From 554c4baf249f68bb8f716af97cbf23daad73ef5c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 6 May 2011 23:44:36 +0200 Subject: digital/io-hub: add contacts --- digital/io-hub/src/common/contact.host.c | 98 ++++++++++++++++++++++++++++++++ 1 file changed, 98 insertions(+) create mode 100644 digital/io-hub/src/common/contact.host.c (limited to 'digital/io-hub/src/common/contact.host.c') diff --git a/digital/io-hub/src/common/contact.host.c b/digital/io-hub/src/common/contact.host.c new file mode 100644 index 00000000..5e2309c4 --- /dev/null +++ b/digital/io-hub/src/common/contact.host.c @@ -0,0 +1,98 @@ +/* contact.host.c */ +/* robospierre - Eurobot 2011 AI. {{{ + * + * Copyright (C) 2011 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 "contact.h" + +#include "modules/host/host.h" +#include "modules/host/mex.h" + +/** Contact context. */ +struct contact_t +{ + /** All contact state. */ + uint32_t all; + /** Jack current state. */ + uint8_t jack_state; + /** Color current state. */ + enum team_color_e color_state; +}; + +/** Global context. */ +struct contact_t contact_global; +#define ctx contact_global + +static void +contact_handle (void *user, mex_msg_t *msg) +{ + uint32_t contacts; + mex_msg_pop (msg, "L", &contacts); + ctx.all = contacts; + ctx.color_state = !(contacts & 1) ? TEAM_COLOR_LEFT : TEAM_COLOR_RIGHT; + ctx.jack_state = (contacts & 2) ? 1 : 0; + contacts >>= 2; +#define CONTACT(io) do { \ + if (contacts & 1) \ + IO_PIN_ (io) |= IO_BV_ (io); \ + else \ + IO_PIN_ (io) &= ~IO_BV_ (io); \ + contacts >>= 1; \ +} while (0); + CONTACT_LIST +#undef CONTACT +} + +void +contact_init (void) +{ + const char *mex_instance = host_get_instance ("io-hub0", 0); + uint8_t mtype = mex_node_reservef ("%s:contact", mex_instance); + mex_node_register (mtype, contact_handle, 0); + /* Default to jack out. */ + ctx.jack_state = 1; +} + +void +contact_update (void) +{ + /* Nothing to do. */ +} + +enum team_color_e +contact_get_color (void) +{ + return ctx.color_state; +} + +uint8_t +contact_get_jack (void) +{ + return ctx.jack_state; +} + +uint32_t +contact_all (void) +{ + return ctx.all; +} -- cgit v1.2.3