From 5a30e91800b201aade1aca847b4953d53a2c25f9 Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Sun, 19 Jan 2025 01:20:13 -0500
Subject: [PATCH] cam state in telemetry

---
 controller/src/main.rs | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

diff --git a/controller/src/main.rs b/controller/src/main.rs
index 86f9c3f..7ce17cc 100644
--- a/controller/src/main.rs
+++ b/controller/src/main.rs
@@ -30,7 +30,7 @@ use log::*;
 use embassy_executor::Spawner;
 use embassy_net::tcp::TcpSocket;
 use embassy_net::{Config, StackResources};
-use embassy_rp::bind_interrupts;
+use embassy_rp::{bind_interrupts, watchdog};
 use embassy_rp::clocks::RoscRng;
 use embassy_rp::gpio::{Input, Level, Output, Pull};
 use embassy_rp::peripherals::{DMA_CH0, PIO0, USB};
@@ -278,7 +278,7 @@ async fn main(spawner: Spawner) {
             if let Ok((data, _ts)) = CHANNEL.try_receive() {
                 let telem = TelemetryPacket {
                     sensors: data,
-                    voltage: 0.0, // TODO
+                    cam_state: cam_state.borrow().to_telem(),
                 };
 
                 if let Ok(telem) = postcard::to_slice(&telem, &mut telem_buf) {
@@ -310,6 +310,17 @@ enum CamState {
     Idle,
 }
 
+impl CamState {
+    fn to_telem(&self) -> common::CamState {
+        match self {
+            Self::Override(_) | Self::Fire => common::CamState::Firing,
+            Self::Charging(_) => common::CamState::Charging,
+            Self::Charged => common::CamState::Charged,
+            Self::Idle => common::CamState::Idle,
+        }
+    }
+}
+
 #[embassy_executor::task]
 async fn cam_manager(mut cam: Pwm<'static>, limit: Input<'static>, cam_state: &'static RefCell<CamState>) {
     loop {