[tuxdroid-svn] r989 - software_suite_v2/middleware/tuxdriver/trunk/src
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[tuxdroid-svn] r989 - software_suite_v2/middleware/tuxdriver/trunk/src
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From: eFfeM <c2m...@c2...> - 2008-04-20 12:16:47
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Author: eFfeM
Date: 2008-04-20 14:16:51 +0200 (Sun, 20 Apr 2008)
New Revision: 989
Modified:
software_suite_v2/middleware/tuxdriver/trunk/src/tux_movements.c
Log:
layout
Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_movements.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_movements.c 2008-04-20 12:06:32 UTC (rev 988)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_movements.c 2008-04-20 12:16:51 UTC (rev 989)
@@ -31,10 +31,10 @@
/*
* Prototypes
*/
-int static movement_status_control(char final_state, int value, char condition);
-int static control_final_state(char motor, char final_state, int value);
-int static compute_value(char motor, float timeout);
-void static single_movement(char motor, char final_state);
+static int movement_status_control(char final_state, int value, char condition);
+static int control_final_state(char motor, char final_state, int value);
+static int compute_value(char motor, float timeout);
+static void single_movement(char motor, char final_state);
/**
@@ -51,7 +51,7 @@
*
* The time of each movement has been measured, and defined in movements.h.
*/
-int static
+static int
compute_value(char motor, float timeout)
{
int value = 0;
@@ -75,7 +75,9 @@
}
if (value > 255)
+ {
value = 255;
+ }
return value;
}
@@ -105,39 +107,64 @@
{
condition = hw_status_table.ports.portd.bits.eyes_open_switch;
if (value)
+ {
value = movement_status_control(final_state, value, condition);
- else if (final_state != FINAL_ST_UNDEFINED)
- single_movement(motor, final_state);
+ }
+ else
+ {
+ if (final_state != FINAL_ST_UNDEFINED)
+ {
+ single_movement(motor, final_state);
+ }
+ }
break;
}
case (MOVE_MOUTH):
{
condition = hw_status_table.ports.portb.bits.mouth_open_switch;
if (value)
+ {
value = movement_status_control(final_state, value, condition);
- else if (final_state != FINAL_ST_UNDEFINED)
- single_movement(motor, final_state);
+ }
+ else
+ {
+ if (final_state != FINAL_ST_UNDEFINED)
+ {
+ single_movement(motor, final_state);
+ }
+ }
break;
}
case (MOVE_FLIPPERS):
{
condition = !hw_status_table.position2.wings_down;
if (value)
+ {
value = movement_status_control(final_state, value, condition);
- else if (final_state != FINAL_ST_UNDEFINED)
- single_movement(motor, final_state);
+ }
+ else
+ {
+ if (final_state != FINAL_ST_UNDEFINED)
+ {
+ single_movement(motor, final_state);
+ }
+ }
break;
}
case (MOVE_SPIN_R):
{
if (!(value) && final_state == FINAL_ST_STOP)
+ {
single_movement(motor, final_state);
+ }
break;
}
case (MOVE_SPIN_L):
{
if (!(value) && final_state == FINAL_ST_STOP)
+ {
single_movement(motor, final_state);
+ }
break;
}
}
@@ -159,14 +186,14 @@
int static
movement_status_control(char final_state, int value, char condition)
{
- if (condition == 1 && final_state == FINAL_ST_OPEN_UP && !(value % 2))
- value ++;
- else if (condition == 1 && final_state == FINAL_ST_CLOSE_DOWN && value % 2)
- value ++;
- else if (condition == 0 && final_state == FINAL_ST_CLOSE_DOWN && !(value % 2))
- value ++;
- else if (condition == 0 && final_state == FINAL_ST_OPEN_UP && value % 2)
- value ++;
+ if ((condition == 2 && final_state == FINAL_ST_OPEN_UP && !(value % 2)) ||
+ (condition == 1 && final_state == FINAL_ST_CLOSE_DOWN && value % 2) ||
+ (condition == 0 && final_state == FINAL_ST_CLOSE_DOWN && !(value % 2)) ||
+ (condition == 0 && final_state == FINAL_ST_OPEN_UP && value % 2)
+ )
+ {
+ value ++;
+ }
return value;
}
@@ -188,37 +215,77 @@
{
case (MOVE_EYES):
if (final_state == FINAL_ST_OPEN_UP)
+ {
frame[0] = EYES_OPEN_CMD;
- else if (final_state == FINAL_ST_CLOSE_DOWN)
- frame[0] = EYES_CLOSE_CMD;
- else if (final_state == FINAL_ST_STOP)
- frame[0] = EYES_STOP_CMD;
+ }
+ else
+ {
+ if (final_state == FINAL_ST_CLOSE_DOWN)
+ {
+ frame[0] = EYES_CLOSE_CMD;
+ }
+ else
+ {
+ if (final_state == FINAL_ST_STOP)
+ {
+ frame[0] = EYES_STOP_CMD;
+ }
+ }
+ }
break;
case (MOVE_MOUTH):
if (final_state == FINAL_ST_OPEN_UP)
+ {
frame[0] = MOUTH_OPEN_CMD;
- else if (final_state == FINAL_ST_CLOSE_DOWN)
- frame[0] = MOUTH_CLOSE_CMD;
- else if (final_state == FINAL_ST_STOP)
- frame[0] = MOUTH_STOP_CMD;
+ }
+ else
+ {
+ if (final_state == FINAL_ST_CLOSE_DOWN)
+ {
+ frame[0] = MOUTH_CLOSE_CMD;
+ }
+ else
+ {
+ if (final_state == FINAL_ST_STOP)
+ {
+ frame[0] = MOUTH_STOP_CMD;
+ }
+ }
+ }
break;
case (MOVE_FLIPPERS):
if (final_state == FINAL_ST_OPEN_UP)
+ {
frame[0] = WINGS_RAISE_CMD;
- else if (final_state == FINAL_ST_CLOSE_DOWN)
- frame[0] = WINGS_LOWER_CMD;
- else if (final_state == FINAL_ST_STOP)
- frame[0] = WINGS_STOP_CMD;
+ }
+ else
+ {
+ if (final_state == FINAL_ST_CLOSE_DOWN)
+ {
+ frame[0] = WINGS_LOWER_CMD;
+ }
+ else
+ {
+ if (final_state == FINAL_ST_STOP)
+ {
+ frame[0] = WINGS_STOP_CMD;
+ }
+ }
+ }
break;
case (MOVE_SPIN_L):
if (final_state == FINAL_ST_STOP)
+ {
frame[0] = SPIN_STOP_CMD;
+ }
break;
case (MOVE_SPIN_R):
if (final_state == FINAL_ST_STOP)
+ {
frame[0] = SPIN_STOP_CMD;
+ }
break;
default:
return;
@@ -265,8 +332,12 @@
char type = 0;
if (movement == (MOVE_SPIN_L) || movement == (MOVE_SPIN_R))
+ {
if (final_state != FINAL_ST_STOP)
+ {
final_state = FINAL_ST_UNDEFINED;
+ }
+ }
/*
* Refresh has the maximum priority. If it's set, only the command to
@@ -340,26 +411,48 @@
tux_movement_conststr_to_val(char *conststr)
{
if (!strcmp(conststr, "VERYLOW"))
+ {
return 1;
+ }
if (!strcmp(conststr, "LOW"))
+ {
return 2;
+ }
if (!strcmp(conststr, "MEDIUM"))
+ {
return 3;
+ }
if (!strcmp(conststr, "MIDHIGH"))
+ {
return 4;
+ }
if (!strcmp(conststr, "HIGH"))
+ {
return 5;
+ }
if (!strcmp(conststr, "UNDEFINED"))
+ {
return 0;
+ }
if (!strcmp(conststr, "OPEN"))
+ {
return 1;
+ }
if (!strcmp(conststr, "UP"))
+ {
return 1;
+ }
if (!strcmp(conststr, "CLOSE"))
+ {
return 2;
+ }
if (!strcmp(conststr, "DOWN"))
+ {
return 2;
+ }
if (!strcmp(conststr, "STOP"))
+ {
return 3;
+ }
return 0;
}
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