/* bytedance1.c */ 
/* I just include everything, to be on the safe side. */ 

#include <conio.h>
#include <unistd.h>
#include <dsensor.h>
#include <dmotor.h>
#include <lnp-logical.h>
#include <lnp.h>
#include <dbutton.h>
#include <sys/tm.h>
#include <rom/system.h>
#include <mem.h>
#include <string.h>

/* lnp port definitions */ 
#define MY_PORT   0x1
#define DEST_PORT 0x2
#define MY_HOST   0x0
#define DEST_HOST 0x0
#define DEST_ADDR ( DEST_HOST << 4 | DEST_PORT )
/* range of IR sensor */ 
#define IR_NEAR 0
#define IR_FAR  1
          
/* Stuff for receive buffer */ 
int gNewData = 0;
unsigned char gMessagingData[256];
int gDataLength;

/* Incoming packet handler */ 
void packet_handler(const unsigned char* data,
		    unsigned char length, 
		    unsigned char src)
{
  /* If the buffer is full, we just lose the data. */ 
  if(gNewData == 0)
  {
    memcpy(gMessagingData, data, length);
    gDataLength = length;
    /* This is done to wake up the reader process */ 
    gNewData = 1;
  }
}


/* This is the wake-up function that checks for new data. */ 
wakeup_t WaitForData(wakeup_t data)
{
  return gNewData;
}

/* This is the reader function for incoming data */ 
int listen ()
{
    unsigned char c; 
    while (1) {
	/* Waits for a byte */ 
	wait_event(WaitForData, 0);
	/* Flashes the IR sign on the LCD to denote reception */ 
	dlcd_show(LCD_CIRCLE_2);
	dlcd_show(LCD_CIRCLE_3);
	msleep (100);
	dlcd_hide(LCD_CIRCLE_2);
	dlcd_hide(LCD_CIRCLE_3);
	/* Processes the byte */ 
	c = gMessagingData[0]; 
	gNewData = 0;
	/* Displays the data */ 
	lcd_int (c); 
	/* No moving around please for the moment 
	switch(c) {
	    case 0: 
		motor_a_dir (brake); 
		motor_c_dir (brake); 
		motor_a_speed(MIN_SPEED); 
		motor_c_speed(MIN_SPEED);
		break; 
	    case 1:
		motor_a_dir (fwd); 
		motor_c_dir (fwd); 
		motor_a_speed(MAX_SPEED / 2); 
		motor_c_speed(MAX_SPEED / 2);
		break; 
	    case 2: 
		motor_a_dir (rev); 
		motor_c_dir (rev); 
		motor_a_speed(MAX_SPEED / 2); 
		motor_c_speed(MAX_SPEED / 2);
		break; 
		} */ 
    }
}


/* This is the data sender */ 
int talk ()
{
    unsigned long seed = MY_PORT; 
    int i; 
    int len, result; 
    char send_buffer [8]; 
    
    while (1) { 
	/* sets i to a new random action */ 
	seed = seed * 1664525L * seed + 1013904223L;
	i = seed % 3; 
	send_buffer [0] = i; 
	len = 1; 
	/* This sends a byte to the other process; keeps 
	   trying until it succeeds */ 
	do { 
	    dlcd_show (LCD_CIRCLE_0); 
	    dlcd_show (LCD_CIRCLE_1); 
	    result = lnp_addressing_write(send_buffer, len, DEST_ADDR, MY_PORT);
	    /* waits between attempts */ 
	    lcd_int(i); 
	    msleep (100); 
	    dlcd_hide (LCD_CIRCLE_0); 
	    dlcd_hide (LCD_CIRCLE_1); 
	} while (result); 
	/* interval of time before sending another command */ 
	msleep (900); 
    }
}


int main() 
{    
  pid_t pid1, pid2; 
  /* I do it here because of a legOS bug */ 
  gNewData = 0; 
  /* Sets the IR distance */ 
  lnp_logical_range(IR_FAR);
  /* Sets the packet handler */ 
  lnp_addressing_set_handler (MY_PORT, packet_handler);
  /* Spawns the processes that talk, and listen */ 
  pid1=execi(&talk,   0, NULL, 1, DEFAULT_STACK_SIZE);
  pid2=execi(&listen, 0, NULL, 1, DEFAULT_STACK_SIZE);
  return 0;
}