Program Listing for File can_serializer.cpp

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/*
 * 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/>.
 */

#ifdef PLATFORM_HOSTED

#include "can_serializer.hpp"

#include "tap/motor/dji_motor_tx_handler.hpp"

#include "modm/architecture/interface/can_message.hpp"

namespace tap::motor::motorsim
{
std::array<int16_t, 4> CanSerializer::parseMessage(const modm::can::Message* message)
{
    std::array<int16_t, 4> out;
    const uint8_t* data = message->data;

    // Byte Smashing!
    out[0] = (static_cast<int16_t>(data[0]) << 8) | (static_cast<int16_t>(data[1]));
    out[1] = (static_cast<int16_t>(data[2]) << 8) | (static_cast<int16_t>(data[3]));
    out[2] = (static_cast<int16_t>(data[4]) << 8) | (static_cast<int16_t>(data[5]));
    out[3] = (static_cast<int16_t>(data[6]) << 8) | (static_cast<int16_t>(data[7]));
    return out;
}

modm::can::Message CanSerializer::serializeFeedback(
    int16_t angle,
    int16_t rpm,
    int16_t current,
    MotorId mid)
{
    uint8_t inData[8](
        angle >> 8,
        angle & 0xFF,
        rpm >> 8,
        rpm & 0xFF,
        current >> 8,
        current & 0xFF,
        0,  // Cannot yet simulate temperature
        0   // Null Byte
    );

    // Construct message, desginate recipient as 0-based index + first motor's ID
    return modm::can::Message{static_cast<uint32_t>(mid), FEEDBACK_MESSAGE_SEND_LENGTH, inData};
}

}  // namespace tap::motor::motorsim

#endif  // PLATFORM_HOSTED