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authorNicolas Schodet2013-03-14 00:14:21 +0100
committerNicolas Schodet2013-03-14 23:53:45 +0100
commit19a5b01c7de84ffa8647715379309b676063c70b (patch)
treea9406f5a51750c77b8bb61f69f29fe310339da9a /digital/io-hub/src/apbirthday/robot.cc
parent5d1e60854945bd192f0720ebc3408b1aab68d2f8 (diff)
digital/io-hub/src/apbirthday: add robot superclass
Diffstat (limited to 'digital/io-hub/src/apbirthday/robot.cc')
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc76
1 files changed, 76 insertions, 0 deletions
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
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+++ b/digital/io-hub/src/apbirthday/robot.cc
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+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 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 "robot.hh"
+
+#include "ucoolib/arch/arch.hh"
+
+Robot *robot;
+
+Robot::Robot ()
+ : dev_proto (*this, hardware.dev_uart),
+ zb_proto (*this, hardware.zb_uart),
+ usb_proto (*this, hardware.usb)
+{
+ robot = this;
+}
+
+void
+Robot::main_loop ()
+{
+ while (1)
+ {
+ // Wait until next cycle.
+ hardware.wait ();
+ // Handle commands.
+ dev_proto.accept ();
+ zb_proto.accept ();
+ usb_proto.accept ();
+ // Handle events.
+ fsm_gen_event ();
+ }
+}
+
+void
+Robot::fsm_gen_event ()
+{
+}
+
+void
+Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size)
+{
+#define c(cmd, size) ((cmd) << 8 | (size))
+ switch (c (cmd, size))
+ {
+ case c ('z', 0):
+ // Reset.
+ ucoo::arch_reset ();
+ break;
+ default:
+ proto.send ('?');
+ return;
+ }
+ // Acknowledge.
+ proto.send_buf (cmd, args, size);
+}
+