[tuxdroid-svn] r1006 - software_suite_v2/middleware/tuxdriver/trunk/src

[eFfeM <c2m...@c2...>]

Author: eFfeM
Date: 2008-04-22 21:44:39 +0200 (Tue, 22 Apr 2008)
New Revision: 1006

Modified:
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_spinning.c
Log:
factored out common code to a local helper function


Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_spinning.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_spinning.c	2008-04-22 19:40:29 UTC (rev 1005)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_spinning.c	2008-04-22 19:44:39 UTC (rev 1006)
@@ -143,13 +143,13 @@
 /**
  *
  */
-LIBLOCAL bool 
-tux_spinning_cmd_left_on_during(char *timeout)
+static bool
+tux_spinning_cmd_on_during(char *timeout, unsigned char cmd,
+                            move_body_part_t movement)
 {
-    float to = 0;
-    unsigned char fs = FINAL_ST_UNDEFINED;
+    float to = 0.0;
     bool ret;
-    unsigned char frame[TUX_SEND_LENGTH - 1] = {SPIN_LEFT_CMD, 0, 5, 0};
+    unsigned char frame[TUX_SEND_LENGTH - 1] = {cmd, 0, 5, 0};
     
     ret = str_to_float(timeout, &to);
     
@@ -161,7 +161,8 @@
     /* Short movements */
     if (to < 0.3)
     {
-        return tux_movement_perform(MOVE_SPIN_L, 0, to, 5, fs, false); 
+        return tux_movement_perform(movement, 0, to, 5,  FINAL_ST_UNDEFINED,
+                                    false); 
     }
 
     /* Long movements */
@@ -181,37 +182,18 @@
  *
  */
 LIBLOCAL bool 
-tux_spinning_cmd_right_on_during(char *timeout)
+tux_spinning_cmd_left_on_during(char *timeout)
 {
-    float to = 0;
-    unsigned char fs = FINAL_ST_UNDEFINED;
-    bool ret;
-    unsigned char frame[TUX_SEND_LENGTH - 1] = {SPIN_RIGHT_CMD, 0, 5, 0};
-    
-    ret = str_to_float(timeout, &to);
-    
-    if (!ret)
-    {
-        return false;
-    }
-    
-    /* Short movements */
-    if (to < 0.3)
-    {
-        return tux_movement_perform(MOVE_SPIN_R, 0, to, 5, fs, false); 
-    }
+    return tux_spinning_cmd_on_during(timeout, SPIN_LEFT_CMD, MOVE_SPIN_L);
+}
 
-    /* Long movements */
-    ret = tux_usb_send_to_tux(frame);
-    if (!ret)
-    {
-        return false;
-    }
-    
-    ret = tux_cmd_parser_insert_delay_command(to, 
-        "TUX_CMD:SPINNING:OFF", true);
-    
-    return ret;
+/**
+ *
+ */
+LIBLOCAL bool 
+tux_spinning_cmd_right_on_during(char *timeout)
+{
+    return tux_spinning_cmd_on_during(timeout, SPIN_RIGHT_CMD, MOVE_SPIN_R);
 }
 
 /**