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-rw-r--r--digital/ai/src/twi_master/beacon.c84
1 files changed, 84 insertions, 0 deletions
diff --git a/digital/ai/src/twi_master/beacon.c b/digital/ai/src/twi_master/beacon.c
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+/* beacon.c */
+/* ai - Robot Artificial Intelligence. {{{
+ *
+ * Copyright (C) 2012 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "common.h"
+#include "beacon.h"
+
+#include "twi_master.h"
+
+#include "modules/utils/byte.h"
+
+/** Global context. */
+struct beacon_t
+{
+ /** Obstacles position. */
+ vect_t position[AC_BEACON_POSITION_NB];
+ /** Obstacles trust. */
+ uint8_t trust[AC_BEACON_POSITION_NB];
+};
+struct beacon_t beacon;
+
+void
+beacon_init (void)
+{
+ uint8_t i;
+ for (i = 0; i < AC_BEACON_POSITION_NB; i++)
+ beacon.trust[i] = 0;
+}
+
+void
+beacon_status_cb (uint8_t *status)
+{
+ uint8_t i, index = 3;
+ for (i = 0; i < AC_BEACON_POSITION_NB; i++)
+ {
+ beacon.position[i].x = v8_to_v16 (status[index], status[index + 1]);
+ index += 2;
+ beacon.position[i].y = v8_to_v16 (status[index], status[index + 1]);
+ index += 2;
+ beacon.trust[i] = status[index];
+ index++;
+ }
+}
+
+void
+beacon_on (uint8_t on_off)
+{
+ uint8_t *buffer = twi_master_get_buffer (BEACON_SLAVE);
+ buffer[0] = on_off;
+ twi_master_send_buffer (1);
+}
+
+uint8_t
+beacon_get_position (uint8_t index, vect_t *position)
+{
+ if (index < AC_BEACON_POSITION_NB)
+ {
+ *position = beacon.position[index];
+ return beacon.trust[index];
+ }
+ else
+ return 0;
+}
+