Diff: psiswarm.cpp

Revision:

12:878c6e9d9e60

Parent:

11:312663037b8c

Child:

13:adbd827234a4

--- a/psiswarm.cpp	Sun Oct 16 21:06:15 2016 +0000
+++ b/psiswarm.cpp	Mon Oct 17 13:09:10 2016 +0000
@@ -1,4 +1,4 @@
-/* University of York Robotics Laboratory PsiSwarm Library: PsiSwarm Core Source File
+/* University of York Robotics Laboratory PsiSwarm Library: PsiSwarm C++ Core Source File
  * 
  * Copyright 2016 University of York
  *
@@ -13,7 +13,7 @@
  * (C) Dept. Electronics & Computer Science, University of York
  * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
  *
- * PsiSwarm Library Version: 0.7
+ * PsiSwarm Library Version: 0.8
  *
  * October 2016
  *
@@ -32,7 +32,8 @@
 Sound sound;
 Setup i2c_setup;
 Demo demo;
-Dances dances;
+Animations animations;
+Basic basic;
 
 //Setup MBED connections to PsiSwarm Robot
 Serial pc(USBTX,USBRX);
@@ -164,11 +165,11 @@
  *
  * Set up the GPIO expansion ICs, launch demo mode if button is held
  */
-void init()
+void Psiswarm::init()
 {
     firmware_version=0;
     timer_minute_count = 0;
-    timer_ticker.attach(&IF_update_minutes, 300);
+    timer_ticker.attach(this,&Psiswarm::IF_update_minutes, 300);
     uptime.start();
     primary_i2c.frequency(400000);
     serial.setup_serial_interfaces();
@@ -200,7 +201,7 @@
         debug("- WARNING: Check firmware to enable robot features");
     }
     if(ENABLE_BASIC == 1) {
-        read_list_of_file_names();
+        basic.read_list_of_file_names();
         if(psi_basic_file_count == 0) {
             debug("- No PsiBasic files found\n");
         } else use_flash_basic = 1;
@@ -243,7 +244,7 @@
     char demo_on = 0;
     if(ENABLE_DEMO == 1 && switchstate > 0) demo_on=1;
     display.init_display(demo_on);
-    event_handler.attach_us(&IF_handle_events, 1000);
+    event_handler.attach_us(this,&Psiswarm::IF_handle_events, 1000);
     if(demo_on > 0) {
         debug("- Demo mode button is pressed\n");
         wait(1.0);
@@ -253,13 +254,13 @@
     }
 }
 
-void IF_update_minutes()
+void Psiswarm::IF_update_minutes()
 {
     uptime.reset();
     timer_minute_count += 5;
 }
 
-void IF_handle_events()
+void Psiswarm::IF_handle_events()
 {
     // This is the main 'operating system' thread that handles events from robot stimuli
     // By default it is run every 1ms and checks if there are events to handle
@@ -286,7 +287,7 @@
     }
 }
 
-void IF_update_encoders()
+void Psiswarm::IF_update_encoders()
 {
     char rwep = previous_wheel_encoder_byte >> 2;
     char rwe = wheel_encoder_byte >> 2;
@@ -300,11 +301,11 @@
     if(left_encoder % 100 == 0) pc.printf("L:%d\n",left_encoder);
 }
 
-void IF_update_user_id()
+void Psiswarm::IF_update_user_id()
 {
 }
 
-void IF_update_switch()
+void Psiswarm::IF_update_switch()
 {
     // The user switch has changed state
     // In this implementation we will only act on positive changes (rising edges)
@@ -314,13 +315,13 @@
     else handle_switch_event(positive_change);
 }
 
-void reset_encoders()
+void Psiswarm::reset_encoders()
 {
     left_encoder = 0;
     right_encoder = 0;
 }
 
-void debug(const char* format, ...)
+void Psiswarm::debug(const char* format, ...)
 {
     char buffer[256];
     if (debug_mode) {
@@ -334,24 +335,24 @@
     }
 }
 
-float get_uptime(void)
+float Psiswarm::get_uptime(void)
 {
     return uptime.read() + (timer_minute_count * 60);
 }
 
-void pause_user_code(float period)
+void Psiswarm::pause_user_code(float period)
 {
     user_code_restore_mode = user_code_running;
     user_code_running = 0;
-    pause_usercode_timeout.attach(&IF_end_pause_user_code, period);
+    pause_usercode_timeout.attach(this,&Psiswarm::IF_end_pause_user_code, period);
 }
 
-void IF_end_pause_user_code()
+void Psiswarm::IF_end_pause_user_code()
 {
     user_code_running = user_code_restore_mode;
 }
 
-void IF_get_hardware_description()
+void Psiswarm::IF_get_hardware_description()
 {
         debug("- Robot serial number %1.2f\n",serial_number);
         debug("- PCB version %1.2f\n",pcb_version);