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// motor.cc
// buzz - Programme du robot Efrei Robotique I1-I2 2003
// Copyright (C) 2003 Nicolas Schodet
//
#include "motor.h"
#include "config/config.h"

#include <iostream>

#define MOTOR_DEV "/dev/tty00"

// Constructeur.
Motor::Motor (void) : m_serial (MOTOR_DEV)
{
    m_recv_n = 0;
    running = false;
    // Param�tres par defaut.
    m_speed = m_accel = m_raccel = m_rspeed = 10;
    // Lit la conf.
    Config rc ("rc/motor");
    while (!rc.eof ())
      {
	if (rc.isId ("accel"))
	  {
	    rc.getId ();
	    rc >> m_accel;
	  }
	else if (rc.isId ("speed"))
	  {
	    rc.getId ();
	    rc >> m_speed;
	  }
	else if (rc.isId ("raccel"))
	  {
	    rc.getId ();
	    rc >> m_raccel;
	  }
	else if (rc.isId ("rspeed"))
	  {
	    rc.getId ();
	    rc >> m_rspeed;
	  }
	else rc.noId ();
      }
}

// Destructeur.
Motor::~Motor (void)
{
}

// Avance d'une distance d, � la vitesse s.
void
Motor::goDistance (int d, int s)
{
    if (d > 0)
	send ('F', d, s == -1 ? m_speed : s, m_accel);
    else
	send ('R', -d, s == -1 ? m_speed : s, m_accel);
    running = true;
}

// Tourne d'un angle d, � la vitesse s.
void
Motor::turnAngle (int d, int s)
{
    if (d > 0)
	send ('G', d, s == -1 ? m_speed : s, m_accel);
    else
	send ('D', -d, s == -1 ? m_speed : s, m_accel);
    running = true;
}

// Traite les message entrants.
void
Motor::readMsg (void)
{
    while (recv ())
      {
	// V�rifie la validit�e du message.
	if (m_recv_buf[0] == '<' && m_recv_buf[m_recv_n - 1] == '>')
	  {
	    switch (m_recv_buf[1])
	      {
	      case 'Y':
		running = false;
		break;
	      }
	  }
	m_recv_n = 0;
      }
}

// Envoie une commande.
void
Motor::send (char com, int a1, int a2, int a3)
{
    char data[32];
    int n = 0;
    int be, le;
    data[n++] = '<';
    data[n++] = com;
    if (a1 != -1)
      {
	be = (a1 >> 8) & 0xff;
	le = a1 & 0xff;
	data[n++] = '\\';
	data[n++] = be;
	data[n++] = '\\';
	data[n++] = le;
	if (a2 != -1)
	  {
	    data[n++] = ';';
	    be = (a2 >> 8) & 0xff;
	    le = a2 & 0xff;
	    data[n++] = '\\';
	    data[n++] = be;
	    data[n++] = '\\';
	    data[n++] = le;
	    if (a3 != -1)
	      {
		data[n++] = ';';
		be = (a3 >> 8) & 0xff;
		le = a3 & 0xff;
		data[n++] = '\\';
		data[n++] = be;
		data[n++] = '\\';
		data[n++] = le;
	      }
	  }
      }
    data[n++] = '>';
    m_serial.write (data, n);
}

// Traite des �ventuels retours, retourne true si commande finie.
bool
Motor::recv (void)
{
    int c;
    while ((c = m_serial.getchar ()) != -1)
      {
	if (c == '<') m_recv_n = 0;
	if (m_recv_n >= 63) m_recv_n = 0;
	m_recv_buf[m_recv_n++] = c;
	if (c == '>')
	  {
	    m_recv_buf[m_recv_n] = '\0';
	    cout << "motor " << m_recv_buf << endl;
	    return true;
	  }
      }
    return false;
}