Added functions to api

clubcapra · May 10, 2024 · 7c9e68b · 7c9e68b
1 parent 960761f
commit 7c9e68b
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Showing 5 changed files with 210 additions and 25 deletions.
diff --git a/src/rove_control_board/api/api.h b/src/rove_control_board/api/api.h
@@ -7,24 +7,34 @@
 
 enum StatusCode : euint16_t
 {
-    STNone = 0,
+    STNotInitialized = 0,
+    STInitialized = 1,
 };
 
 enum ErrorCode : euint16_t
 {
     ERNone = 0,
     ERAdapterNotInit = 1,
     ERServoXNACK = 2,
-    ERServoYNACK = 4,
+    ERServoYNACK = 3,
+    ERWinchLocked = 4,
 };
 
-enum ServoControlMode : euint32_t
+enum ServoControlMode : euint16_t
 {
     SCMNone = 0,
     SCMPosition = 1,
     SCMSpeed = 2,
 };
 
+enum WinchMode : euint16_t
+{
+    WMFreeWheel = 0,
+    WMBrake = 1,
+    WMReverse = 2,
+    WMForward = 3,
+};
+
 
 
 
@@ -104,6 +114,13 @@ struct RGB
 };
 static_assert(sizeof(RGB) == 3);
 
+struct RGBLed
+{
+    euint8_t index;
+    RGB rgb;
+};
+static_assert(sizeof(RGBLed) == 4);
+
 struct Report
 {
     Vector2D pos;
@@ -186,6 +203,48 @@ static_assert((sizeof(Void)+1) == 2);
 Report getReport(Void);
 static_assert((sizeof(Void)+1) == 2);
 
+UShort getWinchMode(Void);
+static_assert((sizeof(Void)+1) == 2);
+
+Void setWinchMode(UShort);
+static_assert((sizeof(UShort)+1) == 3);
+
+Bool_ getWinchLock(Void);
+static_assert((sizeof(Void)+1) == 2);
+
+Bool_ setWinchLock(Void);
+static_assert((sizeof(Void)+1) == 2);
+
+UShort getServoControlMode(Void);
+static_assert((sizeof(Void)+1) == 2);
+
+UShort getServoControlMode(Void);
+static_assert((sizeof(Void)+1) == 2);
+
+Bool_ getGPIO1(Void);
+static_assert((sizeof(Void)+1) == 2);
+
+Bool_ setGPIO1(Bool_);
+static_assert((sizeof(Bool_)+1) == 2);
+
+Bool_ getGPIO2(Void);
+static_assert((sizeof(Void)+1) == 2);
+
+Bool_ setGPIO2(Bool_);
+static_assert((sizeof(Bool_)+1) == 2);
+
+Bool_ getGPIO3(Void);
+static_assert((sizeof(Void)+1) == 2);
+
+Bool_ setGPIO3(Bool_);
+static_assert((sizeof(Bool_)+1) == 2);
+
+RGB getRGBLed(Int);
+static_assert((sizeof(Int)+1) == 5);
+
+Bool_ setRGBLed(RGBLed);
+static_assert((sizeof(RGBLed)+1) == 5);
+
 static BaseFunction_ptr commands[] = {
     new Function<Int, Int>(&ping),
     new Function<ULong, Void>(&hashCheck),
@@ -209,8 +268,22 @@ static BaseFunction_ptr commands[] = {
     new Function<Bool_, Void>(&getLEDBack),
     new Function<Bool_, Void>(&getLEDStrobe),
     new Function<Report, Void>(&getReport),
+    new Function<UShort, Void>(&getWinchMode),
+    new Function<Void, UShort>(&setWinchMode),
+    new Function<Bool_, Void>(&getWinchLock),
+    new Function<Bool_, Void>(&setWinchLock),
+    new Function<UShort, Void>(&getServoControlMode),
+    new Function<UShort, Void>(&getServoControlMode),
+    new Function<Bool_, Void>(&getGPIO1),
+    new Function<Bool_, Bool_>(&setGPIO1),
+    new Function<Bool_, Void>(&getGPIO2),
+    new Function<Bool_, Bool_>(&setGPIO2),
+    new Function<Bool_, Void>(&getGPIO3),
+    new Function<Bool_, Bool_>(&setGPIO3),
+    new Function<RGB, Int>(&getRGBLed),
+    new Function<Bool_, RGBLed>(&setRGBLed),
 };
-#define COMMANDS_COUNT 22
+#define COMMANDS_COUNT 36
 #define MAX_DECODED_SIZE 9
 #define MAX_ENCODED_SIZE 13
-#define API_HASH 6660753000537812969UL
+#define API_HASH 3739127867455560190UL
diff --git a/src/rove_control_board/config/base.yaml b/src/rove_control_board/config/base.yaml
@@ -0,0 +1,14 @@
+rove_control_board:
+    ros_parameters:
+        tpv_x_step_count:
+            4096
+        tpv_x_min:
+            0
+        tpv_x_max:
+            360
+        tpv_y_step_count:
+            4096
+        tpv_y_min:
+            0
+        tpv_y_max:
+            90
diff --git a/src/rove_control_board/rove_control_board/api.py b/src/rove_control_board/rove_control_board/api.py
@@ -8,20 +8,29 @@
 
 @manager.enum('H')
 class StatusCode(Enum):
-    STNone = 0
+    STNotInitialized = 0
+    STInitialized = 1
 
 @manager.enum('H')
 class ErrorCode(Enum):
-    ERNone =            0b00000000
-    ERAdapterNotInit =  0b00000001
-    ERServoXNACK =      0b00000010
-    ERServoYNACK =      0b00000100
+    ERNone =            0
+    ERAdapterNotInit =  1
+    ERServoXNACK =      2
+    ERServoYNACK =      3
+    ERWinchLocked =     4
 
-@manager.enum("I")
+@manager.enum("H")
 class ServoControlMode(Enum):
     SCMNone = 0
     SCMPosition = 1
     SCMSpeed = 2
+
+@manager.enum("H")
+class WinchMode(Enum):
+    WMFreeWheel = 0
+    WMBrake = 1
+    WMReverse = 2
+    WMForward = 3
 
 @manager.struct('hh')
 class Vector2D(comm.BinaryData):
@@ -30,14 +39,21 @@ def __init__(self, x:int=0, y:int=0):
         self.x:int
         self.y:int
 
-@manager.struct('BBB')
+@manager.struct('BBBx')
 class RGB(comm.BinaryData):
     def __init__(self, r:int=0,g:int=0,b:int=0):
         super().__init__(r=r,g=g,b=b)
         self.r:int
         self.g:int
         self.b:int
 
+@manager.struct('_B')
+class RGBLed(comm.BinaryData):
+    def __init__(self, rgb:RGB=RGB(), index:int=0,):
+        super().__init__(rgb=rgb, index=index)
+        self.index:int
+        self.rgb:RGB
+
 @manager.struct('_HH')
 class Report(comm.BinaryData):
     def __init__(self, pos:Vector2D=Vector2D(), statusCode:int=0, errorCode:int=0):
@@ -133,5 +149,58 @@ def getLEDStrobe() -> comm.Bool_:
 def getReport() -> Report:
     pass
 
+@manager.command(comm.Void, comm.UShort)
+def getWinchMode() -> comm.UShort:
+    pass
+
+@manager.command(comm.UShort, comm.Bool_)
+def setWinchMode(winchMode:comm.UShort):
+    pass
+
+@manager.command(comm.Void, comm.Bool_)
+def getWinchLock() -> comm.Bool_:
+    pass
+
+@manager.command(comm.Void, comm.Bool_)
+def setWinchLock(lock:comm.Bool_):
+    pass
+
+@manager.command(comm.Void, comm.UShort)
+def getServoControlMode() -> comm.UShort:
+    pass
 
+@manager.command(comm.UShort, comm.UShort)
+def setServoControlMode(servoControlMode:comm.UShort) -> comm.Bool_:
+    pass
 
+@manager.command(comm.Void, comm.Bool_)
+def getGPIO1() -> comm.Bool_:
+    pass
+
+@manager.command(comm.Bool_, comm.Bool_)
+def setGPIO1(state:comm.Bool_) -> comm.Bool_:
+    pass
+
+@manager.command(comm.Void, comm.Bool_)
+def getGPIO2() -> comm.Bool_:
+    pass
+
+@manager.command(comm.Bool_, comm.Bool_)
+def setGPIO2(state:comm.Bool_) -> comm.Bool_:
+    pass
+
+@manager.command(comm.Void, comm.Bool_)
+def getGPIO3() -> comm.Bool_:
+    pass
+
+@manager.command(comm.Bool_, comm.Bool_)
+def setGPIO3(state:comm.Bool_) -> comm.Bool_:
+    pass
+
+@manager.command(comm.Int, RGB)
+def getRGBLed(index:comm.Int) -> RGB:
+    pass
+
+@manager.command(RGBLed, comm.Bool_)
+def setRGBLed(led:RGBLed) -> comm.Bool_:
+    pass