Diff: shell/bt_shell_f.cpp

Revision:

4:81b0de07841f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/shell/bt_shell_f.cpp	Tue Oct 14 17:55:37 2014 +0000
@@ -0,0 +1,89 @@
+#include "bt_shell_f.h"
+//#include "keybindings.h"
+//the following functions are for the python interface
+
+//save a struct that indicates which data is to be returned
+interface_f iface_f;
+//mandatory tiny shell output function
+
+int char_received1=0;
+void bt_shell_f_run()
+{
+    char buffer[12];
+    bt.lock();
+    if(bt.readable()) {
+        bt.gets(buffer,3);
+        char_received1=buffer[0]-'0';
+        bt.unlock();
+        if(buffer[1]=='S') {
+            bt.lock();
+            stdio_mutex.lock();
+            bt.printf("%d;%d;%d;%d;%d;%d;",
+                      UL_rR,UL_R,UL_F,UL_L,UL_rL,UL_B);
+            stdio_mutex.unlock();
+            bt.unlock();
+        } else if(buffer[1]=='H') {
+            Lmotor_speed= 0;
+            Rmotor_speed = 0;
+            Led_off();
+        } else if(buffer[1]=='L') {
+            Led_on();
+        } else if(buffer[1]=='l') {
+
+            Led_off();
+        } else if(buffer[1]=='w') {
+            bt.gets(buffer,char_received1);
+            int Left_m_value = ((buffer[0]-'0')*100 + (buffer[1]-'0')*10 + (buffer[2]-'0')*1);
+            int Right_m_value= ((buffer[4]-'0')*100 + (buffer[5]-'0')*10 + (buffer[6]-'0')*1);
+            Lmotor_speed= (Left_m_value-200)*3.5;
+            Rmotor_speed = (Right_m_value-200)*3.5;
+        } else if(buffer[1]=='B') {
+            bt.gets(buffer,char_received1);
+            int buzzer_time = ((buffer[0]-'0')*1000 + (buffer[1]-'0')*100 + (buffer[2]-'0')*10 + (buffer[3]-'0')*1);
+            int frequency= ((buffer[5]-'0')*100 + (buffer[6]-'0')*10 + (buffer[7]-'0')*1);
+            pl_buzzer(frequency, buzzer_time);
+        } else if(buffer[1]=='D') {
+
+            bt.lock();
+            bt.printf("%lf;%lf",
+                      ldrread1(),ldrread2());
+            bt.unlock();
+        } else if(buffer[1]=='O') {
+            int obstacle_found=0;
+            if(UL_F<250) {
+                obstacle_found=1;
+            } else {
+                obstacle_found=0;
+            }
+            bt.lock();
+            bt.printf("%d",
+                      obstacle_found);
+            bt.unlock();
+        } else if(buffer[1]=='A') {
+            bt.lock();
+            stdio_mutex.lock();
+            bt.printf("%d;%d;%d",
+                      Encoder_x,Encoder_x,heading);
+            stdio_mutex.unlock();
+            bt.unlock();
+        } else if(buffer[1]=='<'  && buffer[0] == '<') {
+            bt.gets(buffer,3);
+            if(buffer[1] =='E')
+                bt.printf(">>1B");
+            else if (buffer[1] =='O') {
+                bt.gets(buffer, 2);
+                if(buffer[0]=='A') {
+                    Selected_robot='A';
+                    imperial_march();
+                } else if(buffer[0]=='F') {
+                    Selected_robot='F';
+                    Led_on();
+                }
+            }
+
+        } else {
+            bt.rxBufferFlush();
+        }
+    }
+    bt.unlock();
+}
\ No newline at end of file