inMacros.h

00001 #ifndef INMACROS_H
00002 #define INMACROS_H
00003 
00004 /*************** Serial String Input ****************/
00005 
00006 // Compare string to a word in the serial input, shorthand
00007 #define CMP(w, string)      if (!strcasecmp(word[w-1], string))
00008 
00009 // Macro linking a serial string to a change function, 2 word command
00010 #define CHANGE_VAR(STR, NAME)                           \
00011 CMP(1, STR) {                                           \
00012     float f = strtof(word[1], &next);                   \
00013     if (*next == 0) {                                   \
00014         if (param->change_##NAME(f)) {                  \
00015             op->profileModded=true;                     \
00016             parsed=true;                                \
00017         }                                               \
00018     }                                                   \
00019 }
00020 
00021 /*************** CAN Message Profile Out ***************/
00022 #include "outMacros.h"
00023 
00024 // Send out an item from the profile
00025 #define CAN_PROFILE(DATA, ID)       \
00026 SEND_CAN_SINGLE(param->DATA, ID);
00027 
00028 // Replies for commands that do not return data
00029 #define CAN_SUCCESS     \
00030 msg.data[0]=1;          \
00031 SEND_CAN(1, msg.id)     \
00032 return 1;
00033 
00034 #define CAN_FAIL        \
00035 msg.data[0]=0;          \
00036 SEND_CAN(1, msg.id)     \
00037 return 0;
00038 
00039 /*********************** CAN Bus Input ******************************/
00040 
00041 template <class Type>
00042 Type CAN_EXTRACT(Type type, CANMessage& msg) {
00043    return *((Type*)((void*)(&msg.data[0])));
00044 }
00045 
00046 #define CAN_CHANGE(NAME, ID)                                        \
00047 if (msg.id == ID) {                                                 \
00048     if (msg.len == sizeof(param->NAME)) {                           \
00049         if (param->change_##NAME(CAN_EXTRACT(param->NAME, msg))) {  \
00050             op->profileModded=true;                                 \
00051             parsed = true;                                          \
00052         }                                                           \
00053     }                                                               \
00054     CAN_PROFILE(NAME, ID)                                           \
00055 }
00056 
00057 
00058 #endif