ObjectHuntDefinitions.h

//
// Created by robert on 04.12.19.
//

#ifndef OBJECT_HUNT_BASE_OBJECTHUNTDEFINITIONS_H
#define OBJECT_HUNT_BASE_OBJECTHUNTDEFINITIONS_H

#include <cstdint>

namespace Socket
{
    namespace Ports
    {
        const uint16_t BASE = 19001; 
        const uint16_t NAVIGATION = 19002; 
    }

    namespace Settings
    {
        const int QUEUE_LENGTH = 5; 
        const uint8_t MAX_CONNECTIONS = 32; 
    }
}

namespace ReturnValue
{
    const int8_t COMMON_ERROR = -3; 
    const int8_t NO_CONNECTION = -2; 
    const int8_t POWER_OFF = -1; 
    const int8_t LEAVE_SUCCESS = 0; 
}

namespace Button
{
    const uint8_t START_STOP = 21; 
}

namespace Action
{
    const uint8_t MOTOR = 0; 
    const uint8_t STEPPER = 1; 
    const uint8_t ULTRA_SONIC = 2; 
    const uint8_t REVOLUTION = 3; 
    const uint8_t SPEED = 4; 
    const uint8_t ROTATION = 5; 
    const uint8_t ORIENTATION = 6; 
    const uint8_t START = 7; 
    const uint8_t TERMINATE = 8; 
    const uint8_t IDENTIFIER_MAPPING = 9; 
    const uint8_t IDENTIFIER_CAMERA = 10; 
    const uint8_t OBJECT_DETECTED = 11; 
    const uint8_t ROTATION_COMPLETE = 12; 
    const uint8_t OBJECT_DETECTED_ACK = 13; 
}

namespace Motor
{
    struct Command
    {
        uint8_t devices; 
        uint8_t direction; 
        uint8_t duty_cycle; 
    };

    namespace Device
    {
        const uint8_t FRONT_RIGHT = 0x01; 
        const uint8_t FRONT_LEFT = 0x02; 
        const uint8_t BACK_RIGHT = 0x04; 
        const uint8_t BACK_LEFT = 0x08; 
    }

    namespace Direction
    {
        const uint8_t FORWARD = 0x01; 
        const uint8_t BACKWARD = 0x02; 
        const uint8_t NOT_MOVING = 0x04; 
    }

    namespace Pin
    {
        // M1
        const uint8_t FR_FORWARD =  7; 
        const uint8_t FR_BACKWARD = 11; 
        // M2
        const uint8_t FL_FORWARD =  1; 
        const uint8_t FL_BACKWARD = 0; 
        // M3
        const uint8_t RL_FORWARD =  6; 
        const uint8_t RL_BACKWARD = 13; 
        // M4
        const uint8_t RR_FORWARD =  19; 
        const uint8_t RR_BACKWARD = 16; 
    }
    const uint8_t ENABLE_ALL = 20; 
    const uint32_t PWM_FREQUENCY = 1000; 
}

namespace Stepper
{
    struct Command
    {
        uint8_t direction; 
        uint8_t steps; 
    };

    namespace Direction
    {
        const uint8_t LEFT = 0; 
        const uint8_t RIGHT = 1; 
    }

    namespace Pin
    {
        // Blue
        const uint8_t ONE = 8; 
        // Pink
        const uint8_t TWO = 9; 
        // Yellow
        const uint8_t THREE = 25; 
        // Orange
        const uint8_t FOUR = 10; 
    }
    const uint16_t COUNTS_PER_REV = 512; 
    const uint8_t MAX_STEPS = COUNTS_PER_REV/4; 
    const uint16_t IDLE_TIME = 1000; 
    const uint8_t LOOKUP[8] = {0b01000, 0b01100, 0b00100, 0b00110, 0b00010, 0b00011, 0b00001, 0b01001}; 
}

namespace UltraSonic
{

    struct Request
    {
        uint32_t id; 
        uint8_t pad__; 
        uint8_t res0__; 
        uint8_t res1__; 
        uint8_t devices; 
    };

    struct Response
    {
        uint32_t id; 
        float distance_front; 
        float distance_rear; 
        float distance_left; 
        float distance_right; 
    };

    namespace Device
    {
        const uint8_t FRONT = 0x01; 
        const uint8_t REAR = 0x02; 
        const uint8_t LEFT = 0x04; 
        const uint8_t RIGHT = 0x08; 
    }

    namespace Pin
    {
        const uint8_t FRONT_TRIGGER = 4; 
        const uint8_t FRONT_ECHO = 23; 
        const uint8_t REAR_TRIGGER = 18; 
        const uint8_t REAR_ECHO = 17; 
        const uint8_t LEFT_TRIGGER = 5; 
        const uint8_t LEFT_ECHO = 22; 
        const uint8_t RIGHT_TRIGGER = 12; 
        const uint8_t RIGHT_ECHO = 27; 
    }
}

namespace Revolution
{
    struct Request
    {
        uint32_t id; 
        uint8_t pad__; 
        uint8_t res0__; 
        uint8_t res1__; 
        uint8_t devices; 
    };

    struct Response
    {
        uint32_t id; 
        int32_t count_front_left; 
        int32_t count_front_right; 
        int32_t count_rear_left; 
        int32_t count_rear_right; 
    };

    namespace Device
    {
        const uint8_t FRONT_RIGHT = 0x1; 
        const uint8_t FRONT_LEFT = 0x2; 
        const uint8_t REAR_RIGHT = 0x4; 
        const uint8_t REAR_LEFT = 0x8; 
    }

    namespace Pin
    {
        const uint8_t FRONT_RIGHT = 14; 
        const uint8_t FRONT_LEFT = 15; 
        const uint8_t REAR_LEFT = 24; 
        const uint8_t REAR_RIGHT = 26; 
    }
}

namespace Speed
{
    const int MEASUREMENT_INTERVAL_MS = 250; 
    const float WHEEL_DIAMETER_CM = 6.61; 
    const float WHEEL_EXTENT_CM = float(3.141592654 * WHEEL_DIAMETER_CM); 
    const uint8_t COUNTS_PER_REVOLUTION = 20; 
    const float DISTANCE_PER_COUNT_CM = WHEEL_EXTENT_CM / COUNTS_PER_REVOLUTION; 
    struct Request
    {
        uint32_t id; 
    };

    struct Response
    {
        uint32_t id; 
        float value; 
    };

    struct ResponseMapping
    {
        uint32_t id; 
        float value; 
        float time_diff_ms; 
    };
}

namespace Rotation
{
    const int ROTATION_AGENT_TIMEOUT_MS = 5; 
    const uint8_t DUTY_CYCLE = 90; 
    struct Command
    {
        uint8_t direction; 
        uint8_t pad__; 
        uint8_t res0__; 
        uint8_t res1__; 
        float degree; 
    };

    namespace Direction
    {
        const uint8_t LEFT = 0; 
        const uint8_t RIGHT = 1; 
    }
}

namespace Orientation
{
    struct Request
    {
        uint32_t id; 
    };

    struct Response
    {
        uint32_t id; 
        float xyz[3]; 
    };

    struct ResponseMapping
    {
        uint32_t id; 
        float xyz[3]; 
        float time_diff_ms; 
    };
}

namespace InterIntegratedCircuit
{
    const uint8_t SDA = 2; 
    const uint8_t SCL = 3; 
}

#endif //OBJECT_HUNT_BASE_OBJECTHUNTDEFINITIONS_H