Colony

#include "bom.h" 

#include "util.h" 

#include "robot_shared.h"

#define BOM_VALUE_THRESHOLD 200 

#define NUM_BOM_LEDS 16

extern RobotShared *shared_state;

static char bom_type = BOM; void bom_init(char type) {

    bom_type = type;

    switch(bom_type) {

    case BOM:

        break;

    case BOM15:

        break;

    case RBOM:

        break;

    //default:

    }

}

void bom_refresh(int bitfield) {

        /* do nothing, since values are refreshed by simulator */

}

int bom_get(int which) {

        return (shared_state->bom).led[which];

}

int bom_get_max(void) {

    int i, lowest_val, lowest_i;

    lowest_i = -1;

    lowest_val = 255;

    for(i = 0; i < NUM_BOM_LEDS; i++) {

        if(bom_get(i) < lowest_val) {

            lowest_val = bom_get(i);

            lowest_i = i;

        }

    }

    if(lowest_val < BOM_VALUE_THRESHOLD)

        return lowest_i;

    else

        return -1;

}

void bom_leds_on(int bit_field) {

    switch(bom_type) {

    case BOM:

        if(bit_field == BOM_ALL) {

            (shared_state->bom).bom_on = 1;

        }

        break;

    case BOM15:

        //add bom 1.5 code here

        break;

    case RBOM:

        //add rbom code here

        break;

    }

}

void bom_leds_off(int bit_field) {

    switch(bom_type) {

    case BOM:

        if(bit_field == BOM_ALL) {

            (shared_state->bom).bom_on = 0;

        }

        break;

    case BOM15:

        //add bom 1.5 code here

        break;

    case RBOM:

        //add rbom code here

        break;

    }

}

void bom_on(void) {

        bom_leds_on(BOM_ALL);

}

void bom_off(void) {

        bom_leds_off(BOM_ALL);

}