strat db + avoid

[aversive.git] / projects / microb2010 / mainboard / robotsim.c

diff --git a/projects/microb2010/mainboard/robotsim.c b/projects/microb2010/mainboard/robotsim.c
index d0aa3ae..db161b8 100644 (file)
--- a/projects/microb2010/mainboard/robotsim.c
+++ b/projects/microb2010/mainboard/robotsim.c
@@ -48,6 +48,7 @@
 #include <parse.h>
 #include <rdline.h>
 
+#include "../common/i2c_commands.h"
 #include "strat.h"
 #include "strat_utils.h"
 #include "main.h"
@@ -66,14 +67,99 @@ void robotsim_dump(void)
 {
        char buf[BUFSIZ];
        int len;
+       int16_t x, y, a;
 
-       len = snprintf(buf, sizeof(buf), "%d %d %d\n",
-                     position_get_x_s16(&mainboard.pos),
-                     position_get_y_s16(&mainboard.pos),
-                     position_get_a_deg_s16(&mainboard.pos));
+       x = position_get_x_s16(&mainboard.pos);
+       y = position_get_y_s16(&mainboard.pos);
+       a = position_get_a_deg_s16(&mainboard.pos);
+/*     y = COLOR_Y(y); */
+/*     a = COLOR_A(a); */
+
+       len = snprintf(buf, sizeof(buf), "pos=%d,%d,%d\n",
+                      x, y, a);
+       hostsim_lock();
+       write(fdw, buf, len);
+       hostsim_unlock();
+}
+
+static int8_t
+robotsim_i2c_ballboard_set_mode(struct i2c_cmd_ballboard_set_mode *cmd)
+{
+       char buf[BUFSIZ];
+       int len;
+
+       ballboard.mode = cmd->mode;
+       len = snprintf(buf, sizeof(buf), "ballboard=%d\n", cmd->mode);
        hostsim_lock();
        write(fdw, buf, len);
        hostsim_unlock();
+       return 0;
+}
+
+int8_t
+robotsim_i2c_cobboard_set_mode(uint8_t mode)
+{
+       char buf[BUFSIZ];
+       int len;
+
+       if (cobboard.mode == mode)
+               return 0;
+
+       cobboard.mode = mode;
+       len = snprintf(buf, sizeof(buf), "cobboard=%d\n", mode);
+       hostsim_lock();
+       write(fdw, buf, len);
+       hostsim_unlock();
+       return 0;
+}
+
+static int8_t
+robotsim_i2c_ballboard(uint8_t addr, uint8_t *buf, uint8_t size)
+{
+       void *void_cmd = buf;
+
+       switch (buf[0]) {
+       case I2C_CMD_BALLBOARD_SET_MODE:
+               {
+                       struct i2c_cmd_ballboard_set_mode *cmd = void_cmd;
+                       robotsim_i2c_ballboard_set_mode(cmd);
+                       break;
+               }
+
+       default:
+               break;
+       }
+       return 0;
+}
+
+static int8_t
+robotsim_i2c_cobboard(uint8_t addr, uint8_t *buf, uint8_t size)
+{
+       //      void *void_cmd = buf;
+
+       switch (buf[0]) {
+#if 0 /* deleted */
+       case I2C_CMD_COBBOARD_SET_MODE:
+               {
+                       struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;
+                       robotsim_i2c_cobboard_set_mode(cmd);
+                       break;
+               }
+#endif
+       default:
+               break;
+       }
+       return 0;
+}
+
+int8_t
+robotsim_i2c(uint8_t addr, uint8_t *buf, uint8_t size)
+{
+       if (addr == I2C_BALLBOARD_ADDR)
+               return robotsim_i2c_ballboard(addr, buf, size);
+       else if (addr == I2C_COBBOARD_ADDR)
+               return robotsim_i2c_cobboard(addr, buf, size);
+       return 0;
 }
 
 /* must be called periodically */