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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);
}