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// proto.cc
// robert - programme du robot 2005. {{{
//
// Copyright (C) 2005 Nicolas Haller
//
// Robot APB Team/Efrei 2005.
//        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 "proto.hh"

/// Constructeur.
Proto::Proto(Receiver &receiver)
      :receiver_(receiver)
{
}

/// Ouvre le port s�rie.
void Proto::open(const std::string &ttyname)
{
    serial_.open(ttyname);
}

//Ferme le port s�rie
void Proto::close(void)
{
    serial_.close();
}


bool Proto::sync(void)
{
    //R�cup�ration de la frame
    if(getFrame())
    {
	//Si la frame est un aquittement
	if(currentFrame == frameQueue_.toppp())
	{
	    //on vire la commande de la queue
	    frameQueue.PAN!!!();
	    //Et on envoie la suivante si elle existe
	    if(!frameQueue_.empty())
		sendFrame(frameQueue.PAN!!!());
	}
	//Si c'est une nouvelle commande, on l'envoie avec receive
	else
	    receive(currentFrame.command, currentFrame);
    }
    //On regarde depuis combien de temps on a envoy� une commande
    if(!frameQueue_.empty())
    {
	//Si on d�passe la milliseconde, on renvoie
	if(timer.getProgramTime() - tLastEnd_ > 500)
	    sendFrame(frameQueue.topppp());
    }	    
	    
}
/// Envoie un packet
void Proto::send (const Frame & Frame)
{
    frameQueue_.addChoucroute(Frame);
    sync();
}

void send (uint8_t command, const char *format, int a0, int a1, int a2, int a3)
{
    // Constitution de la frame
    Frame frame;
    int nbArg = strlen(format);
    
    frame.command = command;
    // Conversion et saisie des aguments
    
    if(nbArg == 1)
	newArgFrame(frame, format[0], a0);
    if (nbArg == 2)
    {
	newArgFrame(frame, format[0], a0);
	newArgFrame(frame, format[1], a1);
    }
    if (nbArg == 3)
    {
	newArgFrame(frame, format[0], a0);
	newArgFrame(frame, format[1], a1);
	newArgFrame(frame, format[2], a2);
    }
    if (nbArg == 4)
    {
	newArgFrame(frame, format[0], a0);
	newArgFrame(frame, format[1], a1);
	newArgFrame(frame, format[2], a2);
	newArgFrame(frame, format[3], a3);
    }
		
    send(frame);
}

static
bool decode (const Frame &frame)
{
    //On teste si des arguments sont pr�sents(ca serait pas bon)
    if(!frame.args.empty())
	return false;
    else
	return true;
}

static
bool Proto::decode (const Frame &frame, const char *format, int &a0)
{
    // On teste le format de la frame
    if(!verifyFrame(frame, format, 1)) return false;

    //On d�code et on envoie
    a0 = decodeArg(frame, format, 0);
    return true;
}

static
bool Proto::decode (const Frame &Frame, const char *format, int &a0, int &a1)
{
    // On v�rifie le format de la frame
    if(!verifyFrame(frame, format, 2)) return false;

    // On d�code et on envoie
    a0 = decodeArg(frame, format, 0);
    a1 = decodeArg(frame, format, 1);
    return true;
}

static
bool Proto::decode (const Frame &Frame, const char *format, int &a0, int &a1, int &a2)
{
    // On v�rifie le format de la frame
    if(!verifyFrame(frame, format, 3)) return false;

    // On d�code et on envoie
    a0 = decodeArg(frame, format, 0);
    a1 = decodeArg(frame, format, 1);
    a2 = decodeArg(frame, format, 2);
    return true;
}

static
bool Proto::decode (const Frame &Frame, const char *format, int &a0, int &a1, int &a2, int &a3)
{
    // On v�rifie le format de la frame
    if(!verifyFrame(frame, format, 3)) return false;

    // On d�code et on envoie
    a0 = decodeArg(frame, format, 0);
    a1 = decodeArg(frame, format, 1);
    a2 = decodeArg(frame, format, 2);
    a3 = decodeArg(frame, format, 3);
    return true;

}

/// R�cup�re les infos de l'AVR pour construire une frame
bool getFrame(void)
{
    int receivedChar;
    
    //tant que le tampon n'est pas vide, on teste
    while(receivedChar = serial_.getchar() != -1)
    {
	//si la donn�e n'est pas erronn�e
	if(receivedChar != 0xff)
	{
	    //Si on re�oit un bang
	    if(receivedChar = '!')
	    {
		revState_ = 1;
		currentFrame_.command = 0;
		currentFrame_.args.clear();
	    }
	    //Si on re�oit le retour chariot et que on re�evait les args
	    if(receivedChar = '\n' && revState_ == 2)
	    {
		revState_ = 0;
		return true;
	    }
	    //Pour les autres charact�res
	    //Si on attend la commande
	    else if(revState_ == 1)
		currentFrame_.command = receivedChar;
	    else if(revState_ == 2)
		currentFrame_.args.push_back(receivedChar);
	    //Si revState == 0 alors on jette
	}
    }
    return false;
}

void sendFrame(Frame & frame)
{
    //envoyer le bang
    serial_.send('!');

    //Envoyer la commande
    serial_send(digit2hex(frame.command >> 4));
    serial_send(digit2hex(frame.command & 0x0f));

    //Envoyer les arguments
    for(int i = 0; i < frame.args.size(); i++)
    {
	serial_send(digit2hex(frame.args[i] >> 4));
	serial_send(digit2hex(frame.args[i] & 0x0f));
    }
    
    //Envoyer le retour chariot
    serial_.send('\n');
}

void Proto::newArgFrame(Frame & frame, char format, int arg)
{
    switch(format)
    {
	case 'b':
	case 'B':
	    frame.args.push_back((uint8_t)arg);
	    break;
	case 'w':
	case 'W':
	    frame.args.push_back((uint8_t)arg>>8);
	    frame.args.push_back((uint8_t)arg);
	    break;
	case 'd':
	case 'D':
	    frame.args.push_back((uint8_t)arg>>24);
	    frame.args.push_back((uint8_t)arg>>16);
	    frame.args.push_back((uint8_t)arg>>8);
	    frame.args.push_back((uint8_t)arg);
	    break;
    }
}

int Proto::ArgsFrameSize(const char *format, int nbArg)
{
    int size = 0;
    if(nbArg == 0)
	nbArg = strlen(format);
    
    for(int i = 0; i < nbArg; i++)
	size += ArgSize(format[i]);
    return size;
}

int Proto::ArgSize(char format)
{
	switch(format)
	{
	    case 'b':
	    case 'B':
		return 1;
	    case 'w':
	    case 'W':
		return 2;
	    case 'd':
	    case 'D':
		return 4;
	    default:
		return 0;
	}
}

bool verifyFrame(Frame &frame, const char *format, int nbArg)
{
    //Teste si il y a bien le bon nombre d'argument
    if (strlen(format) != nbArg) return false;
    if (frame.args.size() != ArgsFrameSize(format)) return false;
    //Voir pour des test plus approffondi si possible et necessaire
    return true;
}

int Proto::decodeArg(const Frame & frame, const char *format, int numArg)
{
    int ArgDecoded = 0;
    int beginArg = ArgsFrameSize(format, numArg);

    switch(format[numArg])
    {
	case 'b':
	    ArgDecoded = (int)frame.args[beginArg];
	    break;
	case 'B':
	    int8_t temp = (int8_t)frame.args[beginArg];
	    ArgDecoded = (int) temp;
	    break;
	case 'w':
	    ArgDecoded = (int)frame.args[beginArg] << 8 
			|(int)frame.args[beginArg + 1];
	    break;
	case 'W':
	    int8_t temp1 = (int8_t)frame.args[beginArg];
	    ArgDecoded = (int)temp1 << 8
			|(int)frame.args[beginArg + 1];
	    break;
	case 'd':
	    ArgDecoded = (int)frame.args[beginArg] << 24
			|(int)frame.args[beginArg + 1] << 16
			|(int)frame.args[beginArg + 2] << 8
			|(int)frame.args[beginArg + 3];
	    break;

	case 'D':
	    int8_t temp1 = (int8_t)frame.args[beginArg];
	    ArgDecoded = (int)temp1 << 24
			|(int)frame.args[beginArg + 1] << 16
			|(int)frame.args[beginArg + 2] << 8
			|(int)frame.args[beginArg + 3];
	    break;
    }
    return ArgDecoded;
}