// io-hub - Modular Input/Output. {{{ // // Copyright (C) 2013 Nicolas Schodet // // APBTeam: // Web: http://apbteam.org/ // Email: team AT apbteam DOT org // // This program is free software; you can redistribute it and/or modify // it under the terms of the GNU General Public License as published by // the Free Software Foundation; either version 2 of the License, or // (at your option) any later version. // // This program is distributed in the hope that it will be useful, // but WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the // GNU General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. // // }}} #include "lcd.hh" #include "ucoolib/utils/bytes.hh" #include LCD::LCD (I2cQueue &queue) : I2cQueue::Slave (queue, 0x20, 1), last_chrono_sent_ (-1) { } void LCD::recv_status (const uint8_t *status) { } void LCD::team_color (uint8_t r, uint8_t g, uint8_t b) { uint8_t buf[] = { 'c', r, g, b }; send (buf, sizeof (buf)); } void LCD::chrono (int s) { if (s != last_chrono_sent_) { last_chrono_sent_ = s; uint8_t t = s > 0 ? s : 0; uint8_t buf[] = { 't', t }; send (buf, sizeof (buf)); } } void LCD::message (const char *msg) { uint8_t buf[16]; buf[0] = 'm'; unsigned msg_len = std::strlen (msg) + 1; if (msg_len > sizeof (buf) - 1) msg_len = sizeof (buf) - 1; std::memcpy (buf + 1, msg, msg_len); buf[sizeof (buf) - 1] = 0; send (buf, 1 + msg_len); } void LCD::robot_position (const Position &pos) { uint8_t buf[] = { 'p', ucoo::bytes_unpack (pos.v.x, 1), ucoo::bytes_unpack (pos.v.x, 0), ucoo::bytes_unpack (pos.v.y, 1), ucoo::bytes_unpack (pos.v.y, 0), }; send (buf, sizeof (buf), I2cQueue::TRANSIENT); } void LCD::obstacles (const vect_t *pos, int pos_nb) { uint8_t buf[2 + 4 * 4]; int i = 0; buf[i++] = 'o'; buf[i++] = pos_nb; for (int o = 0; o < pos_nb; o++) { buf[i++] = ucoo::bytes_unpack (pos[o].x, 1); buf[i++] = ucoo::bytes_unpack (pos[o].x, 0); buf[i++] = ucoo::bytes_unpack (pos[o].y, 1); buf[i++] = ucoo::bytes_unpack (pos[o].y, 0); } send (buf, i, I2cQueue::TRANSIENT); } void LCD::target (const vect_t &pos) { uint8_t buf[] = { 'n', ucoo::bytes_unpack (pos.x, 1), ucoo::bytes_unpack (pos.x, 0), ucoo::bytes_unpack (pos.y, 1), ucoo::bytes_unpack (pos.y, 0), }; send (buf, sizeof (buf)); }