PlantCtrl/Software/Shared/canapi/src/lib.rs

#![no_std]
//! CAN bus API shared crate for PlantCtrl sensors and controller.
//! Addressing and messages are defined here to be reused by all bus participants.

use bincode::{Decode, Encode};

/// Total plants supported by addressing (0..=15)
pub const MAX_PLANTS: u8 = 16;

/// Sensors per plant: 0..=1 => A/B
#[derive(Debug, Clone, Copy, PartialEq, Eq, Encode, Decode)]
#[repr(u8)]
pub enum SensorSlot {
    A = 0,
    B = 1,
}

impl SensorSlot {
    pub const fn from_index(idx: u8) -> Option<Self> {
        match idx {
            0 => Some(SensorSlot::A),
            1 => Some(SensorSlot::B),
            _ => None,
        }
    }
}

/// Legacy sensor base address kept for compatibility with existing code.
/// Each plant uses SENSOR_BASE_ADDRESS + plant_index (0..PLANT_COUNT-1).
/// 11-bit standard ID space, safe range.
pub const SENSOR_BASE_ADDRESS: u16 = 1000;

/// Typed topics within the SENSOR_BASE space.
/// Additional offsets allow distinct message semantics while keeping plant-indexed layout.
pub mod id {
    use crate::{SensorSlot, MAX_PLANTS, SENSOR_BASE_ADDRESS};

    /// Number of plants addressable per sensor slot group
    pub const PLANTS_PER_GROUP: u16 = MAX_PLANTS as u16; // 16
    /// Offset applied for SensorSlot::B within a message group
    pub const B_OFFSET: u16 = PLANTS_PER_GROUP; // 16

    // Message group base offsets relative to SENSOR_BASE_ADDRESS
    pub const MOISTURE_DATA_OFFSET: u16 = 0; // periodic data from sensor (sensor -> controller)
    pub const IDENTIFY_CMD_OFFSET: u16 = 32; // identify LED command (controller -> sensor)

    // Convenience constants for per-slot base offsets
    pub const IDENTIFY_CMD_OFFSET_A: u16 = IDENTIFY_CMD_OFFSET + 0;
    pub const IDENTIFY_CMD_OFFSET_B: u16 = IDENTIFY_CMD_OFFSET + B_OFFSET;

    #[inline]
    pub const fn plant_id(message_type_offset: u16, sensor: SensorSlot, plant: u16) -> u16 {
        match sensor {
            SensorSlot::A => SENSOR_BASE_ADDRESS + message_type_offset + plant,
            SensorSlot::B => SENSOR_BASE_ADDRESS + message_type_offset + B_OFFSET + plant,
        }
    }

    /// Kinds of message spaces recognized by the addressing scheme.
    #[derive(Debug, Clone, Copy, PartialEq, Eq)]
    pub enum MessageKind {
        MoistureData,  // sensor -> controller
        IdentifyCmd,   // controller -> sensor
    }

    /// Try to classify a received 11-bit standard ID into a known message kind and extract plant and sensor slot.
    /// Returns (kind, plant, slot) on success.
    #[inline]
    pub const fn classify(id: u16) -> Option<(MessageKind, u8, SensorSlot)> {
        // Ensure the ID is within our base space
        if id < SENSOR_BASE_ADDRESS {
            return None;
        }
        let rel = id - SENSOR_BASE_ADDRESS;

        // Helper: decode within a given group offset
        const fn decode_in_group(rel: u16, group_base: u16) -> Option<(u8, SensorSlot)> {
            if rel < group_base { return None; }
            let inner = rel - group_base;
            if inner < PLANTS_PER_GROUP { // A slot
                Some((inner as u8, SensorSlot::A))
            } else if inner >= B_OFFSET && inner < B_OFFSET + PLANTS_PER_GROUP { // B slot
                Some(((inner - B_OFFSET) as u8, SensorSlot::B))
            } else {
                None
            }
        }

        // Check known groups in order
        if let Some((plant, slot)) = decode_in_group(rel, MOISTURE_DATA_OFFSET) {
            return Some((MessageKind::MoistureData, plant, slot));
        }
        if let Some((plant, slot)) = decode_in_group(rel, IDENTIFY_CMD_OFFSET) {
            return Some((MessageKind::IdentifyCmd, plant, slot));
        }
        None
    }

    /// Returns Some((plant, slot)) regardless of message kind, if the id falls into any known group; otherwise None.
    #[inline]
    pub const fn extract_plant_slot(id: u16) -> Option<(u8, SensorSlot)> {
        match classify(id) {
            Some((_kind, plant, slot)) => Some((plant, slot)),
            None => None,
        }
    }

    /// Check if an id corresponds exactly to the given message kind, plant and slot.
    #[inline]
    pub const fn is_identify_for(id: u16, plant: u8, slot: SensorSlot) -> bool {
        id == plant_id(IDENTIFY_CMD_OFFSET, slot, plant as u16)
    }

    #[inline]
    pub const fn is_moisture_data_for(id: u16, plant: u8, slot: SensorSlot) -> bool {
        id == plant_id(MOISTURE_DATA_OFFSET, slot, plant as u16)
    }
}

/// Periodic moisture data sent by sensors.
/// Fits into 5 bytes with bincode-v2 (no varint): u8 + u8 + u16 = 4, alignment may keep 4.
#[derive(Debug, Clone, Copy, Encode, Decode)]
pub struct MoistureData {
    pub plant: u8,         // 0..MAX_PLANTS-1
    pub sensor: SensorSlot, // A/B
    pub hz: u16,           // measured frequency of moisture sensor
}

/// Request a sensor to report immediately (controller -> sensor).
#[derive(Debug, Clone, Copy, Encode, Decode)]
pub struct MoistureRequest {
    pub plant: u8,
    pub sensor: SensorSlot, // target sensor (sensor filters by this)
}

/// Control a sensor's identify LED, if received by sensor, blink for a few seconds
#[derive(Debug, Clone, Copy, Encode, Decode)]
pub struct IdentifyLed {}