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// gpio_asserv.cc
// nono - programme du robot 2004. {{{
//
// Copyright (C) 2004 Nicolas Schodet
//
// Robot APB Team/Efrei 2004.
//        Web: http://assos.efrei.fr/robot/
//      Email: robot AT efrei DOT fr
//
// 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 "gpio_asserv.h"
#include "motor/asserv.h"

#include <stdexcept>

/// Constructeur.
GpioAsserv::GpioAsserv (Asserv &asserv)
    : outputs_ (0), asserv_ (asserv)
{
    asserv_.setGpiDelay (3);
    names_["b1"] = 1;
    names_["b2"] = 2;
    names_["b3"] = 3;
    names_["b5"] = 5;
    names_["b6"] = 6;
    names_["d2"] = 2 + nbOutputs_;
    names_["d3"] = 3 + nbOutputs_;
    names_["d4"] = 4 + nbOutputs_;
    names_["d5"] = 5 + nbOutputs_;
    names_["d6"] = 6 + nbOutputs_;
    names_["d7"] = 7 + nbOutputs_;
}

/// Destructeur.
GpioAsserv::~GpioAsserv (void)
{
    asserv_.setGpiDelay (0);
}

/// Change plusieurs sorties.
void
GpioAsserv::set (int n, unsigned int bits, int nb)
{
    if (n < 0 || n + nb > nbOutputs_)
	throw std::out_of_range ("GpioServoPp::set: Out of range.");
    unsigned int mask = (1 << nb) - 1;
    mask <<= n;
    bits <<= n;
    outputs_ = (outputs_ & ~mask) | (bits & mask);
    asserv_.sendGpo (outputs_);
}

/// Lit plusieurs entr�es.
unsigned int
GpioAsserv::get (int n, int nb)
{
    if (n < nbOutputs_ || n + nb > nbOutputs_ + nbInputs_)
	throw std::out_of_range ("GpioServoPp::get: Out of range.");
    unsigned int mask = (1 << nb) - 1;
    unsigned int recv = asserv_.getGpi ();
    unsigned int bits = (recv >> (n - nbOutputs_)) & mask;
    return bits;
}

/// R�cup�re le nombre d'entr�es/sorties.
int
GpioAsserv::getNbIo (void)
{
    return nbOutputs_ + nbInputs_;
}

/// R�cup�re une entr�e/sortie par son nom.
int
GpioAsserv::getByName (const std::string &name) const
{
    Names::const_iterator i = names_.find (name);
    if (i != names_.end ())
	return i->second;
    else
	return -1;
}