dji_motor_tx_handler.hpp

Go to the documentation of this file.

/*****************************************************************************/
/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
/*****************************************************************************/
 
/*
 * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot 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 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot 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 Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_DJI_MOTOR_TX_HANDLER_HPP_
#define TAPROOT_DJI_MOTOR_TX_HANDLER_HPP_
 
#include <limits.h>
 
#include "tap/util_macros.hpp"
 
#include "modm/architecture/interface/can_message.hpp"
 
#include "dji_motor_ids.hpp"
 
namespace tap
{
class Drivers;
}
 
namespace tap::motor
{
class DjiMotor;
 
#define DJI_MOTOR_TO_NORMALIZED_ID(id)                                                  \
    static_cast<uint32_t>(                                                              \
        (id < tap::motor::MOTOR1) ? (tap::motor::DjiMotorTxHandler::DJI_MOTORS_PER_CAN) \
                                  : (id - tap::motor::MOTOR1))
 
#define NORMALIZED_ID_TO_DJI_MOTOR(idx) \
    static_cast<tap::motor::MotorId>(idx + static_cast<int32_t>(tap::motor::MotorId::MOTOR1))
 
class DjiMotorTxHandler
{
public:
    static constexpr int DJI_MOTORS_PER_CAN = 8;
    static constexpr int CAN_DJI_MESSAGE_SEND_LENGTH = 8;
    static constexpr uint32_t CAN_DJI_LOW_IDENTIFIER = 0X200;
    static constexpr uint32_t CAN_DJI_HIGH_IDENTIFIER = 0X1FF;
    static constexpr uint32_t CAN_DJI_6020_CURRENT_IDENTIFIER = 0x1FE;
 
    DjiMotorTxHandler(Drivers* drivers) : drivers(drivers) {}
    mockable ~DjiMotorTxHandler() = default;
    DISALLOW_COPY_AND_ASSIGN(DjiMotorTxHandler)
 
    
    mockable void addMotorToManager(DjiMotor* motor);
 
    mockable void encodeAndSendCanData();
 
    mockable void removeFromMotorManager(const DjiMotor& motor);
 
    mockable DjiMotor const* getCan1Motor(MotorId motorId);
 
    mockable DjiMotor const* getCan2Motor(MotorId motorId);
 
protected:
    Drivers* drivers;
 
    DjiMotor* can1MotorStore[DJI_MOTORS_PER_CAN] = {0};
    DjiMotor* can2MotorStore[DJI_MOTORS_PER_CAN] = {0};
 
    void addMotorToManager(DjiMotor** canMotorStore, DjiMotor* const motor);
 
    void serializeMotorStoreSendData(
        DjiMotor** canMotorStore,
        modm::can::Message* messageLow,
        modm::can::Message* messageHigh,
        modm::can::Message* message6020Current,
        bool* validMotorMessageLow,
        bool* validMotorMessageHigh,
        bool* validMotorMessage6020Current);
 
    void removeFromMotorManager(const DjiMotor& motor, DjiMotor** motorStore);
};
 
}  // namespace tap::motor
 
#endif  // TAPROOT_DJI_MOTOR_TX_HANDLER_HPP_