void loop() {
for(int i = 0; i < getCanBusCount(); i++) {
receiveCan(&getCanBuses()[i]);
}
readFromHost(listener.usb, receiveWriteRequest);
readFromSerial(listener.serial, receiveWriteRequest);
readFromSocket(listener.ethernet, receiveWriteRequest);
for(int i = 0; i < getCanBusCount(); i++) {
processCanWriteQueue(&getCanBuses()[i]);
}
updateDataLights();
}
/* Public: Update the color and status of a board's light that shows the status
* of the CAN bus. This function is intended to be called each time through the
* main program loop.
*/
void updateDataLights() {
static bool busWasActive;
bool busActive = false;
for(int i = 0; i < getCanBusCount(); i++) {
busActive = busActive || canBusActive(&getCanBuses()[i]);
}
if(!busWasActive && busActive) {
debug("CAN woke up - enabling LED");
enable(LIGHT_A, COLORS.blue);
busWasActive = true;
} else if(!busActive && busWasActive) {
#ifndef TRANSMITTER
debug("CAN went silent - disabling LED");
busWasActive = false;
// TODO I don't love having all of this here, but it's the best place
// for now. Maybe the modules need a deinitializeFoo() method in
// addition to the initialize one.
disable(LIGHT_A);
disable(LIGHT_B);
setBluetoothStatus(false);
// Make sure lights and Bluetooth are disabled before sleeping
delayMs(100);
enterLowPowerMode();
#endif
}
}
void receiveRawWriteRequest(cJSON* idObject, cJSON* root) {
uint32_t id = idObject->valueint;
cJSON* dataObject = cJSON_GetObjectItem(root, "data");
if(dataObject == NULL) {
debug("Raw write request missing data", id);
return;
}
char* dataString = dataObject->valuestring;
char* end;
// TODO hard coding bus 0 right now, but it should support sending on either
CanMessage message = {&getCanBuses()[0], id};
enqueueCanMessage(&message, strtoull(dataString, &end, 16));
}
void initializeAllCan() {
for(int i = 0; i < getCanBusCount(); i++) {
initializeCan(&(getCanBuses()[i]));
}
}
