Diff: serial.cpp

Revision:

11:312663037b8c

Parent:

10:e58323951c08

Child:

12:878c6e9d9e60

--- a/serial.cpp	Sun Oct 16 16:00:20 2016 +0000
+++ b/serial.cpp	Sun Oct 16 21:06:15 2016 +0000
@@ -1,4 +1,4 @@
-/* University of York Robotics Laboratory PsiSwarm Library: Serial Control Source File
+/* University of York Robotics Laboratory PsiSwarm Library: SerialControlControlControlControlControl Control Source File
  *
  * Copyright 2016 University of York
  *
@@ -51,9 +51,20 @@
 // Byte 0 and Byte 4 must be equal to COMMAND_MESSAGE_BYTE [in psiswarm.h] or message is treated as a user message
 
 
+void SerialControl::setup_serial_interfaces()
+{
+    if(ENABLE_PC_SERIAL) {
+        pc.baud(PC_BAUD);
+        pc.attach(this,&SerialControl::IF_pc_rx_callback, Serial::RxIrq);
+    }
+    if(ENABLE_BLUETOOTH) {
+        bt.baud(BLUETOOTH_BAUD);
+        bt.attach(this,&SerialControl::IF_bt_rx_callback, Serial::RxIrq);
+    }
+}
 
 
-void IF_start_file_transfer_mode()
+void SerialControl::IF_start_file_transfer_mode()
 {
     display.clear_display();
     display.set_position(0,0);
@@ -66,11 +77,11 @@
     file_length = 0;
     user_code_restore_mode = user_code_running;
     user_code_running = 0;
-    ft_timeout.attach(IF_file_transfer_timeout,2.0);
+    ft_timeout.attach(this,&SerialControl::IF_file_transfer_timeout,2.0);
 }
 
 
-void IF_invalid_transfer(void)
+void SerialControl::IF_invalid_transfer(void)
 {
     debug("File transfer failed\n");
     if(data_written == 1) {
@@ -84,7 +95,7 @@
     IF_end_file_transfer_mode();
 }
 
-void IF_file_transfer_timeout(void)
+void SerialControl::IF_file_transfer_timeout(void)
 {
     debug("File transfer failed: timeout\n");
     display.clear_display();
@@ -94,7 +105,7 @@
     IF_end_file_transfer_mode();
 }
 
-void IF_end_file_transfer_mode(void)
+void SerialControl::IF_end_file_transfer_mode(void)
 {
     display.clear_display();
     file_transfer_mode = 0;
@@ -102,7 +113,7 @@
 }
 
 
-void IF_handle_file_transfer_serial_message(char * message, char length, char interface)
+void SerialControl::IF_handle_file_transfer_serial_message(char * message, char length, char interface)
 {
     // Code for handling a serial (Bluetooth) message when in file-transfer mode
     //
@@ -127,7 +138,7 @@
                     debug("Target filename:%s\n",filename);
                     //Send acknowledge ("FN")
                     ft_timeout.detach();
-                    ft_timeout.attach(IF_file_transfer_timeout,2.0);
+                    ft_timeout.attach(this,&SerialControl::IF_file_transfer_timeout,2.0);
                     bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,2,"FN");
                     file_transfer_state = 1;
                 }
@@ -160,7 +171,7 @@
                     //file_data = (char *) malloc(target_size);
                     debug("File size %d bytes (%d blocks of %d bytes)\n",file_length,final_block,block_size);
                     ft_timeout.detach();
-                    ft_timeout.attach(IF_file_transfer_timeout,1.0);
+                    ft_timeout.attach(this,&SerialControl::IF_file_transfer_timeout,1.0);
                     //Send acknowledge (size of file)
                     bt.printf("%c%c%c%c%c",RESPONSE_MESSAGE_BYTE,3,message[1],message[2],message[3]);
                 }
@@ -198,7 +209,7 @@
                         debug("Message packet %d received and written\n",block_index);
                         //Send acknowledge ("D")
                         ft_timeout.detach();
-                        ft_timeout.attach(IF_file_transfer_timeout,1.0);
+                        ft_timeout.attach(this,&SerialControl::IF_file_transfer_timeout,1.0);
                         bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,1,"D");
                     } else {
                         //Last data block written
@@ -226,7 +237,7 @@
 }
 
 
-void IF_handle_user_serial_message(char * message, char length, char interface)
+void SerialControl::IF_handle_user_serial_message(char * message, char length, char interface)
 {
     char buffer[255];
     sprintf(buffer,message,length);
@@ -239,7 +250,7 @@
     handle_user_serial_message(message,length,interface);
 }
 
-void IF_handle_command_serial_message(char message[3], char interface)
+void SerialControl::IF_handle_command_serial_message(char message[3], char interface)
 {
     char iface [4];
     if(interface) strcpy(iface,"BT");
@@ -1040,7 +1051,7 @@
     }
 }
 
-char * IF_nibble_to_binary_char(char in)
+char * SerialControl::IF_nibble_to_binary_char(char in)
 {
     char * ret = (char*)malloc(sizeof(char)*5);
     for(int i=0; i<4; i++) {
@@ -1051,7 +1062,7 @@
     return ret;
 }
 
-char * IF_char_to_binary_char(char in)
+char * SerialControl::IF_char_to_binary_char(char in)
 {
     char * ret = (char*)malloc(sizeof(char)*9);
     for(int i=0; i<8; i++) {
@@ -1062,7 +1073,7 @@
     return ret;
 }
 
-float IF_decode_unsigned_float(char byte0, char byte1)
+float SerialControl::IF_decode_unsigned_float(char byte0, char byte1)
 {
     unsigned short sval = (byte0) << 8;
     sval += byte1;
@@ -1070,7 +1081,7 @@
     return scaled;
 }
 
-float IF_decode_float(char byte0, char byte1)
+float SerialControl::IF_decode_float(char byte0, char byte1)
 {
     // MSB is byte 0 is sign, rest is linear spread between 0 and 1
     char sign = byte0 / 128;
@@ -1081,14 +1092,14 @@
     return scaled;
 }
 
-float IF_decode_unsigned_float(char byte0)
+float SerialControl::IF_decode_unsigned_float(char byte0)
 {
     unsigned short sval = (byte0);
     float scaled = sval / 255.0f;
     return scaled;
 }
 
-float IF_decode_float(char byte0)
+float SerialControl::IF_decode_float(char byte0)
 {
     // MSB is byte 0 is sign, rest is linear spread between 0 and 1
     char sign = byte0 / 128;
@@ -1098,19 +1109,8 @@
     return scaled;
 }
 
-void IF_setup_serial_interfaces()
-{
-    if(ENABLE_PC_SERIAL) {
-        pc.baud(PC_BAUD);
-        pc.attach(&IF_pc_rx_callback, Serial::RxIrq);
-    }
-    if(ENABLE_BLUETOOTH) {
-        bt.baud(BLUETOOTH_BAUD);
-        bt.attach(&IF_bt_rx_callback, Serial::RxIrq);
-    }
-}
 
-void IF_pc_rx_command_timeout()
+void SerialControl::IF_pc_rx_command_timeout()
 {
     char message_array[6];
     char length = 1 + pc_command_message_byte;
@@ -1122,7 +1122,7 @@
     IF_handle_user_serial_message(message_array, length, 0);
 }
 
-void IF_bt_rx_command_timeout()
+void SerialControl::IF_bt_rx_command_timeout()
 {
     char message_array[6];
     char length = 1 + bt_command_message_byte;
@@ -1134,7 +1134,7 @@
     IF_handle_user_serial_message(message_array, length, 1);
 }
 
-void IF_pc_rx_callback()
+void SerialControl::IF_pc_rx_callback()
 {
     int count = 0;
     char message_array[255];
@@ -1168,7 +1168,7 @@
         } else {
             if(count == 1) {
                 if(tc == COMMAND_MESSAGE_BYTE) {
-                    pc_command_timeout.attach(&IF_pc_rx_command_timeout,command_timeout_period);
+                    pc_command_timeout.attach(this,&SerialControl::IF_pc_rx_command_timeout,command_timeout_period);
                     pc_command_message_started = 1;
                     pc_command_message_byte = 0;
 
@@ -1184,7 +1184,7 @@
 char bt_buffer[255];
 int bt_buffer_index = 0;
 
-void IF_bt_message_timeout()
+void SerialControl::IF_bt_message_timeout()
 {
     char buffer[255];
 
@@ -1218,12 +1218,12 @@
 //}
 
 
-void IF_set_filename(char * filename_in)
+void SerialControl::IF_set_filename(char * filename_in)
 {
     strcpy(filename,filename_in);
 }
 
-unsigned short IF_calculateCRC16(int file_length)
+unsigned short SerialControl::IF_calculateCRC16(int file_length)
 {
     unsigned short crc16table[256] = {
         0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
@@ -1291,7 +1291,7 @@
     return crc_value;
 }
 
-void IF_bt_rx_callback()
+void SerialControl::IF_bt_rx_callback()
 {
     int count = 0;
     char message_array[255];
@@ -1321,7 +1321,7 @@
                     count = 5;
                 }
             } else {
-                bt_command_timeout.attach(&IF_bt_rx_command_timeout,command_timeout_period);
+                bt_command_timeout.attach(this,&SerialControl::IF_bt_rx_command_timeout,command_timeout_period);
                 bt_command_message[bt_command_message_byte] = tc;
                 bt_command_message_byte ++;
             }