From b31a8fe58dc6ac1fdd89d8e876ca95e235d918ce Mon Sep 17 00:00:00 2001
From: Michal Sojka <sojkam1@fel.cvut.cz>
Date: Thu, 29 Apr 2010 23:51:23 +0200
Subject: [PATCH] eb_vidle: Use robot_switches message

---
 src/common/can_ids.h |  4 ++--
 src/eb_vidle/main.c  | 15 ++++++++++-----
 2 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/src/common/can_ids.h b/src/common/can_ids.h
index fdcf1b7c..0b4440d3 100644
--- a/src/common/can_ids.h
+++ b/src/common/can_ids.h
@@ -37,7 +37,8 @@
 
 
 
-#define CAN_BUMPER		to_boa(0x30)
+#define CAN_ROBOT_SWITCHES	to_boa(0x30)
+
 // ids of can-peripherials
 #define CAN_CHELAE to_per(0x32)          /**< BOA->PER @copydetails set_chelae() front view  1st B  left,  2nd B right */ 
 #define CAN_ADC_1 to_boa(0x33)          /* PER->BOA */
@@ -67,7 +68,6 @@
 //#define CAN_ERROR		to_boa(0x48)	// FIXME: (F.J.) rename me, ...
 
 
-#define CAN_ROBOT_SWITCHES	to_boa(0x47)
 #define CAN_VIDLE_STATUS 	to_boa(0x48)
 #define CAN_VIDLE_CMD		to_per(0x49)
 
diff --git a/src/eb_vidle/main.c b/src/eb_vidle/main.c
index 8e44b271..7226d5f2 100644
--- a/src/eb_vidle/main.c
+++ b/src/eb_vidle/main.c
@@ -258,6 +258,7 @@ void blink_led()
 void handle_bumper()
 {
 	static uint32_t bumper_time = 0;
+	char sw = 0;
 
 	if (timer_msec >= bumper_time + 100)	
 	{
@@ -265,22 +266,26 @@ void handle_bumper()
 
 		bumper_time = timer_msec;
 		
-		tx_msg.id = CAN_BUMPER;
-		tx_msg.dlc = 1;
-		tx_msg.flags = 0;	
 			
 			
 		if (IO0PIN & (1<<BUMPER_PIN))
 		{    
-			tx_msg.data[0] = 0;
+			sw &= ~CAN_SWITCH_BUMPER;
 			deb_led_off(LEDR);
 		}
 		else
 		{
-			tx_msg.data[0] = 1;
+			sw |= CAN_SWITCH_BUMPER;
 			deb_led_on(LEDR);
 		}
+
+		/* TODO: Put color to the second bit */
 			
+		tx_msg.id = CAN_ROBOT_SWITCHES;
+		tx_msg.dlc = 1;
+		tx_msg.flags = 0;
+		tx_msg.data[0] = sw;
+		
 		can_tx_msg(&tx_msg);
 	}
 }
-- 
2.39.2