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authorNicolas Schodet2013-03-23 12:27:37 +0100
committerNicolas Schodet2013-03-23 13:03:02 +0100
commit06baa6c156dba0be37a21bddee96994a2c44f5bd (patch)
treeeea392b574befab65951e528a7fe6928485f629d /digital/io-hub/src/apbirthday/robot.cc
parent64c1debd706b42091533a8766a2affaad25b31cf (diff)
digital/io-hub/src/apbirthday: add chrono
Diffstat (limited to 'digital/io-hub/src/apbirthday/robot.cc')
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc31
1 files changed, 30 insertions, 1 deletions
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index cfdc0c19..1873c7f2 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -35,7 +35,10 @@ Robot::Robot ()
asserv (main_i2c_queue_, BOT_SCALE),
dev_proto (*this, hardware.dev_uart),
zb_proto (*this, hardware.zb_uart),
- usb_proto (*this, hardware.usb)
+ usb_proto (*this, hardware.usb),
+ chrono (90000 - 1000),
+ stats_proto_ (0),
+ stats_chrono_ (false), stats_chrono_last_s_ (-1)
{
robot = this;
}
@@ -56,6 +59,8 @@ Robot::main_loop ()
dev_proto.accept ();
zb_proto.accept ();
usb_proto.accept ();
+ // Send stats.
+ proto_stats ();
}
}
@@ -115,6 +120,14 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size
asserv.goto_xy (pos, Asserv::DirectionConsign (args[4]));
}
break;
+ case c ('C', 1):
+ // Chrono stats.
+ // 1B: start chrono if non-zero.
+ stats_chrono_ = true;
+ if (args[0])
+ chrono.start ();
+ stats_proto_ = &proto;
+ break;
default:
proto.send ('?');
return;
@@ -123,3 +136,19 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size
proto.send_buf (cmd, args, size);
}
+void
+Robot::proto_stats ()
+{
+ if (!stats_proto_)
+ return;
+ if (stats_chrono_)
+ {
+ int s = chrono.remaining_time_ms () / 1000;
+ if (s != stats_chrono_last_s_)
+ {
+ stats_proto_->send ('C', "b", s);
+ stats_chrono_last_s_ = s;
+ }
+ }
+}
+