Colony

#include "comm_interactive.h"

#include <dragonfly_lib.h>

#include "global.h"

#include "tests.h"

#include "self_test.h"

#include "dump_robot.h"

#include "dump_station.h"

#include "hardware.h"

#define ESC 27

void station_sensors_menu (void)

{

        while (1)

        {

                usb_puts ("# Dump station sensors menu: (d)ynamos, (w)all, (t)urntable, (i)bom, (a)dc" NL);

                char choice = usb_getc ();

                switch (choice) {

                        case 'd': case 'D': dump_station_dynamos   ();           break;

                        case 'w': case 'W': dump_station_wall      ();           break;

                        case 't': case 'T': dump_station_turntable ();           break;

                        case 'i': case 'I': dump_station_ibom      ();           break;

                        case 'a': case 'A': dump_station_adc       (0, 16, 100); break;

                        case ESC: return;

                        default: break;

                }

        }

}

void robot_sensors_menu (void)

{

        while (1)

        {

                usb_puts ("# Dump robot sensors menu: (e)ncoders, (r)angefinders, (b)om" NL);

                char choice = usb_getc ();

                switch (choice) {

                        case 'e': case 'E': dump_robot_encoders     (); break;

                        case 'r': case 'R': dump_robot_rangefinders (); break;

                        case 'b': case 'B': dump_robot_bom          (); break;

                        case ESC: return;

                        default: break;

                }

        }

}

void tests_menu (void)

{

        while (1)

        {

                usb_puts ("# Tests menu: (a)ll, (c)omm, (b)om, (r)angefinders, (m)otors, (e)ncoders" NL);

                char choice = usb_getc ();

                switch (choice) {

                        case 'a': case 'A': test_all ();                                    break; // test_all will test comm itself

                        case 'c': case 'C': test_comm ();                                   break;

                        case 'b': case 'B': if (require_comm ()) test_bom_all (true, true); break;

                        case 'r': case 'R': if (require_comm ()) test_rangefinder_all ();   break;

                        case 'm': case 'M': if (require_comm ()) test_motor_all ();         break;

                        case 'e': case 'E': if (require_comm ()) test_encoder_all ();       break;

                        case ESC: return;

                        default: break;

                }

        }

}

void main_menu (void)

{

        while (1)

        {

                usb_puts ("# Main menu: (t)ests, dump (s)tation sensors, dump (r)obot sensors" NL);

                char choice = usb_getc ();

                switch (choice) {

                        case 't': tests_menu ();           break;

                        case 's': station_sensors_menu (); break;

                        case 'r': robot_sensors_menu ();   break;

                        case ESC: return;

                }

        }

}

void interactive_main (void)

{

  hardware_init();

        while (1)

        {

                // Set the orbs to green/green

                orbs_set (0,255,0, 0,255,0);

                usb_puts (NL);

                usb_puts ("# Diagnostic station interactive mode" NL);

                main_menu ();

        }

}