// 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 "hardware.hh" HardwareHost::HardwareHost () : Host ("io-hub0") { parse_options (); } Hardware::Hardware () : dev_uart (), zb_uart ("zb_uart"), usb ("usb"), main_i2c (host, 0), zb_i2c (host, 1), raw_jack (host, "raw_jack"), ihm_color (host, "ihm_color"), ihm_strat (host, "ihm_strat"), ihm_robot_nb (host, "ihm_robot_nb"), ihm_lol (host, "ihm_lol"), ihm_emerg_stop (host, "ihm_emerg_stop"), glass_contact (host, "glass_contact"), cherry_plate_left_contact (host, "cherry_plate_left_contact"), cherry_plate_right_contact (host, "cherry_plate_right_contact"), cake_arm_out_contact (host, "cake_arm_out_contact"), cake_arm_in_contact (host, "cake_arm_in_contact"), cherry_bad_out (host, "cherry_bad_out"), cherry_bad_in (host, "cherry_bad_in"), cherry_plate_up (host, "cherry_plate_up"), cherry_plate_down (host, "cherry_plate_down"), cherry_plate_clamp (host, "cherry_plate_clamp"), cake_arm_out (host, "cake_arm_out"), cake_arm_in (host, "cake_arm_in"), cake_push_far_out (host, "cake_push_far_out"), cake_push_far_in (host, "cake_push_far_in"), cake_push_near_out (host, "cake_push_near_out"), cake_push_near_in (host, "cake_push_near_in"), glass_lower_clamp_close (host, "glass_lower_clamp_close"), glass_lower_clamp_open (host, "glass_lower_clamp_open"), glass_upper_clamp_close (host, "glass_upper_clamp_close"), glass_upper_clamp_open (host, "glass_upper_clamp_open"), glass_upper_clamp_up (host, "glass_upper_clamp_up"), glass_upper_clamp_down (host, "glass_upper_clamp_down"), gift_out (host, "gift_out"), gift_in (host, "gift_in"), ballon_funny_action (host, "ballon_funny_action"), pneum_open (host, "pneum_open"), adc_dist0 (host, "dist0", 1 << 12), adc_dist1 (host, "dist1", 1 << 12), adc_dist2 (host, "dist2", 1 << 12), adc_dist3 (host, "dist3", 1 << 12), adc_cake_front (host, "cake_front", 1 << 12), adc_cake_back (host, "cake_back", 1 << 12), adc_pressure (host, "pressure", 1 << 12), simu_report (host) { dev_uart.block (false); zb_uart.block (false); usb.block (false); /// To avoid race condition between python and C, wait some cycle before /// continuing. wait (); } void Hardware::wait () { ucoo::mex::Node &node = host.get_node (); node.wait (node.date () + 4); } void Hardware::zb_handle () { // No zb on host. } void Hardware::zb_handle (ucoo::Stream &s) { // No zb on host. }