Psi Swarm Robot
C++ Library for the PsiSwarm Robot - Version 0.8
Dependents: PsiSwarm_V8_Blank_CPP Autonomia_RndmWlk
Fork of
PsiSwarmV7_CPP
by 
Psi Swarm Robot
Diff: serial.cpp
- Revision:
- 3:7c0d1f581757
- Parent:
- 2:c6986ee3c7c5
- Child:
- 5:3cdd1a37cdd7
--- a/serial.cpp Fri Mar 11 13:51:24 2016 +0000
+++ b/serial.cpp Tue Mar 15 00:58:09 2016 +0000
@@ -44,36 +44,6 @@
-void handle_user_serial_message(char * message, char length, char interface)
-{
- // This is where user code for handling a (non-system) serial message should go
- //
- // message = pointer to message char array
- // length = length of message
- // interface = 0 for PC serial connection, 1 for Bluetooth
-
- if(interface) {
- if(length == 8) {
- for(int i = 0; i < length; i++) {
- // Convert single byte value into a beacon heading in the range +/-180 degrees
- float beacon_heading = message[i];
- float degrees_per_value = 256.0f / 360.0f;
-
- if(beacon_heading != 0)
- beacon_heading /= degrees_per_value;
-
- beacon_heading -= 180;
-
- flocking_headings[i] = beacon_heading;
-
- debug("%d, ", flocking_headings[i]);
- //debug("%f, ", beacon_heading);
- }
-
- debug("\n");
- }
- }
-}
void IF_start_file_transfer_mode()
{
@@ -364,7 +334,6 @@
sprintf(subcommand,"L=%1.3f R=%1.3f",l_dec,r_dec);
if(allow_commands) {
command_status = 1;
-
set_left_motor_speed(l_dec);
set_right_motor_speed(r_dec);
} else command_status = 2;
@@ -570,6 +539,28 @@
display.write_string("DISCONNECTED");
} else command_status = 2;
break;
+ case 5:
+ strcpy(subcommand,"MESSAGE 5");
+ if(allow_commands) {
+ command_status = 1;
+ display.clear_display();
+ display.home();
+ display.write_string("PSI CONSOLE");
+ display.set_position(1,0);
+ display.write_string("CONNECTED");
+ } else command_status = 2;
+ break;
+ case 6:
+ strcpy(subcommand,"MESSAGE 6");
+ if(allow_commands) {
+ command_status = 1;
+ display.clear_display();
+ display.home();
+ display.write_string("PSI CONSOLE");
+ display.set_position(1,0);
+ display.write_string("DISCONNECTED");
+ } else command_status = 2;
+ break;
}
break;
case 21:
@@ -909,6 +900,94 @@
send_message = 1;
} else command_status = 2;
break;
+ case 110:
+ strcpy(command,"GET FIRMWARE VERSION");
+ sprintf(ret_message,"%1.2f",firmware_version);
+ send_message = 1;
+ break;
+ case 111:
+ strcpy(command,"GET SERIAL NUMBER");
+ sprintf(ret_message,"%2.3f",serial_number);
+ send_message = 1;
+ break;
+ case 112:
+ strcpy(command,"GET HAS SIDE IR");
+ sprintf(ret_message,"%d",has_side_ir);
+ send_message = 1;
+ break;
+ case 113:
+ strcpy(command,"GET HAS BASE IR");
+ sprintf(ret_message,"%d",has_base_ir);
+ send_message = 1;
+ break;
+ case 114:
+ strcpy(command,"GET HAS ENCODERS");
+ sprintf(ret_message,"%d",has_wheel_encoders);
+ send_message = 1;
+ break;
+ case 115:
+ strcpy(command,"GET HAS AUDIO");
+ sprintf(ret_message,"%d",has_audio_pic);
+ send_message = 1;
+ break;
+ case 116:
+ strcpy(command,"GET HAS RECHARGING");
+ sprintf(ret_message,"%d",has_recharging_circuit);
+ send_message = 1;
+ break;
+ case 117:
+ strcpy(command,"GET HAS COMPASS");
+ sprintf(ret_message,"%d",has_compass);
+ send_message = 1;
+ break;
+ case 118:
+ strcpy(command,"GET HAS ULTRASONIC");
+ sprintf(ret_message,"%d",has_ultrasonic_sensor);
+ send_message = 1;
+ break;
+ case 119:
+ strcpy(command,"GET HAS TEMPERATURE");
+ sprintf(ret_message,"%d",has_temperature_sensor);
+ send_message = 1;
+ break;
+ case 120:
+ strcpy(command,"GET HAS BASE COLOUR");
+ sprintf(ret_message,"%d",has_base_colour_sensor);
+ send_message = 1;
+ break;
+ case 121:
+ strcpy(command,"GET HAS TOP COLOUR");
+ sprintf(ret_message,"%d",has_top_colour_sensor);
+ send_message = 1;
+ break;
+ case 122:
+ strcpy(command,"GET HAS RADIO");
+ sprintf(ret_message,"%d",has_433_radio);
+ send_message = 1;
+ break;
+ case 123:
+ strcpy(command,"GET FIRMWARE H-DESC");
+ char byte0 = 0;
+ char byte1 = 1;
+ if(has_side_ir)byte0+=128;
+ if(has_base_ir)byte0+=64;
+ if(has_wheel_encoders)byte0+=32;
+ if(has_audio_pic)byte0+=16;
+ if(has_recharging_circuit)byte0+=8;
+ if(has_compass)byte0+=4;
+ if(has_ultrasonic_sensor)byte0+=2;
+ if(has_temperature_sensor)byte0+=1;
+ if(has_base_colour_sensor)byte1+=128;
+ if(has_top_colour_sensor)byte1+=64;
+ if(has_433_radio)byte1+=32;
+ sprintf(ret_message,"%c%c",byte0,byte1);
+ send_message = 1;
+ break;
+ case 124:
+ strcpy(command,"GET PCB VERSION");
+ sprintf(ret_message,"%1.2f",pcb_version);
+ send_message = 1;
+ break;
}
@@ -1113,17 +1192,19 @@
bt_buffer_index = 0;
}
-void IF_bt_rx_callback()
-{
- while(bt.readable()) {
- char byte = bt.getc();
- bt_buffer[bt_buffer_index] = byte;
- bt_buffer_index++;
- }
+//void IF_bt_rx_callback()
+//{
+// while(bt.readable()) {
+// char byte = bt.getc();
+//
+// bt_buffer[bt_buffer_index] = byte;
+// bt_buffer_index++;
+// }
+//
+// bt_message_timeout.attach(&IF_bt_message_timeout, bt_message_timeout_period);
+//}
- bt_message_timeout.attach(&IF_bt_message_timeout, bt_message_timeout_period);
-}
void IF_set_filename(char * filename_in){
strcpy(filename,filename_in);
@@ -1195,49 +1276,49 @@
return crc_value;
}
-//void IF_bt_rx_callback()
-//{
-// int count = 0;
-// char message_array[255];
-//
-// wait_ms(500); // Wait 0.5ms to allow a complete message to arrive before atttempting to process it
-//
-// while(bt.readable()) {
-// char tc = bt.getc();
-// message_array[count] = tc;
-// count ++;
-// if(bt_command_message_started == 1) {
-// if(bt_command_message_byte == 3) {
-// bt_command_timeout.detach();
-// if(tc == COMMAND_MESSAGE_BYTE) {
-// // A complete command message succesfully received, call handler
-// bt_command_message_started = 0;
-// count = 0;
-// IF_handle_command_serial_message(bt_command_message , 1);
-// } else {
-// // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message
-// bt_command_message_started = 0;
-// message_array[0] = COMMAND_MESSAGE_BYTE;
-// message_array[1] = bt_command_message[0];
-// message_array[2] = bt_command_message[1];
-// message_array[3] = bt_command_message[2];
-// message_array[4] = tc;
-// count = 5;
-// }
-// } else {
-// bt_command_timeout.attach(&IF_bt_rx_command_timeout,command_timeout_period);
-// bt_command_message[bt_command_message_byte] = tc;
-// bt_command_message_byte ++;
-// }
-// } else {
-// if(count == 1) {
-// if(tc == COMMAND_MESSAGE_BYTE) {
-// bt_command_message_started = 1;
-// bt_command_message_byte = 0;
-//
-// }
-// }
-// }
-// }
-// if(!bt_command_message_started && count>0) IF_handle_user_serial_message(message_array, count, 1);
-//}
\ No newline at end of file
+void IF_bt_rx_callback()
+{
+ int count = 0;
+ char message_array[255];
+
+ wait_ms(500); // Wait 0.5ms to allow a complete message to arrive before atttempting to process it
+
+ while(bt.readable()) {
+ char tc = bt.getc();
+ message_array[count] = tc;
+ count ++;
+ if(bt_command_message_started == 1) {
+ if(bt_command_message_byte == 3) {
+ bt_command_timeout.detach();
+ if(tc == COMMAND_MESSAGE_BYTE) {
+ // A complete command message succesfully received, call handler
+ bt_command_message_started = 0;
+ count = 0;
+ IF_handle_command_serial_message(bt_command_message , 1);
+ } else {
+ // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message
+ bt_command_message_started = 0;
+ message_array[0] = COMMAND_MESSAGE_BYTE;
+ message_array[1] = bt_command_message[0];
+ message_array[2] = bt_command_message[1];
+ message_array[3] = bt_command_message[2];
+ message_array[4] = tc;
+ count = 5;
+ }
+ } else {
+ bt_command_timeout.attach(&IF_bt_rx_command_timeout,command_timeout_period);
+ bt_command_message[bt_command_message_byte] = tc;
+ bt_command_message_byte ++;
+ }
+ } else {
+ if(count == 1) {
+ if(tc == COMMAND_MESSAGE_BYTE) {
+ bt_command_message_started = 1;
+ bt_command_message_byte = 0;
+
+ }
+ }
+ }
+ }
+ if(!bt_command_message_started && count>0) IF_handle_user_serial_message(message_array, count, 1);
+}
\ No newline at end of file