From 19a5b01c7de84ffa8647715379309b676063c70b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 14 Mar 2013 00:14:21 +0100 Subject: digital/io-hub/src/apbirthday: add robot superclass --- digital/io-hub/src/apbirthday/robot.cc | 76 ++++++++++++++++++++++++++++++++++ 1 file changed, 76 insertions(+) create mode 100644 digital/io-hub/src/apbirthday/robot.cc (limited to 'digital/io-hub/src/apbirthday/robot.cc') diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc new file mode 100644 index 00000000..a2fcfb89 --- /dev/null +++ b/digital/io-hub/src/apbirthday/robot.cc @@ -0,0 +1,76 @@ +// io-hub - Modular Input/Output. {{{ +// +// Copyright (C) 2013 Nicolas Schodet +// +// APBTeam: +// Web: http://apbteam.org/ +// Email: team AT apbteam DOT org +// +// 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 "robot.hh" + +#include "ucoolib/arch/arch.hh" + +Robot *robot; + +Robot::Robot () + : dev_proto (*this, hardware.dev_uart), + zb_proto (*this, hardware.zb_uart), + usb_proto (*this, hardware.usb) +{ + robot = this; +} + +void +Robot::main_loop () +{ + while (1) + { + // Wait until next cycle. + hardware.wait (); + // Handle commands. + dev_proto.accept (); + zb_proto.accept (); + usb_proto.accept (); + // Handle events. + fsm_gen_event (); + } +} + +void +Robot::fsm_gen_event () +{ +} + +void +Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size) +{ +#define c(cmd, size) ((cmd) << 8 | (size)) + switch (c (cmd, size)) + { + case c ('z', 0): + // Reset. + ucoo::arch_reset (); + break; + default: + proto.send ('?'); + return; + } + // Acknowledge. + proto.send_buf (cmd, args, size); +} + -- cgit v1.2.3