gusimplewhiteboard
SENSORSLedsSensors.hpp
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1
10#ifndef SENSORSLedsSensors_DEFINED
11#define SENSORSLedsSensors_DEFINED
12
13
14#include <gu_util.h>
15#include <assert.h>
16#include "wb_sensors_leds.h"
17
18namespace guWhiteboard
19{
21 enum LEDColour
22 {
23 Off = -1,
24 Red = 0,
25 Green,
26 Blue,
27 Yellow,
28 White,
29 NUMBER_OF_LEDS_COLOURS
30 };
31
33 enum LEDGroups
34 {
35 AllLEDs = 0,
36 Ears,
37 LEar,
38 REar,
39 Eyes,
40 LEye,
41 REye,
42 Chest,
43 Feet,
44 LFoot,
45 RFoot,
46 NUMBER_OF_LEDS_GROUPS
47 };
48
49 namespace LEDs
50 {
52 enum LEDCode
53 {
54 LeftEar1 = 0,
55 LeftEar2,
56 LeftEar3,
57 LeftEar4,
58 LeftEar5,
59 LeftEar6,
60 LeftEar7,
61 LeftEar8,
62 LeftEar9,
63 LeftEar10,
64 RightEar1,
65 RightEar2,
66 RightEar3,
67 RightEar4,
68 RightEar5,
69 RightEar6,
70 RightEar7,
71 RightEar8,
72 RightEar9,
73 RightEar10,
74 LeftEyeRed1,
75 LeftEyeRed2,
76 LeftEyeRed3,
77 LeftEyeRed4,
78 LeftEyeRed5,
79 LeftEyeRed6,
80 LeftEyeRed7,
81 LeftEyeRed8,
82 LeftEyeGreen1,
83 LeftEyeGreen2,
84 LeftEyeGreen3,
85 LeftEyeGreen4,
86 LeftEyeGreen5,
87 LeftEyeGreen6,
88 LeftEyeGreen7,
89 LeftEyeGreen8,
90 LeftEyeBlue1,
91 LeftEyeBlue2,
92 LeftEyeBlue3,
93 LeftEyeBlue4,
94 LeftEyeBlue5,
95 LeftEyeBlue6,
96 LeftEyeBlue7,
97 LeftEyeBlue8,
98 RightEyeRed1,
99 RightEyeRed2,
100 RightEyeRed3,
101 RightEyeRed4,
102 RightEyeRed5,
103 RightEyeRed6,
104 RightEyeRed7,
105 RightEyeRed8,
106 RightEyeGreen1,
107 RightEyeGreen2,
108 RightEyeGreen3,
109 RightEyeGreen4,
110 RightEyeGreen5,
111 RightEyeGreen6,
112 RightEyeGreen7,
113 RightEyeGreen8,
114 RightEyeBlue1,
115 RightEyeBlue2,
116 RightEyeBlue3,
117 RightEyeBlue4,
118 RightEyeBlue5,
119 RightEyeBlue6,
120 RightEyeBlue7,
121 RightEyeBlue8,
122 ChestRed,
123 ChestGreen,
124 ChestBlue,
125 LeftFootRed,
126 LeftFootGreen,
127 LeftFootBlue,
128 RightFootRed,
129 RightFootGreen,
130 RightFootBlue,
131 NUMBER_OF_LEDS
132 };
133
134#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
136 static const char *ledNames[NUMBER_OF_LEDS] =
137 {
138 "LeftEar1",
139 "LeftEar2",
140 "LeftEar3",
141 "LeftEar4",
142 "LeftEar5",
143 "LeftEar6",
144 "LeftEar7",
145 "LeftEar8",
146 "LeftEar9",
147 "LeftEar10",
148 "RightEar1",
149 "RightEar2",
150 "RightEar3",
151 "RightEar4",
152 "RightEar5",
153 "RightEar6",
154 "RightEar7",
155 "RightEar8",
156 "RightEar9",
157 "RightEar10",
158 "LeftEyeRed1",
159 "LeftEyeRed2",
160 "LeftEyeRed3",
161 "LeftEyeRed4",
162 "LeftEyeRed5",
163 "LeftEyeRed6",
164 "LeftEyeRed7",
165 "LeftEyeRed8",
166 "LeftEyeGreen1",
167 "LeftEyeGreen2",
168 "LeftEyeGreen3",
169 "LeftEyeGreen4",
170 "LeftEyeGreen5",
171 "LeftEyeGreen6",
172 "LeftEyeGreen7",
173 "LeftEyeGreen8",
174 "LeftEyeBlue1",
175 "LeftEyeBlue2",
176 "LeftEyeBlue3",
177 "LeftEyeBlue4",
178 "LeftEyeBlue5",
179 "LeftEyeBlue6",
180 "LeftEyeBlue7",
181 "LeftEyeBlue8",
182 "RightEyeRed1",
183 "RightEyeRed2",
184 "RightEyeRed3",
185 "RightEyeRed4",
186 "RightEyeRed5",
187 "RightEyeRed6",
188 "RightEyeRed7",
189 "RightEyeRed8",
190 "RightEyeGreen1",
191 "RightEyeGreen2",
192 "RightEyeGreen3",
193 "RightEyeGreen4",
194 "RightEyeGreen5",
195 "RightEyeGreen6",
196 "RightEyeGreen7",
197 "RightEyeGreen8",
198 "RightEyeBlue1",
199 "RightEyeBlue2",
200 "RightEyeBlue3",
201 "RightEyeBlue4",
202 "RightEyeBlue5",
203 "RightEyeBlue6",
204 "RightEyeBlue7",
205 "RightEyeBlue8",
206 "ChestRed",
207 "ChestGreen",
208 "ChestBlue",
209 "LeftFootRed",
210 "LeftFootGreen",
211 "LeftFootBlue",
212 "RightFootRed",
213 "RightFootGreen",
214 "RightFootBlue",
215 };
216#endif
217 }
218
242 class SENSORSLedsSensors : public wb_sensors_leds
243 {
244
245 public:
247 SENSORSLedsSensors()
248 {
249 LEDsGroupChange(AllLEDs, Off);
250 }
251
256 void LEDsGroupChange(LEDGroups target_group, LEDColour target_colour_or_numOfEars)
257 {
258 switch (target_group)
259 {
260 case AllLEDs: //Only supporting off command
261 {
262 for(int i = LEDs::LeftEar1; i < LEDs::NUMBER_OF_LEDS; i++)
263 changeLed(static_cast<LEDs::LEDCode>(i), false);
264 break;
265 }
266 case Ears:
267 {
268 for(int i = LEDs::LeftEar1; i <= LEDs::LeftEar10; i++)
269 i-LEDs::LeftEar1 < target_colour_or_numOfEars ? changeLed(static_cast<LEDs::LEDCode>(i), true) : changeLed(static_cast<LEDs::LEDCode>(i), false);
270 for(int i = LEDs::RightEar1; i <= LEDs::RightEar10; i++)
271 i-LEDs::RightEar1 < target_colour_or_numOfEars ? changeLed(static_cast<LEDs::LEDCode>(i), true) : changeLed(static_cast<LEDs::LEDCode>(i), false);
272 break;
273 }
274 case LEar:
275 {
276 for(int i = LEDs::LeftEar1; i <= LEDs::LeftEar10; i++)
277 i-LEDs::LeftEar1 < target_colour_or_numOfEars ? changeLed(static_cast<LEDs::LEDCode>(i), true) : changeLed(static_cast<LEDs::LEDCode>(i), false);
278 break;
279 }
280 case REar:
281 {
282 for(int i = LEDs::RightEar1; i <= LEDs::RightEar10; i++)
283 i-LEDs::RightEar1 < target_colour_or_numOfEars ? changeLed(static_cast<LEDs::LEDCode>(i), true) : changeLed(static_cast<LEDs::LEDCode>(i), false);
284 break;
285 }
286 case Eyes:
287 {
288 for(int i = LEDs::LeftEyeRed1; i <= LEDs::LeftEyeRed8; i++)
289 {
290 LEDs::LEDCode led[3] = {LEDs::LEDCode(i), LEDs::LEDCode(i+(LEDs::LeftEyeGreen1-LEDs::LeftEyeRed1)), LEDs::LEDCode(i+(LEDs::LeftEyeBlue1-LEDs::LeftEyeRed1))};
291 changeLedColour(led, target_colour_or_numOfEars);
292 }
293 for(int i = LEDs::RightEyeRed1; i <= LEDs::RightEyeRed8; i++)
294 {
295 LEDs::LEDCode led[3] = {LEDs::LEDCode(i), LEDs::LEDCode(i+(LEDs::RightEyeGreen1-LEDs::RightEyeRed1)), LEDs::LEDCode(i+(LEDs::RightEyeBlue1-LEDs::RightEyeRed1))};
296 changeLedColour(led, target_colour_or_numOfEars);
297 }
298 break;
299 }
300 case LEye:
301 {
302 for(int i = LEDs::LeftEyeRed1; i <= LEDs::LeftEyeRed8; i++)
303 {
304 LEDs::LEDCode led[3] = {LEDs::LEDCode(i), LEDs::LEDCode(i+(LEDs::LeftEyeGreen1-LEDs::LeftEyeRed1)), LEDs::LEDCode(i+(LEDs::LeftEyeBlue1-LEDs::LeftEyeRed1))};
305 changeLedColour(led, target_colour_or_numOfEars);
306 }
307 break;
308 }
309 case REye:
310 {
311 for(int i = LEDs::RightEyeRed1; i <= LEDs::RightEyeRed8; i++)
312 {
313 LEDs::LEDCode led[3] = {LEDs::LEDCode(i), LEDs::LEDCode(i+(LEDs::RightEyeGreen1-LEDs::RightEyeRed1)), LEDs::LEDCode(i+(LEDs::RightEyeBlue1-LEDs::RightEyeRed1))};
314 changeLedColour(led, target_colour_or_numOfEars);
315 }
316 break;
317 }
318 case Chest:
319 {
320 LEDs::LEDCode led[3] = {LEDs::ChestRed, LEDs::ChestGreen, LEDs::ChestBlue};
321 changeLedColour(led, target_colour_or_numOfEars);
322 break;
323 }
324 case Feet:
325 {
326 LEDs::LEDCode led[3] = {LEDs::LeftFootRed, LEDs::LeftFootGreen, LEDs::LeftFootBlue};
327 changeLedColour(led, target_colour_or_numOfEars);
328 LEDs::LEDCode led2[3] = {LEDs::RightFootRed, LEDs::RightFootGreen, LEDs::RightFootBlue};
329 changeLedColour(led2, target_colour_or_numOfEars);
330 break;
331 }
332 case LFoot:
333 {
334 LEDs::LEDCode led[3] = {LEDs::LeftFootRed, LEDs::LeftFootGreen, LEDs::LeftFootBlue};
335 changeLedColour(led, target_colour_or_numOfEars);
336 break;
337 }
338 case RFoot:
339 {
340 LEDs::LEDCode led[3] = {LEDs::RightFootRed, LEDs::RightFootGreen, LEDs::RightFootBlue};
341 changeLedColour(led, target_colour_or_numOfEars);
342 break;
343 }
344 case NUMBER_OF_LEDS_GROUPS:
345 break;
346 }
347 }
348
353 void changeLedColour(LEDs::LEDCode led[3], LEDColour colour)
354 {
355 //led[0] R, led[1] G, led[2] B
356 switch (colour)
357 {
358 case Off:
359 changeLed(led[0], false);
360 changeLed(led[1], false);
361 changeLed(led[2], false);
362 break;
363 case Red:
364 changeLed(led[0], true);
365 changeLed(led[1], false);
366 changeLed(led[2], false);
367 break;
368 case Green:
369 changeLed(led[0], false);
370 changeLed(led[1], true);
371 changeLed(led[2], false);
372 break;
373 case Blue:
374 changeLed(led[0], false);
375 changeLed(led[1], false);
376 changeLed(led[2], true);
377 break;
378 case Yellow:
379 changeLed(led[0], static_cast<u_int8_t>(100));
380 changeLed(led[1], static_cast<u_int8_t>(25));
381 changeLed(led[2], static_cast<u_int8_t>(0));
382 break;
383 case White:
384 changeLed(led[0], true);
385 changeLed(led[1], true);
386 changeLed(led[2], true);
387 break;
388 case NUMBER_OF_LEDS_COLOURS:
389 break;
390 }
391 }
392
397 void changeLed(LEDs::LEDCode led, bool state)
398 {
399 changeLed(led, state ? static_cast<u_int8_t>(100) : static_cast<u_int8_t>(0));
400 }
401
406 void changeLed(LEDs::LEDCode led, u_int8_t level) //level == percentage, 100 == MAX
407 {
408 _leds[led] = level;
409 }
410 };
411}
412
413#endif //SENSORSLedsSensors_DEFINED
guWhiteboard::SENSORSLedsSensors
Class for changing the LEDs on a robot, designed for Nao but is fairly generic.
Definition: SENSORSLedsSensors.hpp:243
guWhiteboard::SENSORSLedsSensors::changeLed
void changeLed(LEDs::LEDCode led, u_int8_t level)
Set the intensity value for an individual LED.
Definition: SENSORSLedsSensors.hpp:406
guWhiteboard::SENSORSLedsSensors::changeLedColour
void changeLedColour(LEDs::LEDCode led[3], LEDColour colour)
Colour mixer for RGB LEDs.
Definition: SENSORSLedsSensors.hpp:353
guWhiteboard::SENSORSLedsSensors::changeLed
void changeLed(LEDs::LEDCode led, bool state)
Turn on or off an individual LED.
Definition: SENSORSLedsSensors.hpp:397
guWhiteboard::SENSORSLedsSensors::SENSORSLedsSensors
SENSORSLedsSensors()
Constructor, sets all LED values to off.
Definition: SENSORSLedsSensors.hpp:247
guWhiteboard::SENSORSLedsSensors::LEDsGroupChange
void LEDsGroupChange(LEDGroups target_group, LEDColour target_colour_or_numOfEars)
Allows changes to be made to a group of LEDs.
Definition: SENSORSLedsSensors.hpp:256
u_int8_t
#define u_int8_t
Definition: gusimplewhiteboard.h:126
guWhiteboard
/file APM_Interface.h
Definition: guwhiteboardgetter.cpp:73
guWhiteboard::Ears
@ Ears
Number of leds to turn on is the value.
Definition: SENSORSLedsSensors.hpp:36
guWhiteboard::REar
@ REar
Number of leds to turn on is the value
Definition: SENSORSLedsSensors.hpp:38
guWhiteboard::Eyes
@ Eyes
All others have the desired colour as the passed value to LEDsGroupChange.
Definition: SENSORSLedsSensors.hpp:39
guWhiteboard::LEar
@ LEar
Number of leds to turn on is the value.
Definition: SENSORSLedsSensors.hpp:37
guWhiteboard::AllLEDs
@ AllLEDs
Only off is supported regardless of what is passed in.
Definition: SENSORSLedsSensors.hpp:35
guWhiteboard::LEDColour
LEDColour
Predefined colour values, feel free to add more, just implement them in changeLedColour.
Definition: SENSORSLedsSensors.hpp:22
guWhiteboard::NUMBER_OF_LEDS_COLOURS
@ NUMBER_OF_LEDS_COLOURS
number of LEDColours
Definition: SENSORSLedsSensors.hpp:29
guWhiteboard::Green
@ Green
turn leds green
Definition: SENSORSLedsSensors.hpp:25
guWhiteboard::White
@ White
turn leds white
Definition: SENSORSLedsSensors.hpp:28
guWhiteboard::Blue
@ Blue
turn leds blue
Definition: SENSORSLedsSensors.hpp:26
guWhiteboard::Red
@ Red
turn leds red
Definition: SENSORSLedsSensors.hpp:24
guWhiteboard::Yellow
@ Yellow
turn leds yellow
Definition: SENSORSLedsSensors.hpp:27
guWhiteboard::Off
@ Off
turn off leds
Definition: SENSORSLedsSensors.hpp:23
wb_sensors_leds
LED sensors c struct.
Definition: wb_sensors_leds.h:20
wb_sensors_leds.h