/*
 * libkhepctrl : A library to control Khepera II robots 
 * Copyright (C) 2007 Guillaume Libersat <glibersat@sigill.org>
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 *   (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA
 */

#include <stdlib.h>

#include "raw.h"
#include "twoway_cmds.h"

/********
 *
 * Here are all commands that reply something.
 * They are sorted by Native Comand Character.
 *
 ********/

/**
 * E : Read speed of motors
 */
khep_cmd_ret_t khep_cmd_read_speed(khep_hand_t hand)
{
  khep_rawcmd_ret_t raw;
  khep_cmd_ret_t res;

  raw = khep_cmd_raw(hand, "E");

  res.result = raw.result;

  if ( raw.result == KHEP_CMD_OK )
    {
      res.data.motor[KHEP_MOT_L] = atoi(raw.args[1]);
      res.data.motor[KHEP_MOT_R] = atoi(raw.args[2]);

      khep_free_answer(&raw);
    }

  return res;
}
				   
/**
 * H : Read position of motors
 */
khep_cmd_ret_t khep_cmd_read_position(khep_hand_t hand)
{
  khep_rawcmd_ret_t raw;
  khep_cmd_ret_t res;

  raw = khep_cmd_raw(hand, "H");

  res.result = raw.result;

  if ( raw.result == KHEP_CMD_OK )
    {
      res.data.motor[KHEP_MOT_L] = atoi(raw.args[1]);
      res.data.motor[KHEP_MOT_R] = atoi(raw.args[2]);

      khep_free_answer(&raw);
    }

  return res;
}

/**
 * N : Read proximity sensors
 */
khep_cmd_ret_t khep_cmd_proximity_sensors(khep_hand_t hand)
{
  khep_rawcmd_ret_t raw;
  khep_cmd_ret_t res;

  raw = khep_cmd_raw(hand, "N");

  res.result = raw.result;

  if ( raw.result == KHEP_CMD_OK )
    {
      res.data.sensor[KHEP_SENS_LEFT90] = atoi(raw.args[1]);
      res.data.sensor[KHEP_SENS_LEFT45] = atoi(raw.args[2]);
      res.data.sensor[KHEP_SENS_LEFT10] = atoi(raw.args[3]);
      res.data.sensor[KHEP_SENS_RIGHT10] = atoi(raw.args[4]);
      res.data.sensor[KHEP_SENS_RIGHT45] = atoi(raw.args[5]);
      res.data.sensor[KHEP_SENS_RIGHT90] = atoi(raw.args[6]);
      res.data.sensor[KHEP_SENS_BACKR] = atoi(raw.args[7]);
      res.data.sensor[KHEP_SENS_BACKL] = atoi(raw.args[8]);

      khep_free_answer(&raw);
    }

  return res;
}

/**
 * O : Read ambient light sensors
 */
khep_cmd_ret_t khep_cmd_ambient_sensors(khep_hand_t hand)
{
  khep_rawcmd_ret_t raw;
  khep_cmd_ret_t res;

  raw = khep_cmd_raw(hand, "O");

  res.result = raw.result;

  if ( raw.result == KHEP_CMD_OK )
    {
      res.data.sensor[KHEP_SENS_LEFT90] = atoi(raw.args[1]);
      res.data.sensor[KHEP_SENS_LEFT45] = atoi(raw.args[2]);
      res.data.sensor[KHEP_SENS_LEFT10] = atoi(raw.args[3]);
      res.data.sensor[KHEP_SENS_RIGHT10] = atoi(raw.args[4]);
      res.data.sensor[KHEP_SENS_RIGHT45] = atoi(raw.args[5]);
      res.data.sensor[KHEP_SENS_RIGHT90] = atoi(raw.args[6]);
      res.data.sensor[KHEP_SENS_BACKR] = atoi(raw.args[7]);
      res.data.sensor[KHEP_SENS_BACKL] = atoi(raw.args[8]);

      khep_free_answer(&raw);
    }

  return res;
}