Platform/Aperios1.3.2/SystemCall.cpp

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/** 
* @file  Platform/Aperios1.3.2/SystemCall.cpp
*
* Static class for system calls, aperios implementation.
* @attention this is the Aperios implementation
*
* @author <A href=mailto:brunn@sim.informatik.tu-darmstadt.de>Ronnie Brunn</A>
* @author <A href=mailto:risler@sim.informatik.tu-darmstadt.de>Max Risler</A>
*/

#include <MCOOP.h>
#include <AnalyzerAPI.h>
#ifdef __GNUC__
#include <ERA201D1.h>
#endif
#include <OPENR/OPower.h>
#include <OPENR/OPENRAPI.h>
#include "SystemCall.h"
#include "GTAssert.h"

unsigned long SystemCall::getCurrentSystemTime() {
  SystemTime sysTime;
  GetSystemTime(&sysTime);
  return (sysTime.seconds * 1000 + sysTime.useconds / 1000);
}

unsigned long SystemCall::getFreeMem()
{
  size_t fmem;
  azrError err=AnalyzerGetSizeOfFreeMemory(&fmem);
  return (err==azrSUCCESS)?fmem:0;
}

unsigned char SystemCall::getRemainingPower()
{
  OPowerStatus stat;
  VERIFY(OPENR::GetPowerStatus(&stat)==0);
  unsigned char percent=stat.remainingCapacity;
  if (stat.robotStatus & orsbEX_POWER_CONNECTED) percent=100;
  if (stat.robotStatus & orsbPAUSE)
  {
    shutdown();
  }
  return percent;
}

void SystemCall::reboot()
{
  OBootCondition cond(obcbBOOT_TIMER, 0, obcbttRELATIVE);
  VERIFY(OPENR::Shutdown(cond)==0);
}

void SystemCall::shutdown()
{
  OBootCondition cond(0xFFFF);
  VERIFY(OPENR::Shutdown(cond)==0);
  char* tmp;
  tmp = etherStatusStr(0);

}

void SystemCall::getMacAddress(unsigned char address[6])
{
#ifdef __GNUC__
  EtherDriverGetMACAddressMsg msg;
  VERIFY(!ERA201D1_GetMACAddress(&msg));
  for(int i = 0; i < 6; ++i)
    address[i] = msg.address.octet[i];
#else
  for(int i = 0; i < 6; ++i)
    address[i] = 0;
#endif
}

RobotDesign::Design SystemCall::getRobotDesign()
{
  static bool initialized = false;
  static RobotDesign::Design design;

  if (!initialized)
  {
    char robotDesign[20];
    VERIFY(OPENR::GetRobotDesign(robotDesign) == 0);
    if(!strcmp(robotDesign, "ERS-210"))
      design = RobotDesign::ERS210;
    else if(!strcmp(robotDesign, "ERS-7"))
      design = RobotDesign::ERS7;
    else
      design = RobotDesign::UNKNOWN;
    initialized = true;
  }
  return design;
}

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