C++ Library for the PsiSwarm Robot - Version 0.8
Dependents: PsiSwarm_V8_Blank_CPP Autonomia_RndmWlk
Fork of PsiSwarmV7_CPP by
Diff: serial.cpp
- Revision:
- 12:878c6e9d9e60
- Parent:
- 11:312663037b8c
- Child:
- 14:d32d948f7a76
--- a/serial.cpp Sun Oct 16 21:06:15 2016 +0000 +++ b/serial.cpp Mon Oct 17 13:09:10 2016 +0000 @@ -83,9 +83,9 @@ void SerialControl::IF_invalid_transfer(void) { - debug("File transfer failed\n"); + psi.debug("File transfer failed\n"); if(data_written == 1) { - debug("Deleting corrupted file\n"); + psi.debug("Deleting corrupted file\n"); remove(filename); } display.clear_display(); @@ -97,7 +97,7 @@ void SerialControl::IF_file_transfer_timeout(void) { - debug("File transfer failed: timeout\n"); + psi.debug("File transfer failed: timeout\n"); display.clear_display(); display.set_position(0,0); display.write_string("TRANSFER TIMEOUT"); @@ -121,8 +121,8 @@ // length = length of message // interface = 0 for PC serial connection, 1 for Bluetooth [NB only Bluetooth used for file transfer in this version] - if(file_transfer_state < 2)debug("FTM Message:%.*s [%d]\n",length,message,length); - else debug("FTM data block received (%d bytes)\n",length); + if(file_transfer_state < 2)psi.debug("FTM Message:%.*s [%d]\n",length,message,length); + else psi.debug("FTM data block received (%d bytes)\n",length); int expected_size; // The first byte in EVERY message received should be 33; if it isn't, abort the transfer if(message[0] != 33) { @@ -135,7 +135,7 @@ else { strcpy(filename, "/local/"); strncat(filename, message + 1, length - 1); - debug("Target filename:%s\n",filename); + psi.debug("Target filename:%s\n",filename); //Send acknowledge ("FN") ft_timeout.detach(); ft_timeout.attach(this,&SerialControl::IF_file_transfer_timeout,2.0); @@ -169,7 +169,7 @@ //int target_size = file_length; //if(file_length > (block_size * 16)) target_size = block_size * 16; //file_data = (char *) malloc(target_size); - debug("File size %d bytes (%d blocks of %d bytes)\n",file_length,final_block,block_size); + psi.debug("File size %d bytes (%d blocks of %d bytes)\n",file_length,final_block,block_size); ft_timeout.detach(); ft_timeout.attach(this,&SerialControl::IF_file_transfer_timeout,1.0); //Send acknowledge (size of file) @@ -190,7 +190,7 @@ if(expected_size == 0) expected_size = block_size; if(length!=expected_size + 1) { // Unexpected length - debug("File data unexpected length in packet %d (%d bytes received, %d bytes expected)\n",block_index,length-1,expected_size); + psi.debug("File data unexpected length in packet %d (%d bytes received, %d bytes expected)\n",block_index,length-1,expected_size); } else { char transfer_mode[2]= {'a'}; if(block_index == 1) { @@ -204,9 +204,9 @@ bytes_written = fwrite(message+1,expected_size,1,fp); fclose(fp); if(data_written == false && bytes_written > 0) data_written = true; - debug("Bytes written: %d\n",expected_size * bytes_written); + psi.debug("Bytes written: %d\n",expected_size * bytes_written); if(block_index < final_block) { - debug("Message packet %d received and written\n",block_index); + psi.debug("Message packet %d received and written\n",block_index); //Send acknowledge ("D") ft_timeout.detach(); ft_timeout.attach(this,&SerialControl::IF_file_transfer_timeout,1.0); @@ -217,7 +217,7 @@ //Send acknowledge ("P"); bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,1,"F"); ft_timeout.detach(); - debug("File transfer completed successfully\n"); + psi.debug("File transfer completed successfully\n"); wait(0.25); //Calculate CRC16 value for file IF_calculateCRC16(file_length); @@ -227,7 +227,7 @@ display.set_position(1,0); display.write_string("COMPLETE"); wait(1); - debug("File transfer mode ended\n"); + psi.debug("File transfer mode ended\n"); IF_end_file_transfer_mode(); } } @@ -678,7 +678,7 @@ sprintf(subcommand,"FOR %2.3fS",dec); if(allow_commands) { command_status = 1; - pause_user_code(dec); + psi.pause_user_code(dec); } else command_status = 2; break; @@ -686,7 +686,7 @@ strcpy(command,"RESET ENCODERS"); if(allow_commands) { command_status = 1; - reset_encoders(); + psi.reset_encoders(); } else command_status = 2; break; @@ -765,7 +765,7 @@ case 61: strcpy(command,"GET UPTIME"); - sprintf(ret_message,"%6.2f",get_uptime()); + sprintf(ret_message,"%6.2f",psi.get_uptime()); send_message = 1; break; @@ -1024,7 +1024,7 @@ bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,message_length,ret_message); break; } - debug("Received %s request message: %s %s [%02x%02x%02x]\nReply: %s [%d ch]\n",iface, command, subcommand,message[0],message[1],message[2],ret_message,message_length); + psi.debug("Received %s request message: %s %s [%02x%02x%02x]\nReply: %s [%d ch]\n",iface, command, subcommand,message[0],message[1],message[2],ret_message,message_length); } else { switch(interface) { case 0: @@ -1036,16 +1036,16 @@ } switch(command_status) { case 0: - debug("Unrecognised %s command message [%02x%02x%02x]\n",iface,message[0],message[1],message[2]); + psi.debug("Unrecognised %s command message [%02x%02x%02x]\n",iface,message[0],message[1],message[2]); break; case 1: - debug("Actioned %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]); + psi.debug("Actioned %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]); break; case 2: - debug("Blocked %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]); + psi.debug("Blocked %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]); break; case 3: - debug("Invalid %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]); + psi.debug("Invalid %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]); break; } } @@ -1275,10 +1275,10 @@ if(i == blocks-1) { if((file_length % limit) != 0) blocksize = file_length % limit; } - debug("Calculating %d bytes of CRC data...\n",blocksize); + psi.debug("Calculating %d bytes of CRC data...\n",blocksize); int result; result = fread(buffer,1,blocksize,fp); - debug("Data read: %d\n",result); + psi.debug("Data read: %d\n",result); for(int j=0; j<blocksize; j++) { int subindex = ((crc_value>>8)^*(char *)(buffer[j]))&0x00FF; //debug("J:%d Subindex:%d\n",j,subindex); @@ -1287,7 +1287,7 @@ } } fclose(fp); - debug("CRC Calculated: %x\n",crc_value); + psi.debug("CRC Calculated: %x\n",crc_value); return crc_value; }