TracLight_c::SendMessage_e TracLight_c::sendLightingData()
{ // there is no need to check for address claim in tractor mode because this is already done in the timeEvent
// function of base class BaseCommon_c
CanPkgExt_c pkg;
// precondition checks for sending as implement
if (!mb_cmdWait4Response) return MessageNotSent;
if( ( ! getIdentItem() ) || ( ! getIdentItem()->isClaimedAddress() ) ) {
return MessageNotSent;
}
pkg.setIsoPgn(LIGHTING_DATA_PGN);
//reset flag because msg will now be send
mb_cmdWait4Response = false;
pkg.setIsoPri(6);
uint16_t ui16_temp = 0;
ui16_temp =
(mt_cmd.implOEMOpt2 << 0) +
(mt_cmd.implOEMOpt1 << 2) +
(mt_cmd.implRightForwardWork << 4) +
(mt_cmd.implLeftForwardWork << 6) +
(0 << 8) + //reserved field in lighting data
(mt_cmd.implRightFacingWork << 10) +
(mt_cmd.implLeftFacingWork << 12) +
(mt_cmd.implRearWork << 14);
pkg.setUint16Data(6, ui16_temp);
return helpSendMessage( pkg );
}
TracLight_c::SendMessage_e TracLight_c::helpSendMessage( CanPkgExt_c& pkg )
{
// there is no need to check for address claim in tractor mode because this is already done in the timeEvent
// function of base class BaseCommon_c
pkg.setMonitorItemForSA( getIdentItem()->getIsoItem() );
pkg.setLen(8);
uint16_t ui16_temp = 0;
ui16_temp =
(mt_cmd.daytimeRunning << 0) +
(mt_cmd.alternateHead << 2) +
(mt_cmd.lowBeamHead << 4) +
(mt_cmd.highBeamHead << 6) +
(mt_cmd.frontFog << 8) +
(mt_cmd.beacon << 10) +
(mt_cmd.rightTurn << 12) +
(mt_cmd.leftTurn << 14);
pkg.setUint16Data(0, ui16_temp);
ui16_temp = 0;
ui16_temp =
(mt_cmd.backUpLightAlarmHorn << 0) +
(mt_cmd.centerStop << 2) +
(mt_cmd.rightStop << 4) +
(mt_cmd.leftStop << 6) +
(mt_cmd.implClearance << 8) +
(mt_cmd.tracClearance << 10) +
(mt_cmd.implMarker << 12) +
(mt_cmd.tracMarker << 14);
pkg.setUint16Data(2, ui16_temp);
ui16_temp = 0;
ui16_temp =
(mt_cmd.rearFog << 0) +
(mt_cmd.undersideWork << 2) +
(mt_cmd.rearLowWork << 4) +
(mt_cmd.rearHighWork << 6) +
(mt_cmd.sideLowWork << 8) +
(mt_cmd.sideHighWork << 10) +
(mt_cmd.frontLowWork << 12) +
(mt_cmd.frontHighWork << 14);
pkg.setUint16Data(4, ui16_temp);
// CanIo_c::operator<< retreives the information with the help of CanPkg_c::getData
// then it sends the data
getIsoBusInstance4Comm() << pkg;
return MessageSent;
}
TracLight_c::SendMessage_e TracLight_c::sendLightingCommand()
{
const ecutime_t ci32_now = System_c::getTime();
CanPkgExt_c pkg;
// tractor mode
if ( ( ci32_now - marr_timeStamp[m_index] ) <= 1000 )
{ // WE ARE NOT ALLOWED TO SEND - EVEN IF REQUESTED
return MessageNotSent;
}
else if ( (!mb_changeNeedBeSend) && ( (ci32_now - marr_timeStamp[(m_index+9)%10]) < 900 ) ) // (m_index+9)%10 -> youngest entry in array marr_timeStamp[];
{ // to send requested (i.e. no change occured) or not yet time to repeat last command
return MessageNotSent;
}
mb_changeNeedBeSend = false;
// now it's evident, that we have to send a command
pkg.setIsoPgn(LIGHTING_COMMAND_PGN);
setSelectedDataSourceISOName( getIdentItem()->isoName() );
pkg.setIsoPri(3);
uint16_t ui16_temp = 0;
ui16_temp =
(mt_cmd.implOEMOpt2 << 0) +
(mt_cmd.implOEMOpt1 << 2) +
(mt_cmd.implRightForwardWork << 4) +
(mt_cmd.implLeftForwardWork << 6) +
(mt_cmd.dataMsgReq << 8) +
(mt_cmd.implRightFacingWork << 10) +
(mt_cmd.implLeftFacingWork << 12) +
(mt_cmd.implRearWork << 14);
pkg.setUint16Data(6, ui16_temp);
//overwrite the eldest time event with latest time event
marr_timeStamp[m_index] = ci32_now;
//set m_index to the eldest time event
m_index = (m_index + 1) % 10;
return helpSendMessage( pkg );
}