#include <stdio.h>
#include <stdlib.h>
#include <fcntl.h>

#include </sys/dev/ppbus/ppi.h>
#include </sys/dev/ppbus/ppbconf.h>

#define EOL 0x00
#define DATA0 0x01

int main(void);
u_int8_t reads(int);
u_int8_t d_live(u_int8_t);

int main(void)
{
  int fd,i,j,f;
  u_int8_t val,dlval,oval;
  char move;
  float dd,bb;
  
  /*maesyori*/
  oval = 0x00;
  
  fd=open("/dev/ppi0",O_RDWR,0600);
  /*printf("please enter the speed of R2-D2!!<default=10>");
    scanf("%d",&bb);*/
  /*mugen loop*/
  while(1){ 
    printf("\ndo you need some revolution!? y/n\n");
    move = getchar();
    
    if(move == EOL)move=getchar();
    
    if(move == 'y'){
      for(i=0;i<500;i++){
	val = reads(fd);
	
	dlval = d_live(val);
	/*default dd=0;dd<1000;dd++*/
	for(dd=0;dd<350;dd++){
	  ioctl(fd,PPISDATA,&dlval);
	}
	for(dd=0;dd<350;dd++){
	  ioctl(fd,PPISDATA,&oval);
	}
      }
      f = f + 1;
      printf("done...%d\n",f);
    }
    else if(move == 'n')break;
  }
    
  printf("end\n");
  
  close(fd);
  
  exit(0);
}

u_int8_t reads(int fd)
{
  u_int8_t load_st;
  ioctl(fd,PPIGSTATUS,&load_st);
  return load_st;
}

u_int8_t d_live(u_int8_t st)
{
  u_int8_t re;
  printf("status=[%d]\n",st);
  
  /*tyokusin*/
  if(st == 103 || st == 199){
    re = 0x03;
    printf("forword\n");
    return re;
  }
  /*migi*/
  else if(st == 71){
    re = 0x01;
    printf("turn right\n");
    return re;}
  /*hidari*/
  else if(st == 231){
    re = 0x02;
    printf("turn left\n");
    return re;}
}