mode_manual.cpp

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// Copyright (c) 2024 anabrid GmbH
// Contact: https://www.anabrid.com/licensing/
//
// SPDX-License-Identifier: MIT OR GPL-2.0-or-later
 
#include <handlers/mode_manual.h>
#include <mode/mode.h>
#include <mode/teensy/mode.h>
#include <protocol/handler.h>
#include <run/run_manager.h>
#include <utils/logging.h>
 
#include <mode/mode.h>
 
namespace msg::handlers {
 
int ManualControlHandler::can_manual_control() {
  if (!run::RunManager::get().queue.empty())
    return 1; // TODO, should return the meaning of this error
  if (mode::FlexIOControl::is_enabled() && !mode::FlexIOControl::is_done() && !mode::FlexIOControl::is_idle())
    return 3;
  // maybe further checks neccessary.
  return 0;
}
 
void ManualControlHandler::toMinion() {
  LOG_ALWAYS("Enabling slave mode, setting IC/OP pins to input (floating).");
  pinMode(mode::PIN_MODE_IC, INPUT);
  pinMode(mode::PIN_MODE_OP, INPUT);
}
 
} // namespace msg::handlers