sensor.c

/*
     ____ __     ____   ___    ____ __         (((((()
    | |_  \ \  /   ) ) | |  ) | |_  \ \  /  \(@)- /
    |_|__  \_\/  __)_) |_|_/  |_|__  \_\/   /(@)- \
                                               ((())))
 */
#include <string.h>
#include <stdio.h>
#include "ev3.h"
#include "ev3_port.h"
#include "ev3_sensor.h"

// WIN32 /////////////////////////////////////////
#ifdef __WIN32__

#include <windows.h>

// UNIX //////////////////////////////////////////
#else

#include <unistd.h>
#define Sleep( msec ) usleep(( msec ) * 1000 )

#endif

const char const *color[] = { "?", "BLACK", "BLUE", "GREEN", "YELLOW", "RED", "WHITE", "BROWN" };
#define COLOR_COUNT  (( int )( sizeof( color ) / sizeof( color[ 0 ])))

static bool _check_pressed( uint8_t sn )
{
    int val;

    if ( sn == SENSOR__NONE_ ) {
        return ( ev3_read_keys(( uint8_t *) &val ) && ( val & EV3_KEY_UP ));
    }
    return ( get_sensor_value( 0, sn, &val ) && ( val != 0 ));
}

int main( void )
{
    char s[ 256 ];
    int val;
    uint32_t n, i, ii;
    uint8_t sn_touch, sn_color, sn_ir;

    printf( "Waiting the EV3 brick online...\n" );
    if ( ev3_init() < 1 ) return ( 1 );

    printf( "*** ( EV3 ) Hello! ***\n" );
    ev3_sensor_init();

    printf( "Found sensors:\n" );
    for ( i = 0; i < DESC_LIMIT; i++ ) {
        if ( ev3_sensor[ i ].type_inx != SENSOR_TYPE__NONE_ ) {
            printf( "  type = %s\n", ev3_sensor_type( ev3_sensor[ i ].type_inx ));
            printf( "  port = %s\n", ev3_sensor_port_name( i, s ));
            if ( get_sensor_mode( i, s, sizeof( s ))) {
                printf( "  mode = %s\n", s );
            }
            if ( get_sensor_num_values( i, &n )) {
                for ( ii = 0; ii < n; ii++ ) {
                    if ( get_sensor_value( ii, i, &val )) {
                        printf( "  value%d = %d\n", ii, val );
                    }
                }
            }
        }
    }
    if ( ev3_search_sensor( LEGO_EV3_IR, &sn_ir, 0 )) {
        printf( "IR sensor is found\n" );
    } else {
        printf( "IR sensor is NOT found\n" );
    }
    if ( ev3_search_sensor( LEGO_EV3_TOUCH, &sn_touch, 0 )) {
        printf( "TOUCH sensor is found, press BUTTON for EXIT...\n" );
    } else {
        printf( "TOUCH sensor is NOT found, press UP on the EV3 brick for EXIT...\n" );
    }
    if ( ev3_search_sensor( LEGO_EV3_COLOR, &sn_color, 0 )) {
        printf( "COLOR sensor is found, reading COLOR...\n" );
        set_sensor_mode( sn_color, "COL-COLOR" );
        for ( ; ; ) {
            if ( !get_sensor_value( 0, sn_color, &val ) || ( val < 0 ) || ( val >= COLOR_COUNT )) {
                val = 0;
            }
            printf( "\r(%s)", color[ val ]);
            fflush( stdout );
            if ( _check_pressed( sn_touch )) break;
            Sleep( 200 );
            printf( "\r        " );
            fflush( stdout );
            if ( _check_pressed( sn_touch )) break;
            Sleep( 200 );
        }
    } else {
        printf( "COLOR sensor is NOT found\n" );
        while ( !_check_pressed( sn_touch )) Sleep( 100 );
    }
    ev3_uninit();
    printf( "\n*** ( EV3 ) Bye! ***\n" );

    return ( 0 );
}