58 lines
1.4 KiB
Rust
58 lines
1.4 KiB
Rust
use serde::{Serialize, Deserialize};
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use serde_cbor::Serializer;
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use serde_cbor::ser::SliceWrite;
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use crate::{
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channel_state::ChannelState,
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channels::{CHANNELS, Channels},
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command_parser::CenterPoint,
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pid,
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steinhart_hart,
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};
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/// Just for encoding/decoding, actual state resides in ChannelState
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#[derive(Serialize, Deserialize)]
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pub struct Config {
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channels: [ChannelConfig; CHANNELS],
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}
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impl Config {
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pub fn new(channels: &mut Channels) -> Self {
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Config {
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channels: [
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ChannelConfig::new(channels.channel_state(0usize)),
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ChannelConfig::new(channels.channel_state(1usize)),
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],
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}
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}
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pub fn encode(&self, buffer: &mut [u8]) -> Result<usize, serde_cbor::Error> {
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let writer = SliceWrite::new(buffer);
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let mut ser = Serializer::new(writer);
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self.serialize(&mut ser)?;
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let writer = ser.into_inner();
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let size = writer.bytes_written();
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Ok(size)
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}
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}
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#[derive(Serialize, Deserialize)]
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pub struct ChannelConfig {
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center: CenterPoint,
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pid: pid::Parameters,
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pid_target: f64,
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sh: steinhart_hart::Parameters,
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// TODO: pwm limits
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}
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impl ChannelConfig {
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pub fn new(state: &ChannelState) -> Self {
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ChannelConfig {
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center: state.center.clone(),
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pid: state.pid.parameters.clone(),
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pid_target: state.pid.target,
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sh: state.sh.clone(),
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}
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}
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}
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