// 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); }