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/*

 * Project: HARTIK (HA-rd R-eal TI-me K-ernel)

 *

 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>

 *               Gerardo Lamastra <gerardo@sssup.it>

 *

 *

 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)

 *

 * http://www.sssup.it

 * http://retis.sssup.it

 * http://hartik.sssup.it

 */

#include <stdlib.h>

#include <string.h>

#include <math.h>

#include <kernel/kern.h>

#include <kernel/func.h>

#include <semaphore.h>

#include "modules/sem.h"

#include "modules/hartport.h"

#include <drivers/keyb.h>

#include <servo.h>

/* COM Port Constants */

#define COM_PORT COM1

#define COM_SPEED 115200

#define com(i) ((i) / 12) ? COM1 : COM2

#define pin(i) (i) % 12

/* Angle bounds */

#define POS_X_MIN          0

#define POS_X_MAX        200

#define POS_Y_MIN       -200

#define POS_Y_MAX        200

#define POS_Z_MIN       -150

#define POS_Z_MAX        150

typedef struct {

        int             adc_in;

        unsigned char   pwm;

} LEG_CFG_STATE;

typedef struct { /*describe the position of leg*/

        int             x;

        int             y;

        int             z;

} LEG_POS_STATE;

typedef struct { /*describe the servo angles*/

        int             a;

        int             b;

        int             c;

} LEG_ANG_STATE;

typedef struct {

        LEG_CFG_STATE   cfg[6];

        LEG_ANG_STATE   ang[6];

        char            power;

} HEXAPOD_STATE;

/*****************************************/

#define EVT_SET_MASK_LEG_ANGLE  0x01

#define EVT_STATUS_FREE         0x00

#define EVT_STATUS_WAIT         0x01

#define EVT_STATUS_EXEC         0x02

#define EVT_STATUS_DONE         0x03

struct action_event {

  unsigned char       type;

  unsigned char       status;

  struct timespec     time;

  unsigned char       mask;

  LEG_ANG_STATE       ang; //Servo angle data

  unsigned char       pwm;

  struct action_event *next;

};

struct action_event *get_first_old_event(struct timespec *time);

extern  sem_t           mx_status;

extern  HEXAPOD_STATE   status;

void    init_send(void);

void    end_send(void);

void    init_key(void);

/* Calibration */

void calibrate_init(void);

void calibrate_step(int step);

int adjust(int angle_sec, int leg, int num);

/* Actions */

int init_action_event(int number_of_events);

int insert_action_event(struct action_event *e);

int delete_action_event(int event);

struct action_event * get_first_old_event(struct timespec *time);