void Controller::toggleWarning()
{
BlinkerState blinkerState = this->getBlinkerState();
this->m_server->sendToAll(CanMessage(CanMessage::ALL, CanMessage::CLIGNO_OFF, 0));
if (blinkerState != BlinkerState(BOTH))
this->m_server->sendToAll(CanMessage(CanMessage::ALL, CanMessage::CLIGNO_ON, 0));
}
void Controller::toggleRightBlinker()
{
BlinkerState blinkerState = this->getBlinkerState();
this->m_server->sendToAll(CanMessage(CanMessage::ALL, CanMessage::CLIGNO_OFF, 0));
if (blinkerState != BlinkerState(RIGHT))
this->m_server->sendToAll(CanMessage(CanMessage::RIGHT, CanMessage::CLIGNO_ON, 0));
}
void Controller::toggleStopLight()
{
if ((this->m_model->getLightState(OpticalBlock::REAR_LEFT, Light::STOP_LIGHT) == CanMessage::LIGHT_ON) ||
(this->m_model->getLightState(OpticalBlock::REAR_RIGHT, Light::STOP_LIGHT) == CanMessage::LIGHT_ON))
this->m_server->sendToAll(CanMessage(CanMessage::REAR, CanMessage::STOP_OFF, 0));
else
this->m_server->sendToAll(CanMessage(CanMessage::REAR, CanMessage::STOP_ON, 0));
}
void Controller::toggleMainBeam()
{
if ((this->m_model->getLightState(OpticalBlock::FRONT_LEFT, Light::MAINBEAM) == CanMessage::LIGHT_ON) ||
(this->m_model->getLightState(OpticalBlock::FRONT_RIGHT, Light::MAINBEAM) == CanMessage::LIGHT_ON))
this->m_server->sendToAll(CanMessage(CanMessage::FRONT, CanMessage::PHARE_OFF, 0));
else
this->m_server->sendToAll(CanMessage(CanMessage::FRONT, CanMessage::PHARE_ON, 0));
}
void Controller::toggleLowBeamPositionLight()
{
// OFF -> Position
if ((this->m_model->getLightState(OpticalBlock::FRONT_LEFT, Light::POSITION_LIGHT) == CanMessage::LIGHT_OFF) ||
(this->m_model->getLightState(OpticalBlock::FRONT_RIGHT, Light::POSITION_LIGHT) == CanMessage::LIGHT_OFF) ||
(this->m_model->getLightState(OpticalBlock::REAR_LEFT, Light::POSITION_LIGHT) == CanMessage::LIGHT_OFF) ||
(this->m_model->getLightState(OpticalBlock::REAR_RIGHT, Light::POSITION_LIGHT) == CanMessage::LIGHT_OFF))
this->m_server->sendToAll(CanMessage(CanMessage::ALL, CanMessage::POS_ON, 0));
// Position LowBeam -> OFF
else if ((this->m_model->getLightState(OpticalBlock::FRONT_LEFT, Light::LOWBEAM) == CanMessage::LIGHT_ON) ||
(this->m_model->getLightState(OpticalBlock::FRONT_RIGHT, Light::LOWBEAM) == CanMessage::LIGHT_ON)) {
this->m_server->sendToAll(CanMessage(CanMessage::ALL, CanMessage::POS_OFF, 0));
this->m_server->sendToAll(CanMessage(CanMessage::FRONT, CanMessage::CROIS_OFF, 0));
}
// Position -> Position LowBeam
else if ((this->m_model->getLightState(OpticalBlock::FRONT_LEFT, Light::POSITION_LIGHT) == CanMessage::LIGHT_ON) ||
(this->m_model->getLightState(OpticalBlock::FRONT_RIGHT, Light::POSITION_LIGHT) == CanMessage::LIGHT_ON) ||
(this->m_model->getLightState(OpticalBlock::REAR_LEFT, Light::POSITION_LIGHT) == CanMessage::LIGHT_ON) ||
(this->m_model->getLightState(OpticalBlock::REAR_RIGHT, Light::POSITION_LIGHT) == CanMessage::LIGHT_ON))
this->m_server->sendToAll(CanMessage(CanMessage::FRONT, CanMessage::CROIS_ON, 0));
}
float Battery::getVoltage (void)
{
can->lock();
can->send(CanMessage(CAN_ID_IO_CMD, CMD_IOBOARD_GETVBATT));
CanMessage message(CAN_ID_IO_REPLY, CMD_IOBOARD_GETVBATT);
can->receiveTimeout(&message);
can->unlock();
int voltageRaw = (message.getData(0) << 8) | (message.getData(1));
// this conversion was found in canplatform.cc and simply copied.
double voltage = (-0.00000010537 * voltageRaw * voltageRaw) + (0.012578 * voltageRaw) - 314;
logger->Battery("Battery::getVoltage(): voltageRaw is %d, real voltage is %2.2f V", voltageRaw, voltage);
return voltage;
}