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// io_cmd.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 "io_cmd.h"
#include "gpio.h"
#include "servo.h"

#include <iostream>
#include <cstdlib>

const char ioHelp[] =
	" o <n> <bits> <nb>  set des sorties.\n"
	" i <n> <nb>         get des entr�es.\n"
	" d <n> <bits> <nb>  dir des entr�es/sorties.\n"
	" m <n> <diff>       d�place le servo n de diff.\n"
	" M <n> <pos>        d�place le servo n en pos.\n";

bool
ioCmd (int argc, char **argv, int &i, Gpio &io, Servo &servo)
{
    int n, bits, nb;
    switch (argv[i][0])
      {
      case 'o':
	i++;
	if (i >= argc) break;
	n = atoi (argv[i++]);
	if (i >= argc) break;
	bits = atoi (argv[i++]);
	if (i >= argc) break;
	nb = atoi (argv[i++]);
	std::cout << "test: set " << n << ' ' << std::hex << bits <<
	    std::dec << ' ' << nb << std::endl;
	io.set (n, bits, nb);
	break;
      case 'i':
	i++;
	if (i >= argc) break;
	n = atoi (argv[i++]);
	if (i >= argc) break;
	nb = atoi (argv[i++]);
	std::cout << "test: get " << n << ' ' << nb << std::endl;
	bits = io.get (n, nb);
	std::cout << "test: get result " << std::hex << bits <<
	    std::dec << std::endl;
	break;
      case 'd':
	i++;
	if (i >= argc) break;
	n = atoi (argv[i++]);
	if (i >= argc) break;
	bits = atoi (argv[i++]);
	if (i >= argc) break;
	nb = atoi (argv[i++]);
	std::cout << "test: dir " << n << ' ' << std::hex << bits <<
	    std::dec << ' ' << nb << std::endl;
	io.dir (n, bits, nb);
	break;
      case 'm':
	i++;
	int diff;
	if (i >= argc) break;
	n = atoi (argv[i++]);
	if (i >= argc) break;
	diff = atoi (argv[i++]);
	std::cout << "test: servo move " << n << ' ' << diff << std::endl;
	servo.move (n, diff);
	break;
      case 'M':
	i++;
	int pos;
	if (i >= argc) break;
	n = atoi (argv[i++]);
	if (i >= argc) break;
	pos = atoi (argv[i++]);
	std::cout << "test: servo moveTo " << n << ' ' << pos << std::endl;
	servo.moveTo (n, pos);
	break;
      default:
	return false;
      }
    return true;
}