Merge branch 'beaglebone' of msi-wl:shared/src/dt_ctrl into beaglebone

controller/block/block_command_bool.c

+/*
+	Copyright Jeroen Vreeken (jeroen@vreken.net), 2014
+
+	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 3 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, see <http://www.gnu.org/licenses/>.
+
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <log/log.h>
+
+#include <controller/controller_block.h>
+//#include <controller/controller_sample.h>
+#include <controller/controller_command.h>
+
+
+struct controller_block_private {
+	bool value;
+
+	struct controller_command *command;
+};
+
+static void command_calculate(struct controller_block *cmd)
+{
+	struct controller_block_private *priv = cmd->private;
+	struct command_entry c_entry;
+
+	if (!controller_command_queue_read(priv->command, &c_entry)) {
+		priv->value = c_entry.value.b;
+	}
+}
+
+
+static struct controller_block_outterm_list outterms[] = {
+	{ "value", CONTROLLER_BLOCK_TERM_BOOL,  offsetof(struct controller_block_private, value) },
+	{ NULL },
+};
+
+
+struct controller_block * block_command_bool_create(char *name)
+{
+	struct controller_block *cmd;
+	
+	if (!(cmd = controller_block_alloc("command_bool", name, sizeof(struct controller_block_private))))
+		return NULL;
+
+	cmd->private->value = false;
+
+	if (controller_block_outterm_list_init(cmd, outterms))
+		goto err_block;
+
+	cmd->calculate = command_calculate;
+
+	controller_block_add(cmd);
+
+	cmd->private->command = controller_command_create(
+	    cmd, name, "Boolean");
+	cmd->private->command->value_type = COMMAND_VALUE_TYPE_BOOL;
+	cmd->private->command->command_types[0] = COMMAND_PTYPE_SETPOINT;
+
+	return cmd;
+
+err_block:
+	controller_block_free(cmd);
+	return NULL;
+}

controller/block/build.mk

@@ -6,6 +6,7 @@ $(eval $(call SUBDIR,il2c))
 BLOCKS := \
 	add \
 	bridge_pwm \
+	command_bool \
 	counter \
 	debug \
 	decoder_uint32_bool \

controller/dt_ctrl.ctrl

@@ -77,6 +77,9 @@ blocks {
 	{ "add",  	           "elevation_position_offset_r_sum"  }
 	{ "add",  	           "elevation_position_offset_l_sum"  }
 
+	{ "command_bool",          "focusbox_plus" }
+	{ "command_bool",          "focusbox_min"  }
+
 	{ "value_bool", 	   "false"	}
 }
 
@@ -168,8 +171,8 @@ links {
 	{ "elevation_safety",               "torque_out_l","dt_el_l",                         "torque"       , true }
 	{ "elevation_servo_state",          "enable",     "dt_el_r",                          "enable"       , true }
 	{ "elevation_servo_state",          "enable",     "dt_el_l",                          "enable"       , true }
-	{ "false",                          "value",      "dt_el_r",                          "ba1"          , true }
-	{ "false",			    "value",      "dt_el_r",                          "ba2"          , true }
+	{ "focusbox_plus",                  "value",      "dt_el_r",                          "ba1"          , true }
+	{ "focusbox_min",		    "value",      "dt_el_r",                          "ba2"          , true }
 	{ "false",                          "value",      "dt_el_l",                          "ba1"          , true }
 	{ "false",			    "value",      "dt_el_l",                          "ba2"          , true }