mrm-col-b.h

#pragma once
#include "Arduino.h"
#include <mrm-board.h>
 
#define CAN_ID_COL_B0_IN 0x380
#define CAN_ID_COL_B0_OUT 0x381
#define CAN_ID_COL_B1_IN 0x382
#define CAN_ID_COL_B1_OUT 0x383
#define CAN_ID_COL_B2_IN 0x384
#define CAN_ID_COL_B2_OUT 0x385
#define CAN_ID_COL_B3_IN 0x386
#define CAN_ID_COL_B3_OUT 0x387
#define CAN_ID_COL_B4_IN 0x388
#define CAN_ID_COL_B4_OUT 0x389
#define CAN_ID_COL_B5_IN 0x38A
#define CAN_ID_COL_B5_OUT 0x38B
#define CAN_ID_COL_B6_IN 0x38C
#define CAN_ID_COL_B6_OUT 0x38D
#define CAN_ID_COL_B7_IN 0x38E
#define CAN_ID_COL_B7_OUT 0x38F
 
//CANBus commands
#define MRM_COL_B_SENDING_COLORS_1_TO_3 0x06
#define MRM_COL_B_SENDING_COLORS_4_TO_6 0x07
#define MRM_COL_B_SENDING_COLORS_7_TO_9 0x08
#define MRM_COL_B_SENDING_COLORS_10_TO_11 0x09
#define MRM_COL_B_ILLUMINATION_CURRENT 0x50
#define MRM_COL_B_SWITCH_TO_HSV 0x51
#define MRM_COL_B_SWITCH_TO_8_COLORS 0x52
#define MRM_COL_B_SENDING_HSV 0x53
#define MRM_COL_B_INTEGRATION_TIME 0x54
#define MRM_COL_B_GAIN 0x55
#define MRM_COL_B_PATTERN_RECORD 0x56
#define MRM_COL_B_PATTERN_SENDING 0x57
#define MRM_COL_B_PATTERN_REQUEST 0x58
#define MRM_COL_B_PATTERN_ERASE 0x59
 
#define MRM_COL_B_COLORS 10
#define MRM_COL_B_INACTIVITY_ALLOWED_MS 10000
#define MRM_COL_B_PATTERN_COUNT 16
 
class Mrm_col_b : public SensorBoard
{
    std::vector<bool>* _hsv; // If not - 10 colors
    std::vector<uint8_t>* _hue;
    std::vector<uint8_t>* _patternBy8Colors;
    std::vector<uint8_t>* _patternByHSV;
    std::vector<uint32_t>* _patternRecognizedAtMs;
    std::vector<uint16_t[MRM_COL_B_COLORS]>* readings; // Analog readings of all sensors
    std::vector<uint8_t>* _saturation;
    std::vector<uint8_t>* _value;
 
    bool colorsStarted(uint8_t deviceNumber);
 
    bool hsvStarted(uint8_t deviceNumber);
    
public:
 
    Mrm_col_b(Robot* robot = NULL, uint8_t maxNumberOfBoards = 4);
 
    ~Mrm_col_b();
 
    void add(char * deviceName = (char*)"");
 
    uint16_t colorBlue(uint8_t deviceNumber);
 
    uint16_t colorBlueGeenish(uint8_t deviceNumber);
 
    uint16_t colorBlueVioletish(uint8_t deviceNumber);
 
    uint16_t colorGreen(uint8_t deviceNumber);
 
    uint16_t colorNearIR(uint8_t deviceNumber);
 
    uint16_t colorOrange(uint8_t deviceNumber);
 
    uint16_t colorRed(uint8_t deviceNumber);
 
    uint16_t colorViolet(uint8_t deviceNumber);
 
    uint16_t colorWhite(uint8_t deviceNumber);
 
    uint16_t colorYellow(uint8_t deviceNumber);
 
    void gain(uint8_t deviceNumber = 0, uint8_t gainValue = 0);
 
    uint8_t hue(uint8_t deviceNumber);
 
    void illumination(uint8_t deviceNumber = 0, uint8_t current = 0);
 
    void integrationTime(uint8_t deviceNumber, uint8_t time, uint16_t step);
 
    bool messageDecode(uint32_t canId, uint8_t data[8]);
 
    void patternErase(uint8_t deviceNumber = 0xFF);
 
    void patternPrint();
 
    uint8_t patternRecognizedBy8Colors(uint8_t deviceNumber);
 
    uint8_t patternRecognizedByHSV(uint8_t deviceNumber);
 
    void patternRecord(uint8_t patternNumber = 0, uint8_t deviceNumber = 0);
 
    void patternsRecord();
 
    uint16_t reading(uint8_t color = 0, uint8_t sensorNumber = 0);
 
    uint8_t saturation(uint8_t deviceNumber);
 
    void readingsPrint();
 
    void switchToHSV(uint8_t deviceNumber = 0xFF);
 
    void switchTo8Colors(uint8_t deviceNumber = 0xFF);
 
    void test(bool hsvSelect);
 
    uint8_t value(uint8_t deviceNumber);
 
};