 2153;
pub const DEVICE_DISPLAY_NAME: &'static str = "Compass Bricklet";
pub fn new<T: GetRequestSender>(uid: &str, req_sender: T) -> CompassBricklet {
let mut result = CompassBricklet { device: Device::new([2, 0, 0], uid, req_sender, 0) };
result.device.response_expected[u8::from(CompassBrickletFunction::GetHeading) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CompassBrickletFunction::SetHeadingCallbackConfiguration) as usize] =
ResponseExpectedFlag::True;
result.device.response_expected[u8::from(CompassBrickletFunction::GetHeadingCallbackConfiguration) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CompassBrickletFunction::GetMagneticFluxDensity) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CompassBrickletFunction::SetMagneticFluxDensityCallbackConfiguration) as usize] =
ResponseExpectedFlag::True;
result.device.response_expected[u8::from(CompassBrickletFunction::GetMagneticFluxDensityCallbackConfiguration) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CompassBrickletFunction::SetConfiguration) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(CompassBrickletFunction::GetConfiguration) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CompassBrickletFunction::SetCalibration) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(CompassBrickletFunction::GetCalibration) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CompassBrickletFunction::GetSpitfpErrorCount) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CompassBrickletFunction::SetBootloaderMode) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CompassBrickletFunction::GetBootloaderMode) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CompassBrickletFunction::SetWriteFirmwarePointer) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(CompassBrickletFunction::WriteFirmware) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CompassBrickletFunction::SetStatusLedConfig) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(CompassBrickletFunction::GetStatusLedConfig) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CompassBrickletFunction::GetChipTemperature) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CompassBrickletFunction::Reset) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(CompassBrickletFunction::WriteUid) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(CompassBrickletFunction::ReadUid) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CompassBrickletFunction::GetIdentity) as usize] = ResponseExpectedFlag::AlwaysTrue;
result
}
pub fn get_response_expected(&mut self, fun: CompassBrickletFunction) -> Result<bool, GetResponseExpectedError> {
self.device.get_response_expected(u8::from(fun))
}
pub fn set_response_expected(&mut self, fun: CompassBrickletFunction, response_expected: bool) -> Result<(), SetResponseExpectedError> {
self.device.set_response_expected(u8::from(fun), response_expected)
}
pub fn set_response_expected_all(&mut self, response_expected: bool) { self.device.set_response_expected_all(response_expected) }
pub fn get_api_version(&self) -> [u8; 3] { self.device.api_version }
pub fn get_heading_callback_receiver(&self) -> ConvertingCallbackReceiver<i16> {
self.device.get_callback_receiver(u8::from(CompassBrickletFunction::CallbackHeading))
}
pub fn get_magnetic_flux_density_callback_receiver(&self) -> ConvertingCallbackReceiver<MagneticFluxDensityEvent> {
self.device.get_callback_receiver(u8::from(CompassBrickletFunction::CallbackMagneticFluxDensity))
}
pub fn get_heading(&self) -> ConvertingReceiver<i16> {
let payload = vec![0; 0];
self.device.get(u8::from(CompassBrickletFunction::GetHeading), payload)
}
pub fn set_heading_callback_configuration(
&self,
period: u32,
value_has_to_change: bool,
option: char,
min: i16,
max: i16,
) -> ConvertingReceiver<()> {
let mut payload = vec![0; 10];
payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(period));
payload[4..5].copy_from_slice(&<bool>::to_le_byte_vec(value_has_to_change));
payload[5..6].copy_from_slice(&<char>::to_le_byte_vec(option));
payload[6..8].copy_from_slice(&<i16>::to_le_byte_vec(min));
payload[8..10].copy_from_slice(&<i16>::to_le_byte_vec(max));
self.device.set(u8::from(CompassBrickletFunction::SetHeadingCallbackConfiguration), payload)
}
pub fn get_heading_callback_configuration(&self) -> ConvertingReceiver<HeadingCallbackConfiguration> {
let payload = vec![0; 0];
self.device.get(u8::from(CompassBrickletFunction::GetHeadingCallbackConfiguration), payload)
}
pub fn get_magnetic_flux_density(&self) -> ConvertingReceiver<MagneticFluxDensity> {
let payload = vec![0; 0];
self.device.get(u8::from(CompassBrickletFunction::GetMagneticFluxDensity), payload)
}
pub fn set_magnetic_flux_density_callback_configuration(&self, period: u32, value_has_to_change: bool) -> ConvertingReceiver<()> {
let mut payload = vec![0; 5];
payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(period));
payload[4..5].copy_from_slice(&<bool>::to_le_byte_vec(value_has_to_change));
self.device.set(u8::from(CompassBrickletFunction::SetMagneticFluxDensityCallbackConfiguration), payload)
}
pub fn get_magnetic_flux_density_callback_configuration(&self) -> ConvertingReceiver<MagneticFluxDensityCallbackConfiguration> {
let payload = vec![0; 0];
self.device.get(u8::from(CompassBrickletFunction::GetMagneticFluxDensityCallbackConfiguration), payload)
}
pub fn set_configuration(&self, data_rate: u8, background_calibration: bool) -> ConvertingReceiver<()> {
let mut payload = vec![0; 2];
payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(data_rate));
payload[1..2].copy_from_slice(&<bool>::to_le_byte_vec(background_calibration));
self.device.set(u8::from(CompassBrickletFunction::SetConfiguration), payload)
}
pub fn get_configuration(&self) -> ConvertingReceiver<Configuration> {
let payload = vec![0; 0];
self.device.get(u8::from(CompassBrickletFunction::GetConfiguration), payload)
}
pub fn set_calibration(&self, offset: [i16; 3], gain: [i16; 3]) -> ConvertingReceiver<()> {
let mut payload = vec![0; 12];
payload[0..6].copy_from_slice(&<[i16; 3]>::to_le_byte_vec(offset));
payload[6..12].copy_from_slice(&<[i16; 3]>::to_le_byte_vec(gain));
self.device.set(u8::from(CompassBrickletFunction::SetCalibration), payload)
}
pub fn get_calibration(&self) -> ConvertingReceiver<Calibration> {
let payload = vec![0; 0];
self.device.get(u8::from(CompassBrickletFunction::GetCalibration), payload)
}
pub fn get_spitfp_error_count(&self) -> ConvertingReceiver<SpitfpErrorCount> {
let payload = vec![0; 0];
self.device.get(u8::from(CompassBrickletFunction::GetSpitfpErrorCount), payload)
}
pub fn set_bootloader_mode(&self, mode: u8) -> ConvertingReceiver<u8> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(mode));
self.device.get(u8::from(CompassBrickletFunction::SetBootloaderMode), payload)
}
pub fn get_bootloader_mode(&self) -> ConvertingReceiver<u8> {
let payload = vec![0; 0];
self.device.get(u8::from(CompassBrickletFunction::GetBootloaderMode), payload)
}
pub fn set_write_firmware_pointer(&self, pointer: u32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 4];
payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(pointer));
self.device.set(u8::from(CompassBrickletFunction::SetWriteFirmwarePointer), payload)
}
pub fn write_firmware(&self, data: [u8; 64]) -> ConvertingReceiver<u8> {
let mut payload = vec![0; 64];
payload[0..64].copy_from_slice(&<[u8; 64]>::to_le_byte_vec(data));
self.device.get(u8::from(CompassBrickletFunction::WriteFirmware), payload)
}
pub fn set_status_led_config(&self, config: u8) -> ConvertingReceiver<()> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(config));
self.device.set(u8::from(CompassBrickletFunction::SetStatusLedConfig), payload)
}
pub fn get_status_led_config(&self) -> ConvertingReceiver<u8> {
let payload = vec![0; 0];
self.device.get(u8::from(CompassBrickletFunction::GetStatusLedConfig), payload)
}
pub fn get_chip_temperature(&self) -> ConvertingReceiver<i16> {
let payload = vec![0; 0];
self.device.get(u8::from(CompassBrickletFunction::GetChipTemperature), payload)
}
pub fn reset(&self) -> ConvertingReceiver<()> {
let payload = vec![0; 0];
self.device.set(u8::from(CompassBrickletFunction::Reset), payload)
}
pub fn write_uid(&self, uid: u32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 4];
payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(uid));
self.device.set(u8::from(CompassBrickletFunction::WriteUid), payload)
}
pub fn read_uid(&self) -> ConvertingReceiver<u32> {
let payload = vec![0; 0];
self.device.get(u8::from(CompassBrickletFunction::ReadUid), payload)
}
pub fn get_identity(&self) -> ConvertingReceiver<Identity> {
let payload = vec![0; 0];
self.device.get(u8::from(CompassBrickletFunction::GetIdentity), payload)
}
}