/*******************************menu.c*********************************/
/* Anne Wright:  Menu functions (which also allow variables to be set 
   via the frob knob and selection buttons) for robot. 11/14/91 */

/* Modified file to support Handy Board, 5/11/96 */
/* Start button = choose, Stop button = escape */
/* Jeff Keyzer, jkeyzer@calweb.com */

/* abstractions for chosen_button */
#define NEITHER_B 0
#define START_B  1
#define STOP_B  2

/* abstractions for wait_button */
#define UP_B      3
#define DOWN_B    4
#define CYCLE_B   5

/*****************************button routines*************************/
int min(int a,int b)
{
  if(a<b)
    return(a);
  else
    return(b);
}
float fmin(float a,float b)
{
  if(a<b)
    return(a);
  else
    return(b);
}

int chosen_button()
{
/* returns which button is depressed.  If both, choose has precedence */

  if(start_button())
    return START_B;
  else if(stop_button())
    return STOP_B;
  else 
    return NEITHER_B;
}  

int wait_button(int i)
{
/* wait until button is depressed(DOWN_B), released(UP_B), or both(CYCLE_B) and 
     return which button if any activated the sequence */

  if(i==DOWN_B)
    {while(!(start_button() || stop_button()));
     return chosen_button();}
  else if (i==UP_B)
    {int b;
     b=chosen_button();
     while(start_button() || stop_button());
     return b;}
  else
    {int b;
     while(!(start_button() || stop_button()));
     b=chosen_button();
     while(start_button() || stop_button());
     return b;}
} 
/**********************Menu selection routines*****************************/
/*returns an integer value between min_val and max_val chosen using frob */
int select_int_value(char s[],int min_val,int max_val)
{
  int val, coarseness=(255)/(max_val-min_val),selection;

  printf("%s%d to %d\n",s,min_val, max_val);
  msleep(500L);

  wait_button(UP_B);
  while(!(start_button() || stop_button()))
    {
      val=min((knob())/coarseness+min_val,max_val);
      printf("%s %d\n",s,val);
      msleep(100L);
    }
  if(wait_button(UP_B)==STOP_B)
    return -1; /** -1 means escape -- do not reset value **/
  else
    return min(val,max_val);
}
float select_float_value(char s[],float min_val,float max_val)
{
  float val, coarseness=(255.)/(max_val-min_val),selection;

  printf("%s %f to %f\n",s,min_val,max_val);
  msleep(500L);

  wait_button(UP_B);
  while(!(start_button() || stop_button()))
    {
      val=fmin(((float)knob())/coarseness+min_val,max_val);
      printf("%s %f\n",s,val);
      msleep(100L);
    }
  if(wait_button(UP_B)==STOP_B)
    return -1.0; /** -1 means escape -- do not reset value **/
  else
    return fmin(val,max_val);
}

/* menu selects a line of a string from a composite string with n lines*/
int select_string(char choices[][],int n)
{
  int selection,last_selection=-1,coarseness;

  if(n>_array_size(choices))
    n=_array_size(choices);

  coarseness=255/(n-1);

  /* printf("Selecting a string...\n"); */
  /* msleep(500L); */

  wait_button(UP_B);
  while(!(start_button() || stop_button()))
    {
      selection=(knob())/coarseness;
      if(selection!=last_selection)
	{
	  printf("%s\n",choices[selection]);
	  msleep(150L);
	  last_selection=selection;
	}
    }
  if(wait_button(UP_B)==STOP_B)
    return -1;
  else
    return min(selection,n-1);
  return selection;
}