CANUtils.h

#pragma once
 
extern "C" {
#include <HindsightCAN/CANCommon.h>
#include <HindsightCAN/CANMotorUnit.h>
#include <HindsightCAN/CANPacket.h>
}
 
#include <chrono>
#include <string>
#include <utility>
 
namespace can {

enum class devicegroup_t {
    broadcast = DEVICE_GROUP_BROADCAST,
    reserved = DEVICE_GROUP_RESERVED,
    master = DEVICE_GROUP_MASTER,
    power = DEVICE_GROUP_POWER,
    motor = DEVICE_GROUP_MOTOR_CONTROL,
    telemetry = DEVICE_GROUP_TELEMETRY,
    gpio = DEVICE_GROUP_GPIO_BOARDS,
    science = DEVICE_GROUP_SCIENCE
};

enum class telemtype_t {
    voltage = PACKET_TELEMETRY_VOLTAGE,
    current = PACKET_TELEMETRY_CURRENT,
    pwr_rail = PACKET_TELEMETRY_PWR_RAIL_STATE,
    temp = PACKET_TELEMETRY_TEMPERATURE,
    angle = PACKET_TELEMETRY_ANG_POSITION,
    gps_lat = PACKET_TELEMETRY_GPS_LAT,
    gps_lon = PACKET_TELEMETRY_GPS_LON,
    mag_dir = PACKET_TELEMETRY_MAG_DIR,
    accel_x = PACKET_TELEMETRY_ACCEL_X,
    accel_y = PACKET_TELEMETRY_ACCEL_Y,
    accel_z = PACKET_TELEMETRY_ACCEL_Z,
    gyro_x = PACKET_TELEMETRY_GYRO_X,
    gyro_y = PACKET_TELEMETRY_GYRO_Y,
    gyro_z = PACKET_TELEMETRY_GYRO_Z,
    limit_switch = PACKET_TELEMETRY_LIM_SW_STATE,
    adc_raw = PACKET_TELEMETRY_ADC_RAW
    // add further telemetry types if required
};

struct packettype_t {
    enum { telemetry = ID_TELEMETRY_REPORT, limit_alert = ID_MOTOR_UNIT_LIM_ALERT };
};

using deviceserial_t = uint8_t;

using telemetry_t = int32_t;

using deviceid_t = std::pair<devicegroup_t, deviceserial_t>;

devicegroup_t getDeviceGroup(const CANPacket& packet);

deviceserial_t getDeviceSerial(const CANPacket& packet);

deviceid_t getDeviceGroupAndSerial(const CANPacket& packet);

deviceserial_t getSenderDeviceSerial(const CANPacket& packet);

devicegroup_t getSenderDeviceGroup(const CANPacket& packet);

deviceid_t getSenderDeviceGroupAndSerial(const CANPacket& packet);

std::string packetToString(const CANPacket& packet);
 
} // namespace can