mrm-col-can.h

#pragma once
#include "Arduino.h"
#include <mrm-board.h>
 
#define CAN_ID_COL_CAN0_IN 0x310
#define CAN_ID_COL_CAN0_OUT 0x311
#define CAN_ID_COL_CAN1_IN 0x312
#define CAN_ID_COL_CAN1_OUT 0x313
#define CAN_ID_COL_CAN2_IN 0x314
#define CAN_ID_COL_CAN2_OUT 0x315
#define CAN_ID_COL_CAN3_IN 0x316
#define CAN_ID_COL_CAN3_OUT 0x317
#define CAN_ID_COL_CAN4_IN 0x318
#define CAN_ID_COL_CAN4_OUT 0x319
#define CAN_ID_COL_CAN5_IN 0x31A
#define CAN_ID_COL_CAN5_OUT 0x31B
#define CAN_ID_COL_CAN6_IN 0x31C
#define CAN_ID_COL_CAN6_OUT 0x31D
#define CAN_ID_COL_CAN7_IN 0x31E
#define CAN_ID_COL_CAN7_OUT 0x31F
 
//CANBus commands
#define CAN_COL_SENDING_COLORS_1_TO_3 0x06
#define CAN_COL_SENDING_COLORS_4_TO_6 0x07
#define CAN_COL_ILLUMINATION_CURRENT 0x50
#define CAN_COL_SWITCH_TO_HSV 0x51
#define CAN_COL_SWITCH_TO_6_COLORS 0x52
#define CAN_COL_SENDING_HSV 0x53
#define CAN_COL_INTEGRATION_TIME 0x54
#define CAN_COL_GAIN 0x55
#define CAN_COL_PATTERN_RECORD 0x56
#define CAN_COL_PATTERN_SENDING 0x57
#define CAN_COL_PATTERN_REQUEST 0x58
#define CAN_COL_PATTERN_ERASE 0x59
 
#define MRM_COL_CAN_COLORS 6
#define MRM_COL_CAN_INACTIVITY_ALLOWED_MS 10000
#define MRM_COL_CAN_PATTERN_COUNT 16
 
class Mrm_col_can : public SensorBoard
{
    std::vector<bool>* _hsv;
    std::vector<uint8_t>* _hue;
    std::vector<uint8_t>* _patternBy6Colors;
    std::vector<uint8_t>* _patternByHSV;
    std::vector<uint32_t>* _patternRecognizedAtMs;
    std::vector<uint16_t[MRM_COL_CAN_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_can(Robot* robot = NULL, uint8_t maxNumberOfBoards = 4);
 
    ~Mrm_col_can();
 
    void add(char * deviceName = (char*)"");
 
    uint16_t colorBlue(uint8_t deviceNumber);
 
    uint16_t colorGreen(uint8_t deviceNumber);
 
    uint16_t colorOrange(uint8_t deviceNumber);
 
    uint16_t colorRed(uint8_t deviceNumber);
 
    uint16_t colorViolet(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 = 0, uint8_t value = 18);
 
    bool messageDecode(uint32_t canId, uint8_t data[8]);
 
    void patternErase(uint8_t deviceNumber = 0xFF);
 
    void patternPrint();
 
    uint8_t patternRecognizedBy6Colors(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 switchTo6Colors(uint8_t deviceNumber = 0xFF);
 
    void test(bool hsvSelect);
 
    uint8_t value(uint8_t deviceNumber);
 
};