open_interface.h

/*
 * open_interface.h
 *
 * Contains all functionality to interface with the IRobot Create V2
 * Communication over UART4 at 115200
 *
 * @author Noah Bergman
 * @date 03/11/2016
 *
 *
 *
 */

#ifndef OPEN_INTERFACE_H_
#define OPEN_INTERFACE_H_

#define M_PI 3.14159265358979323846

typedef struct {
    //Boolean sensor values
    uint32_t wheelDropLeft : 1;
    uint32_t wheelDropRight : 1;
    uint32_t bumpLeft : 1;
    uint32_t bumpRight : 1;
    uint32_t cliffLeft : 1;
    uint32_t cliffFrontLeft : 1;
    uint32_t cliffFrontRight : 1;
    uint32_t cliffRight : 1;

    uint32_t lightBumperRight : 1;
    uint32_t lightBumperFrontRight : 1;
    uint32_t lightBumperCenterRight : 1;
    uint32_t lightBumperCenterLeft : 1;
    uint32_t lightBumperFrontLeft : 1;
    uint32_t lightBumperLeft : 1;

    uint32_t wallSensor : 1;
    uint32_t virtualWall : 1;

    uint32_t overcurrentLeftWheel : 1;
    uint32_t overcurrentRightWheel : 1;
    uint32_t overcurrentMainBrush : 1;
    uint32_t overcurrentSideBrush : 1;

    uint32_t buttonClock : 1;
    uint32_t buttonSchedule : 1;
    uint32_t buttonDay : 1;
    uint32_t buttonHour : 1;
    uint32_t buttonMinute : 1;
    uint32_t buttonDock : 1;
    uint32_t buttonSpot : 1;
    uint32_t buttonClean : 1;

    //Cliff sensors
    uint16_t cliffLeftSignal;
    uint16_t cliffFrontLeftSignal;
    uint16_t cliffFrontRightSignal;
    uint16_t cliffRightSignal;

    //Light bump sensors
    uint16_t lightBumpLeftSignal;
    uint16_t lightBumpFrontLeftSignal;
    uint16_t lightBumpCenterLeftSignal;
    uint16_t lightBumpCenterRightSignal;
    uint16_t lightBumpFrontRightSignal;
    uint16_t lightBumpRightSignal;

    //Misc sensors
    uint16_t wallSignal;
    uint8_t dirtDetect;

    //Power
    int16_t leftMotorCurrent;
    int16_t rightMotorCurrent;
    int16_t mainBrushMotorCurrent;
    int16_t sideBrushMotorCurrent;

    //Motion sensors
    int16_t distance;
    int16_t angle;
    int8_t requestedVelocity;
    int8_t requestedRadius;
    int16_t requestedRightVelocity;
    int16_t requestedLeftVelocity;
    uint16_t leftEncoderCount;        //here the encoder counts were made unsigned
    uint16_t rightEncoderCount;       //made unsigned

    //Information from the infrared beacon sensors
    char infraredCharOmni;
    char infraredCharLeft;
    char infraredCharRight;

    //Battery information
    uint8_t chargingState;
    uint8_t chargingSourcesAvailable;
    uint16_t batteryVoltage;
    int16_t batteryCurrent;
    uint8_t batteryTemperature;
    uint16_t batteryCharge;
    uint16_t batteryCapacity;

    //Music
    uint8_t songNumber;
    uint8_t songPlaying;

    //Misc
    uint8_t oiMode;
    uint8_t numberOfStreamPackets;
    uint8_t stasis;

} oi_t;


oi_t * oi_alloc();

void oi_free(oi_t *self);


void oi_init(oi_t *self);

void oi_close();

void oi_update(oi_t *self);

void oi_setLeds(uint8_t play_led, uint8_t advance_led, uint8_t power_color, uint8_t power_intensity);

void oi_setWheels(int16_t right_wheel, int16_t left_wheel);


void oi_loadSong(int song_index, int num_notes, unsigned char  *notes, unsigned char  *duration);

void oi_play_song(int index);

void go_charge(void);

char* oi_checkFirmware();

//initializes interrupt and gpio to handle button press to end OI
void oi_shutoff_init(void);

//used to handle interrupt to shut off OI
void GPIOF_Handler(void);

//used to get the current moved degrees from encoder count
int getDegrees(oi_t *self);

#endif /* OPEN_INTERFACE_H_ */