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#ifndef serial_h
#define serial_h
/* serial.h */
/* APBTasserv - asservissement Robot 2004 {{{
 *
 * Copyright (C) 2003 Nicolas Schodet
 *
 * Robot APB Team/Efrei 2004.
 *	Web: http://assos.efrei.fr/robot/
 *	Mail: 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.
 *
 * }}} */

/* Tampon de reception. */
#define SERIAL_RECV_BUF_LEN 20
extern char serial_recv_buf[SERIAL_RECV_BUF_LEN];
extern int serial_recv_buf_n;

/* Macros de r�cup�ration de la commande recu. */
#define HEXBIN(a) (((a) >= '0' && (a) <= '9') ? (a) - '0' : (a) - ('a' + 10))
#define serial_recv_com() \
    (serial_recv_buf[0])
#define serial_recv_int(v) \
    ((v) = HEXBIN (serial_recv_buf[1]) << 4 | HEXBIN (serial_recv_buf[2]))
#define serial_recv_int1(v) \
    ((v) = HEXBIN (serial_recv_buf[3]) << 4 | HEXBIN (serial_recv_buf[4]))
#define serial_recv_long(v) \
    ((v) = make16 (HEXBIN (serial_recv_buf[0]) << 4 | HEXBIN \
		   (serial_recv_buf[1]), \
		   HEXBIN (serial_recv_buf[2]) << 4 | HEXBIN \
		   (serial_recv_buf[3])))
#define serial_recv_bool(v) \
    ((v) = serial_recv_buf[1] == '1')


/* +AutoDec */

/* Initialise la reception serie. */
void
serial_init (void);

/* Recois des caract�res. */
#int_RDA
serial_recv ();

/* Traite la commande recue. */
void
serial_parse (void);

/* Envoie un code d'erreur. */
void
serial_send_error (char c);

/* Envoie un code ok. */
void
serial_send_ok (char c);

/* Envoie un rapport d'un moteur. */
void
serial_send_motor_stat (char side, unsigned int vacc, unsigned long &e, unsigned long &pwm);

/* Envoie un long. */
void
serial_send_long (unsigned long &value);

/* Envoie un int. */
void
serial_send_int (unsigned int &value);

/* -AutoDec */

#endif /* serial_h */