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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>
#include <drivers/udpip.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);

/* Tracer */

int trace_init(int buffer_size);
int trace_consumption(int sensor, int value);
int trace_send();