From 19a5b01c7de84ffa8647715379309b676063c70b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 14 Mar 2013 00:14:21 +0100 Subject: digital/io-hub/src/apbirthday: add robot superclass --- digital/io-hub/src/apbirthday/Makefile | 2 +- digital/io-hub/src/apbirthday/main.cc | 21 ++-------- digital/io-hub/src/apbirthday/robot.cc | 76 ++++++++++++++++++++++++++++++++++ digital/io-hub/src/apbirthday/robot.hh | 53 ++++++++++++++++++++++++ 4 files changed, 133 insertions(+), 19 deletions(-) create mode 100644 digital/io-hub/src/apbirthday/robot.cc create mode 100644 digital/io-hub/src/apbirthday/robot.hh (limited to 'digital') 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 -- cgit v1.2.3