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/* main.c */
/* es - Input/Output general purpose board. {{{
 *
 * Copyright (C) 2006 Dufour J�r�my
 *
 * 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 "common.h"
#include "io.h"
#include "modules/uart/uart.h"
#include "modules/proto/proto.h"
#include "modules/utils/utils.h"

#include "timer.h"
#include "rvb_sensor.h"


/* Statistics for sensors */
uint8_t rvb_sensors_stats = 0;
uint8_t rvb_sensors_stats_enable = 0;

/** Call when we receive some data from proto (uart) */
void
proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
{
    /* This macro combine command and size in one integer. */
#define c(cmd, size) (cmd << 8 | size)
    switch (c (cmd, size))
      {
	/* Reset */
      case c ('z', 0):
	utils_reset ();
	break;
      case c ('S', 1):
	rvb_sensors_stats = rvb_sensors_stats_enable = args[0];
	break;
      case c ('s', 2):
	rvb_sensor_watch (args[0], args[1]);
	break;
	/* Unknown command */
      default:
	proto_send0 ('?');
	return;
      }
    /* When no error acknoledge. */
    proto_send (cmd, size, args);
#undef c
}

int
main (void)
{
    uart0_init ();
    timer_init ();
    rvb_sensors_init ();
    sei ();
    proto_send0 ('z');

    while (1)
      {
	timer_wait ();
	if (rvb_sensors_stats_enable && !--rvb_sensors_stats)
	  {
	    rvb_sensors_stats = rvb_sensors_stats_enable;
	    proto_send4w ('S', rvb_sensors_values[7][0],
			  rvb_sensors_values[7][1], rvb_sensors_values[7][2],
			  rvb_sensors_values[7][3]);
	  }
	rvb_sensors_start_update ();
	while (uart0_poll ())
	    proto_accept (uart0_getc ());
      }
}