Package com.reduxrobotics.sensors.canandcolor

Class CanandcolorDetails.Msg

java.lang.Object
com.reduxrobotics.sensors.canandcolor.CanandcolorDetails.Msg
Enclosing class:
CanandcolorDetails
public static class CanandcolorDetails.Msg extends Object
Messages.

  • Field Details

    • kDistanceOutput

      public static final int kDistanceOutput
      Distance frame
      See Also:

    • kColorOutput

      public static final int kColorOutput
      Color frame
      See Also:

    • kDigitalOutput

      public static final int kDigitalOutput
      Digital output frame
      See Also:

    • kClearStickyDigout

      public static final int kClearStickyDigout
      Clear sticky digout state which is broadcast over CAN
      See Also:

    • kEnumerate

      public static final int kEnumerate
      Device enumerate response
      See Also:

    • kPartyMode

      public static final int kPartyMode
      Party mode
      See Also:

    • kStatus

      public static final int kStatus
      Status frame
      See Also:

    • kClearStickyFaults

      public static final int kClearStickyFaults
      Clear device sticky faults
      See Also:

    • kReportSetting

      public static final int kReportSetting
      setting value report from device
      See Also:

    • kSetSetting

      public static final int kSetSetting
      update setting on device
      See Also:

    • kSettingCommand

      public static final int kSettingCommand
      setting control command
      See Also:

    • kDlc_DistanceOutput

      public static final int kDlc_DistanceOutput
      DISTANCE_OUTPUT message length
      See Also:

    • kDlc_ColorOutput

      public static final int kDlc_ColorOutput
      COLOR_OUTPUT message length
      See Also:

    • kDlc_DigitalOutput

      public static final int kDlc_DigitalOutput
      DIGITAL_OUTPUT message length
      See Also:

    • kDlc_ClearStickyDigout

      public static final int kDlc_ClearStickyDigout
      CLEAR_STICKY_DIGOUT message length
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    • kDlc_Enumerate

      public static final int kDlc_Enumerate
      ENUMERATE message length
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    • kDlcMin_PartyMode

      public static final int kDlcMin_PartyMode
      PARTY_MODE message min length
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    • kDlcMax_PartyMode

      public static final int kDlcMax_PartyMode
      PARTY_MODE message max length
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    • kDlc_Status

      public static final int kDlc_Status
      STATUS message length
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    • kDlcMin_ClearStickyFaults

      public static final int kDlcMin_ClearStickyFaults
      CLEAR_STICKY_FAULTS message min length
      See Also:

    • kDlcMax_ClearStickyFaults

      public static final int kDlcMax_ClearStickyFaults
      CLEAR_STICKY_FAULTS message max length
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    • kDlc_ReportSetting

      public static final int kDlc_ReportSetting
      REPORT_SETTING message length
      See Also:

    • kDlc_SetSetting

      public static final int kDlc_SetSetting
      SET_SETTING message length
      See Also:

    • kDlcMin_SettingCommand

      public static final int kDlcMin_SettingCommand
      SETTING_COMMAND message min length
      See Also:

    • kDlcMax_SettingCommand

      public static final int kDlcMax_SettingCommand
      SETTING_COMMAND message max length
      See Also:

  • Method Details

    • extractDistanceOutput_Distance

      public static int extractDistanceOutput_Distance(long field)
      Extracts 16-bit distance value. Actual correspondance to real-world units is config and surface-dependent. from DistanceOutput.
      Parameters:
      field - data bitfield
      Returns:
      distance as a uint:16

    • extractColorOutput_Red

      public static int extractColorOutput_Red(long field)
      Extracts Red reading magnitude from ColorOutput.
      Parameters:
      field - data bitfield
      Returns:
      red as a uint:20

    • extractColorOutput_Green

      public static int extractColorOutput_Green(long field)
      Extracts Green reading magnitude from ColorOutput.
      Parameters:
      field - data bitfield
      Returns:
      green as a uint:20

    • extractColorOutput_Blue

      public static int extractColorOutput_Blue(long field)
      Extracts Blue reading magnitude from ColorOutput.
      Parameters:
      field - data bitfield
      Returns:
      blue as a uint:20

    • extractColorOutput_Period

      public static int extractColorOutput_Period(long field)
      Extracts Color integration period from ColorOutput.
      Parameters:
      field - data bitfield
      Returns:
      period as a enum:COLOR_INTEGRATION_PERIOD

    • extractDigitalOutput_Digout1State

      public static boolean extractDigitalOutput_Digout1State(long field)
      Extracts Digital output state for DIGOUT1 from DigitalOutput.
      Parameters:
      field - data bitfield
      Returns:
      digout1_state as a bool

    • extractDigitalOutput_Digout2State

      public static boolean extractDigitalOutput_Digout2State(long field)
      Extracts Digital output state for DIGOUT2 from DigitalOutput.
      Parameters:
      field - data bitfield
      Returns:
      digout2_state as a bool

    • extractDigitalOutput_Digout1Sticky

      public static boolean extractDigitalOutput_Digout1Sticky(long field)
      Extracts Sticky digital output state for DIGOUT1 from DigitalOutput.
      Parameters:
      field - data bitfield
      Returns:
      digout1_sticky as a bool

    • extractDigitalOutput_Digout2Sticky

      public static boolean extractDigitalOutput_Digout2Sticky(long field)
      Extracts Sticky digital output state for DIGOUT1 from DigitalOutput.
      Parameters:
      field - data bitfield
      Returns:
      digout2_sticky as a bool

    • extractDigitalOutput_Digout1Cond

      public static int extractDigitalOutput_Digout1Cond(long field)
      Extracts DIGOUT1 condition slot flags. A value of 1 for bit N means that condition slot is true. Bits are indexed little-endian. from DigitalOutput.
      Parameters:
      field - data bitfield
      Returns:
      digout1_cond as a bitset:16

    • extractDigitalOutput_Digout2Cond

      public static int extractDigitalOutput_Digout2Cond(long field)
      Extracts DIGOUT2 condition slot flags. A value of 1 for bit N means that condition slot is true. Bits are indexed little-endian. from DigitalOutput.
      Parameters:
      field - data bitfield
      Returns:
      digout2_cond as a bitset:16

    • extractEnumerate_Serial

      public static long extractEnumerate_Serial(long field)
      Extracts Device-unique serial number from Enumerate.
      Parameters:
      field - data bitfield
      Returns:
      serial as a buf:48

    • extractEnumerate_IsBootloader

      public static boolean extractEnumerate_IsBootloader(long field)
      Extracts Device is in bootloader. from Enumerate.
      Parameters:
      field - data bitfield
      Returns:
      is_bootloader as a bool

    • extractPartyMode_PartyLevel

      public static int extractPartyMode_PartyLevel(long field)
      Extracts Party level. 0 disables the strobe, whereas 1 enables it. from PartyMode.
      Parameters:
      field - data bitfield
      Returns:
      party_level as a uint:8

    • extractStatus_Faults

      public static int extractStatus_Faults(long field)
      Extracts 8-bit active faults bitfield from Status.
      Parameters:
      field - data bitfield
      Returns:
      faults as a bitset:8

    • extractStatus_StickyFaults

      public static int extractStatus_StickyFaults(long field)
      Extracts 8-bit sticky faults bitfield from Status.
      Parameters:
      field - data bitfield
      Returns:
      sticky_faults as a bitset:8

    • extractStatus_Temperature

      public static int extractStatus_Temperature(long field)
      Extracts 16-bit signed temperature byte in 1/256ths of a Celsius from Status.
      Parameters:
      field - data bitfield
      Returns:
      temperature as a sint:16

    • extractReportSetting_Address

      public static int extractReportSetting_Address(long field)
      Extracts Setting index to write to from ReportSetting.
      Parameters:
      field - data bitfield
      Returns:
      address as a enum:SETTING

    • extractReportSetting_Value

      public static long extractReportSetting_Value(long field)
      Extracts 6-byte setting value from ReportSetting.
      Parameters:
      field - data bitfield
      Returns:
      value as a buf:48

    • extractReportSetting_Flags

      public static int extractReportSetting_Flags(long field)
      Extracts Setting receive status from ReportSetting.
      Parameters:
      field - data bitfield
      Returns:
      flags as a bitset:8

    • extractSetSetting_Address

      public static int extractSetSetting_Address(long field)
      Extracts Setting index to write to from SetSetting.
      Parameters:
      field - data bitfield
      Returns:
      address as a enum:SETTING

    • extractSetSetting_Value

      public static long extractSetSetting_Value(long field)
      Extracts 6-byte setting value from SetSetting.
      Parameters:
      field - data bitfield
      Returns:
      value as a buf:48

    • extractSetSetting_Flags_Ephemeral

      public static boolean extractSetSetting_Flags_Ephemeral(long field)
      Extracts Whether the setting should be set ephemeral from SetSetting_Flags.
      Parameters:
      field - data bitfield
      Returns:
      ephemeral as a bool

    • extractSetSetting_Flags_SynchHold

      public static boolean extractSetSetting_Flags_SynchHold(long field)
      Extracts Whether the setting should be held until the next synch barrier from SetSetting_Flags.
      Parameters:
      field - data bitfield
      Returns:
      synch_hold as a bool

    • extractSetSetting_Flags_SynchMsgCount

      public static int extractSetSetting_Flags_SynchMsgCount(long field)
      Extracts Synch message count from SetSetting_Flags.
      Parameters:
      field - data bitfield
      Returns:
      synch_msg_count as a uint:4

    • extractSettingCommand_ControlFlag

      public static int extractSettingCommand_ControlFlag(long field)
      Extracts Setting command index from SettingCommand.
      Parameters:
      field - data bitfield
      Returns:
      control_flag as a enum:SETTING_COMMAND

    • extractSettingCommand_SettingIndex

      public static int extractSettingCommand_SettingIndex(long field)
      Extracts setting index to fetch from SettingCommand.
      Parameters:
      field - data bitfield
      Returns:
      setting_index as a enum:SETTING

    • constructDistanceOutput

      public static long constructDistanceOutput(int distance)
      Constructs a DISTANCE_OUTPUT message.
      Parameters:
      distance - 16-bit distance value. Actual correspondance to real-world units is config and surface-dependent. (uint:16)
      Returns:
      message data as long

    • constructColorOutput

      public static long constructColorOutput(int red, int green, int blue, int period)
      Constructs a COLOR_OUTPUT message.
      Parameters:
      red - Red reading magnitude (uint:20)
      green - Green reading magnitude (uint:20)
      blue - Blue reading magnitude (uint:20)
      period - Color integration period (enum:COLOR_INTEGRATION_PERIOD)
      Returns:
      message data as long

    • constructDigitalOutput

      public static long constructDigitalOutput(boolean digout1State, boolean digout2State, boolean digout1Sticky, boolean digout2Sticky, int digout1Cond, int digout2Cond)
      Constructs a DIGITAL_OUTPUT message.
      Parameters:
      digout1State - Digital output state for DIGOUT1 (bool)
      digout2State - Digital output state for DIGOUT2 (bool)
      digout1Sticky - Sticky digital output state for DIGOUT1 (bool)
      digout2Sticky - Sticky digital output state for DIGOUT1 (bool)
      digout1Cond - DIGOUT1 condition slot flags. A value of 1 for bit N means that condition slot is true. Bits are indexed little-endian. (bitset:16)
      digout2Cond - DIGOUT2 condition slot flags. A value of 1 for bit N means that condition slot is true. Bits are indexed little-endian. (bitset:16)
      Returns:
      message data as long

    • constructClearStickyDigout

      public static long constructClearStickyDigout()
      Constructs a CLEAR_STICKY_DIGOUT message.
      Returns:
      message data as long

    • constructEnumerate

      public static long constructEnumerate(long serial, boolean isBootloader)
      Constructs a ENUMERATE message.
      Parameters:
      serial - Device-unique serial number (buf:48)
      isBootloader - Device is in bootloader. (bool)
      Returns:
      message data as long

    • constructPartyMode

      public static long constructPartyMode(int partyLevel)
      Constructs a PARTY_MODE message.
      Parameters:
      partyLevel - Party level. 0 disables the strobe, whereas 1 enables it. (uint:8)
      Returns:
      message data as long

    • constructStatus

      public static long constructStatus(int faults, int stickyFaults, int temperature)
      Constructs a STATUS message.
      Parameters:
      faults - 8-bit active faults bitfield (bitset:8)
      stickyFaults - 8-bit sticky faults bitfield (bitset:8)
      temperature - 16-bit signed temperature byte in 1/256ths of a Celsius (sint:16)
      Returns:
      message data as long

    • constructClearStickyFaults

      public static long constructClearStickyFaults()
      Constructs a CLEAR_STICKY_FAULTS message.
      Returns:
      message data as long

    • constructReportSetting

      public static long constructReportSetting(int address, long value, int flags)
      Constructs a REPORT_SETTING message.
      Parameters:
      address - Setting index to write to (enum:SETTING)
      value - 6-byte setting value (buf:48)
      flags - Setting receive status (bitset:8)
      Returns:
      message data as long

    • constructSetSetting

      public static long constructSetSetting(int address, long value, boolean flagsEphemeral, boolean flagsSynchHold, int flagsSynchMsgCount)
      Constructs a SET_SETTING message.
      Parameters:
      address - Setting index to write to (enum:SETTING)
      value - 6-byte setting value (buf:48)
      flagsEphemeral - Whether the setting should be set ephemeral (bool)
      flagsSynchHold - Whether the setting should be held until the next synch barrier (bool)
      flagsSynchMsgCount - Synch message count (uint:4)
      Returns:
      message data as long

    • constructSettingCommand

      public static long constructSettingCommand(int controlFlag, int settingIndex)
      Constructs a SETTING_COMMAND message.
      Parameters:
      controlFlag - Setting command index (enum:SETTING_COMMAND)
      settingIndex - setting index to fetch (enum:SETTING)
      Returns:
      message data as long

    • checkDlcForDistanceOutput

      public static boolean checkDlcForDistanceOutput(int dlc)
      Check if DISTANCE_OUTPUT message length is valid.
      Parameters:
      dlc - length to check
      Returns:
      true if valid

    • checkDlcForColorOutput

      public static boolean checkDlcForColorOutput(int dlc)
      Check if COLOR_OUTPUT message length is valid.
      Parameters:
      dlc - length to check
      Returns:
      true if valid

    • checkDlcForDigitalOutput

      public static boolean checkDlcForDigitalOutput(int dlc)
      Check if DIGITAL_OUTPUT message length is valid.
      Parameters:
      dlc - length to check
      Returns:
      true if valid

    • checkDlcForClearStickyDigout

      public static boolean checkDlcForClearStickyDigout(int dlc)
      Check if CLEAR_STICKY_DIGOUT message length is valid.
      Parameters:
      dlc - length to check
      Returns:
      true if valid

    • checkDlcForEnumerate

      public static boolean checkDlcForEnumerate(int dlc)
      Check if ENUMERATE message length is valid.
      Parameters:
      dlc - length to check
      Returns:
      true if valid

    • checkDlcForPartyMode

      public static boolean checkDlcForPartyMode(int dlc)
      Check if PARTY_MODE message length is valid.
      Parameters:
      dlc - length to check
      Returns:
      true if valid

    • checkDlcForStatus

      public static boolean checkDlcForStatus(int dlc)
      Check if STATUS message length is valid.
      Parameters:
      dlc - length to check
      Returns:
      true if valid

    • checkDlcForClearStickyFaults

      public static boolean checkDlcForClearStickyFaults(int dlc)
      Check if CLEAR_STICKY_FAULTS message length is valid.
      Parameters:
      dlc - length to check
      Returns:
      true if valid

    • checkDlcForReportSetting

      public static boolean checkDlcForReportSetting(int dlc)
      Check if REPORT_SETTING message length is valid.
      Parameters:
      dlc - length to check
      Returns:
      true if valid

    • checkDlcForSetSetting

      public static boolean checkDlcForSetSetting(int dlc)
      Check if SET_SETTING message length is valid.
      Parameters:
      dlc - length to check
      Returns:
      true if valid

    • checkDlcForSettingCommand

      public static boolean checkDlcForSettingCommand(int dlc)
      Check if SETTING_COMMAND message length is valid.
      Parameters:
      dlc - length to check
      Returns:
      true if valid