use crate::{
byte_converter::*, converting_callback_receiver::ConvertingCallbackReceiver, converting_receiver::ConvertingReceiver, device::*,
ip_connection::GetRequestSender,
};
pub enum MotorizedLinearPotiBrickletFunction {
GetPosition,
SetPositionCallbackConfiguration,
GetPositionCallbackConfiguration,
SetMotorPosition,
GetMotorPosition,
Calibrate,
SetPositionReachedCallbackConfiguration,
GetPositionReachedCallbackConfiguration,
GetSpitfpErrorCount,
SetBootloaderMode,
GetBootloaderMode,
SetWriteFirmwarePointer,
WriteFirmware,
SetStatusLedConfig,
GetStatusLedConfig,
GetChipTemperature,
Reset,
WriteUid,
ReadUid,
GetIdentity,
CallbackPosition,
CallbackPositionReached,
}
impl From<MotorizedLinearPotiBrickletFunction> for u8 {
fn from(fun: MotorizedLinearPotiBrickletFunction) -> Self {
match fun {
MotorizedLinearPotiBrickletFunction::GetPosition => 1,
MotorizedLinearPotiBrickletFunction::SetPositionCallbackConfiguration => 2,
MotorizedLinearPotiBrickletFunction::GetPositionCallbackConfiguration => 3,
MotorizedLinearPotiBrickletFunction::SetMotorPosition => 5,
MotorizedLinearPotiBrickletFunction::GetMotorPosition => 6,
MotorizedLinearPotiBrickletFunction::Calibrate => 7,
MotorizedLinearPotiBrickletFunction::SetPositionReachedCallbackConfiguration => 8,
MotorizedLinearPotiBrickletFunction::GetPositionReachedCallbackConfiguration => 9,
MotorizedLinearPotiBrickletFunction::GetSpitfpErrorCount => 234,
MotorizedLinearPotiBrickletFunction::SetBootloaderMode => 235,
MotorizedLinearPotiBrickletFunction::GetBootloaderMode => 236,
MotorizedLinearPotiBrickletFunction::SetWriteFirmwarePointer => 237,
MotorizedLinearPotiBrickletFunction::WriteFirmware => 238,
MotorizedLinearPotiBrickletFunction::SetStatusLedConfig => 239,
MotorizedLinearPotiBrickletFunction::GetStatusLedConfig => 240,
MotorizedLinearPotiBrickletFunction::GetChipTemperature => 242,
MotorizedLinearPotiBrickletFunction::Reset => 243,
MotorizedLinearPotiBrickletFunction::WriteUid => 248,
MotorizedLinearPotiBrickletFunction::ReadUid => 249,
MotorizedLinearPotiBrickletFunction::GetIdentity => 255,
MotorizedLinearPotiBrickletFunction::CallbackPosition => 4,
MotorizedLinearPotiBrickletFunction::CallbackPositionReached => 10,
}
}
}
pub const MOTORIZED_LINEAR_POTI_BRICKLET_THRESHOLD_OPTION_OFF: char = 'x';
pub const MOTORIZED_LINEAR_POTI_BRICKLET_THRESHOLD_OPTION_OUTSIDE: char = 'o';
pub const MOTORIZED_LINEAR_POTI_BRICKLET_THRESHOLD_OPTION_INSIDE: char = 'i';
pub const MOTORIZED_LINEAR_POTI_BRICKLET_THRESHOLD_OPTION_SMALLER: char = '<';
pub const MOTORIZED_LINEAR_POTI_BRICKLET_THRESHOLD_OPTION_GREATER: char = '>';
pub const MOTORIZED_LINEAR_POTI_BRICKLET_DRIVE_MODE_FAST: u8 = 0;
pub const MOTORIZED_LINEAR_POTI_BRICKLET_DRIVE_MODE_SMOOTH: u8 = 1;
pub const MOTORIZED_LINEAR_POTI_BRICKLET_BOOTLOADER_MODE_BOOTLOADER: u8 = 0;
pub const MOTORIZED_LINEAR_POTI_BRICKLET_BOOTLOADER_MODE_FIRMWARE: u8 = 1;
pub const MOTORIZED_LINEAR_POTI_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT: u8 = 2;
pub const MOTORIZED_LINEAR_POTI_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT: u8 = 3;
pub const MOTORIZED_LINEAR_POTI_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT: u8 = 4;
pub const MOTORIZED_LINEAR_POTI_BRICKLET_BOOTLOADER_STATUS_OK: u8 = 0;
pub const MOTORIZED_LINEAR_POTI_BRICKLET_BOOTLOADER_STATUS_INVALID_MODE: u8 = 1;
pub const MOTORIZED_LINEAR_POTI_BRICKLET_BOOTLOADER_STATUS_NO_CHANGE: u8 = 2;
pub const MOTORIZED_LINEAR_POTI_BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT: u8 = 3;
pub const MOTORIZED_LINEAR_POTI_BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT: u8 = 4;
pub const MOTORIZED_LINEAR_POTI_BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH: u8 = 5;
pub const MOTORIZED_LINEAR_POTI_BRICKLET_STATUS_LED_CONFIG_OFF: u8 = 0;
pub const MOTORIZED_LINEAR_POTI_BRICKLET_STATUS_LED_CONFIG_ON: u8 = 1;
pub const MOTORIZED_LINEAR_POTI_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT: u8 = 2;
pub const MOTORIZED_LINEAR_POTI_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS: u8 = 3;
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct PositionCallbackConfiguration {
pub period: u32,
pub value_has_to_change: bool,
pub option: char,
pub min: u16,
pub max: u16,
}
impl FromByteSlice for PositionCallbackConfiguration {
fn bytes_expected() -> usize { 10 }
fn from_le_byte_slice(bytes: &[u8]) -> PositionCallbackConfiguration {
PositionCallbackConfiguration {
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: <u16>::from_le_byte_slice(&bytes[6..8]),
max: <u16>::from_le_byte_slice(&bytes[8..10]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct MotorPosition {
pub position: u16,
pub drive_mode: u8,
pub hold_position: bool,
pub position_reached: bool,
}
impl FromByteSlice for MotorPosition {
fn bytes_expected() -> usize { 5 }
fn from_le_byte_slice(bytes: &[u8]) -> MotorPosition {
MotorPosition {
position: <u16>::from_le_byte_slice(&bytes[0..2]),
drive_mode: <u8>::from_le_byte_slice(&bytes[2..3]),
hold_position: <bool>::from_le_byte_slice(&bytes[3..4]),
position_reached: <bool>::from_le_byte_slice(&bytes[4..5]),
}
}
}
#[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 MotorizedLinearPotiBricklet {
device: Device,
}
impl MotorizedLinearPotiBricklet {
pub const DEVICE_IDENTIFIER: u16 = 267;
pub const DEVICE_DISPLAY_NAME: &'static str = "Motorized Linear Poti Bricklet";
pub fn new<T: GetRequestSender>(uid: &str, req_sender: T) -> MotorizedLinearPotiBricklet {
let mut result = MotorizedLinearPotiBricklet { device: Device::new([2, 0, 0], uid, req_sender, 0) };
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::GetPosition) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::SetPositionCallbackConfiguration) as usize] =
ResponseExpectedFlag::True;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::GetPositionCallbackConfiguration) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::SetMotorPosition) as usize] =
ResponseExpectedFlag::False;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::GetMotorPosition) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::Calibrate) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::SetPositionReachedCallbackConfiguration) as usize] =
ResponseExpectedFlag::True;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::GetPositionReachedCallbackConfiguration) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::GetSpitfpErrorCount) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::SetBootloaderMode) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::GetBootloaderMode) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::SetWriteFirmwarePointer) as usize] =
ResponseExpectedFlag::False;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::WriteFirmware) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::SetStatusLedConfig) as usize] =
ResponseExpectedFlag::False;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::GetStatusLedConfig) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::GetChipTemperature) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::Reset) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::WriteUid) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::ReadUid) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(MotorizedLinearPotiBrickletFunction::GetIdentity) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result
}
pub fn get_response_expected(&mut self, fun: MotorizedLinearPotiBrickletFunction) -> Result<bool, GetResponseExpectedError> {
self.device.get_response_expected(u8::from(fun))
}
pub fn set_response_expected(
&mut self,
fun: MotorizedLinearPotiBrickletFunction,
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_position_callback_receiver(&self) -> ConvertingCallbackReceiver<u16> {
self.device.get_callback_receiver(u8::from(MotorizedLinearPotiBrickletFunction::CallbackPosition))
}
pub fn get_position_reached_callback_receiver(&self) -> ConvertingCallbackReceiver<u16> {
self.device.get_callback_receiver(u8::from(MotorizedLinearPotiBrickletFunction::CallbackPositionReached))
}
pub fn get_position(&self) -> ConvertingReceiver<u16> {
let payload = vec![0; 0];
self.device.get(u8::from(MotorizedLinearPotiBrickletFunction::GetPosition), payload)
}
pub fn set_position_callback_configuration(
&self,
period: u32,
value_has_to_change: bool,
option: char,
min: u16,
max: u16,
) -> 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(&<u16>::to_le_byte_vec(min));
payload[8..10].copy_from_slice(&<u16>::to_le_byte_vec(max));
self.device.set(u8::from(MotorizedLinearPotiBrickletFunction::SetPositionCallbackConfiguration), payload)
}
pub fn get_position_callback_configuration(&self) -> ConvertingReceiver<PositionCallbackConfiguration> {
let payload = vec![0; 0];
self.device.get(u8::from(MotorizedLinearPotiBrickletFunction::GetPositionCallbackConfiguration), payload)
}
pub fn set_motor_position(&self, position: u16, drive_mode: u8, hold_position: bool) -> ConvertingReceiver<()> {
let mut payload = vec![0; 4];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(position));
payload[2..3].copy_from_slice(&<u8>::to_le_byte_vec(drive_mode));
payload[3..4].copy_from_slice(&<bool>::to_le_byte_vec(hold_position));
self.device.set(u8::from(MotorizedLinearPotiBrickletFunction::SetMotorPosition), payload)
}
pub fn get_motor_position(&self) -> ConvertingReceiver<MotorPosition> {
let payload = vec![0; 0];
self.device.get(u8::from(MotorizedLinearPotiBrickletFunction::GetMotorPosition), payload)
}
pub fn calibrate(&self) -> ConvertingReceiver<()> {
let payload = vec![0; 0];
self.device.set(u8::from(MotorizedLinearPotiBrickletFunction::Calibrate), payload)
}
pub fn set_position_reached_callback_configuration(&self, enabled: bool) -> ConvertingReceiver<()> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<bool>::to_le_byte_vec(enabled));
self.device.set(u8::from(MotorizedLinearPotiBrickletFunction::SetPositionReachedCallbackConfiguration), payload)
}
pub fn get_position_reached_callback_configuration(&self) -> ConvertingReceiver<bool> {
let payload = vec![0; 0];
self.device.get(u8::from(MotorizedLinearPotiBrickletFunction::GetPositionReachedCallbackConfiguration), payload)
}
pub fn get_spitfp_error_count(&self) -> ConvertingReceiver<SpitfpErrorCount> {
let payload = vec![0; 0];
self.device.get(u8::from(MotorizedLinearPotiBrickletFunction::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(MotorizedLinearPotiBrickletFunction::SetBootloaderMode), payload)
}
pub fn get_bootloader_mode(&self) -> ConvertingReceiver<u8> {
let payload = vec![0; 0];
self.device.get(u8::from(MotorizedLinearPotiBrickletFunction::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(MotorizedLinearPotiBrickletFunction::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(MotorizedLinearPotiBrickletFunction::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(MotorizedLinearPotiBrickletFunction::SetStatusLedConfig), payload)
}
pub fn get_status_led_config(&self) -> ConvertingReceiver<u8> {
let payload = vec![0; 0];
self.device.get(u8::from(MotorizedLinearPotiBrickletFunction::GetStatusLedConfig), payload)
}
pub fn get_chip_temperature(&self) -> ConvertingReceiver<i16> {
let payload = vec![0; 0];
self.device.get(u8::from(MotorizedLinearPotiBrickletFunction::GetChipTemperature), payload)
}
pub fn reset(&self) -> ConvertingReceiver<()> {
let payload = vec![0; 0];
self.device.set(u8::from(MotorizedLinearPotiBrickletFunction::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(MotorizedLinearPotiBrickletFunction::WriteUid), payload)
}
pub fn read_uid(&self) -> ConvertingReceiver<u32> {
let payload = vec![0; 0];
self.device.get(u8::from(MotorizedLinearPotiBrickletFunction::ReadUid), payload)
}
pub fn get_identity(&self) -> ConvertingReceiver<Identity> {
let payload = vec![0; 0];
self.device.get(u8::from(MotorizedLinearPotiBrickletFunction::GetIdentity), payload)
}
}