Colony

/* cTest.c

 * C debug library file for Colony

 * By Benjamin Wasserman

 * Colony Project

 */

#include "cTest.h"

short robotID, lastRangefinderVal[5] = {-1, -1, -1, -1, -1}, lastBomMax,

    lastBomVal[16] = {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1},

    lastWheel;

// Dragonfly

void init_debug(int which){

  short numRobots;

  printf("Please use nice values for inputs. I haven't had time to make this debugger resistant to stupid. Thanks. -HAL9000\n\n\n");

  printf("P.S. Keep in mind this is only to help you find logic errors. Other errors may show due to running on the robots.");

  printf("Enter number of robots in test: ");

  scanf("%hi", &numRobots);

  if(numRobots < 1){

    numRobots = 1;

  }

  robotID = numRobots; 

  for(; numRobots >1; numRobots--){

    if(fork() == 0){

      robotID = numRobots;

      break;

    }

  }

  printf("\nDragonFly Initialized: %hi for robot %hi\n", which, robotID);

}

int getRobotID(){

  return robotID;

}

// Motors

// Orbs

// Rangefinders

int getRangefinderVal(int which){

  short numRead, val;

  switch(which){

    case IR1: which = 1; break;

    case IR2: which = 2; break;

    case IR3: which = 3; break;

    case IR4: which = 4; break;

    case IR5: which = 5; break;

    default:

      printf("Error in input. Returning -1\n");

      return -1;

  }

  printf("Enter value for rangefinder %hi. Note: No value will return last entry: ", which);

  numRead = scanf("%hi", &val);

  if(numRead == 0){

    return lastRangefinderVal[which - 1];

  }

  lastRangefinderVal[which - 1] = val;

  printf("Rangefinder %hi reports value %hi\n", which, val);

  return val;

}

// BOM 

int getBomVal(int which){

  short val, numRead;

  printf("Enter value for BOM LED %hi. Note: No value will return last entry: ", which);

  numRead = scanf("%hi", &val);

  if(numRead == 0){

    return lastBomVal[which - 1];

  }

  lastBomVal[which - 1] = val;

  return val;

}

int getBomMax(){

  short val, numRead;

  printf("Enter value for BOM max. Note: No value will return last entry: ");

  numRead = scanf("%hi", &val);

  if(numRead == 0){

    return lastBomMax;

  }

  lastBomMax = val;

  return val;

}

// Encoders

// Buttons

int getButton1(){

  short val, numRead;

  printf("Enter value for Button 1 (0 or 1). Note: No value will return 0: ");

  numRead = scanf("%hi", &val);

  if(numRead == 0){

    return 0;

  }

  return val;

}

int getButton2(){

  short val, numRead;

  printf("Enter value for Button 2. Note: No value will return 0: ");

  numRead = scanf("%hi", &val);

  if(numRead == 0){

    return 0;

  }

  return val;

}

// Wheel

int getWheel(){

  short val, numRead;

  printf("Enter value for Wheel. Note: No value will return last entry: ");

  numRead = scanf("%hi", &val);

  if(numRead == 0){

    return lastWheel;

  }

  lastWheel = val;

  printf("Wheel has value %hi\n", val);

  return val;

}

// USB

// Wireless (old)

// Wireless (new)

// Time

// Math