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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);
}

/// 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);
    unsigned int toSend = (outputs_ & 0x07) << 1 | (outputs_ & 0x18) << 2;
    asserv_.sendGpo (toSend);
}

/// 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 ();
    recv = recv >> 2;
    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_;
}