utils.h

// Delft Mercurians
// Thomas Hettasch
// 2023-09-09
// thomas.hettasch@gmail.com

// Defines many useful structures and messages that can be reused accross the codebase

#pragma once
#include <stdint.h>

namespace HG {

// A 2D robot pose. XY are linear, Z is angular
struct Pose {
    float x;
    float y;
    float z;
};

// Statuses that the robot or motor controller MCU's could have
enum class Status : uint8_t {
    EMERGENCY,      // Robot is in estop because something is very wrong
    OK,             // Everything is running as it should
    STOP,           // The robot is stopped, but can be started again easily
    STARTING,       // The MCU is performing a startup procedure
    OVERTEMP,       // For when something has overheated

    NO_REPLY,       // No reply was received. This is not explicitly sent, but defaulted to.

    ARMED,          // Kicker is armed, capacitor will be automatically recharged
    DISARMED,       // Kicker is disarmed, but capacitor may still be on
    SAFE,           // Kicker is discharged and safe to handle

    NOT_INSTALLED,  // This submodule is not installed/implemented

    STANDBY,        // Submodule is inactive, but ready to go

    READY,          // Kicker is charged and ready to fire
};

// Kicker status message
const float KICKER_SCALE_TEMP = (100.0/INT8_MAX);
const float KICKER_SCALE_VCAP = (260.0/UINT8_MAX);
struct KickerStatus {
    HG::Status status;
    uint8_t temp;
    uint8_t capv;
};

// Battery pack enable/disable status
enum class PackEnable : uint8_t {
    BOTH = 0b11,       // Both battery packs enabled
    LEFT_ONLY = 0b10,  // Only left battery pack enabled
    RIGHT_ONLY = 0b01, // Only right battery pack enabled
    OFF = 0b00         // Neither battery pack enabled, robot will shut down
};

struct Version {
    uint8_t major;
    uint8_t minor;
    uint16_t patch;

    uint8_t protocols_major;
    uint8_t protocols_minor;
};

} // namespace HG



namespace CAN {
// Various device IDs (0x00 -> 0x07, 3 bits)
#define CAN_NUM_DEVICE_IDS (1 << 3)
enum class DEVICE_ID : uint8_t {
    BROADCAST = 0x0,   // Send message to all devices (highest priority)

    PRIMARY = 0x6,     // Main device on bus, coordinates all other devices

    AUXILIARY = 0x7, // Power board and solenoid driver boards (shared ID)

    DRIVER_0 = 0x1,    // Motor driver 0 (Wheel motor)
    DRIVER_1 = 0x2,    // Motor driver 1 (Wheel motor)
    DRIVER_2 = 0x3,    // Motor driver 2 (wheel motor)
    DRIVER_3 = 0x4,    // Motor driver 3 (wheel motor)

    DRIVER_A = 0x5,    // Motor driver A (auxiliary motor)
};

} // namespace CAN



namespace Motor {
// Motor Mode
enum class Mode : uint32_t{
    DISABLE = 0,    // Switch the motor off
    ENABLE = 1,     // Switch the motor on
    COAST = 2,      // Switch the motor off, but renable automaticaly when a new value is sent
    // TODO maybe add different modes for high power/low power etc.
};

} // namespace Motor