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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
parent5d1e60854945bd192f0720ebc3408b1aab68d2f8 (diff)
digital/io-hub/src/apbirthday: add robot superclass
Diffstat (limited to 'digital/io-hub')
-rw-r--r--digital/io-hub/src/apbirthday/Makefile2
-rw-r--r--digital/io-hub/src/apbirthday/main.cc21
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc76
-rw-r--r--digital/io-hub/src/apbirthday/robot.hh53
4 files changed, 133 insertions, 19 deletions
diff --git a/digital/io-hub/src/apbirthday/Makefile b/digital/io-hub/src/apbirthday/Makefile
index 8f798ea0..6475a114 100644
--- a/digital/io-hub/src/apbirthday/Makefile
+++ b/digital/io-hub/src/apbirthday/Makefile
@@ -2,7 +2,7 @@ BASE = ../../../ucoolib
TARGETS = host stm32f4
PROGS = apbirthday
-apbirthday_SOURCES = main.cc hardware.host.cc hardware.stm32.cc
+apbirthday_SOURCES = main.cc robot.cc hardware.host.cc hardware.stm32.cc
MODULES = hal/uart hal/usb base/proto
diff --git a/digital/io-hub/src/apbirthday/main.cc b/digital/io-hub/src/apbirthday/main.cc
index 3e246f1c..ef9c8119 100644
--- a/digital/io-hub/src/apbirthday/main.cc
+++ b/digital/io-hub/src/apbirthday/main.cc
@@ -23,28 +23,13 @@
// }}}
#include "ucoolib/arch/arch.hh"
#include "ucoolib/common.hh"
-#include "hardware.hh"
+#include "robot.hh"
int
main (int argc, const char **argv)
{
ucoo::arch_init (argc, argv);
- Hardware hardware;
- while (1)
- {
- if (hardware.dev_uart.poll ())
- {
- int c = hardware.dev_uart.getc ();
- hardware.dev_uart.putc ('d');
- hardware.dev_uart.putc (c);
- }
- if (hardware.usb.poll ())
- {
- int c = hardware.usb.getc ();
- hardware.usb.putc ('u');
- hardware.usb.putc (c);
- }
- ucoo::yield ();
- }
+ Robot robot;
+ robot.main_loop ();
}
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
new file mode 100644
index 00000000..a2fcfb89
--- /dev/null
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -0,0 +1,76 @@
+// 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);
+}
+
diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh
new file mode 100644
index 00000000..d65b2a3a
--- /dev/null
+++ b/digital/io-hub/src/apbirthday/robot.hh
@@ -0,0 +1,53 @@
+#ifndef robot_hh
+#define robot_hh
+// 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 "hardware.hh"
+
+#include "ucoolib/base/proto/proto.hh"
+
+/// Main robot superclass.
+class Robot : public ucoo::Proto::Handler
+{
+ public:
+ /// Initialise robot singleton.
+ Robot ();
+ /// Main program loop.
+ void main_loop ();
+ /// Generate events for the FSM.
+ void fsm_gen_event ();
+ /// Receive proto messages.
+ void proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size);
+ public:
+ /// Public access to hardware class.
+ Hardware hardware;
+ private:
+ /// Proto associated to each serial interface.
+ ucoo::Proto dev_proto, zb_proto, usb_proto;
+};
+
+/// Global instance pointer.
+extern Robot *robot;
+
+#endif // robot_hh