Diff: Init.cpp

Revision:

9:d1fc0805ec7d

Child:

10:0a4bf8c82493

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Init.cpp	Wed Oct 14 13:44:32 2015 +0000
@@ -0,0 +1,137 @@
+#include "mbed.h"
+#include "Global.h"
+#include "Init.h"
+#include <string>
+#include <iostream>
+
+std::string Init::strbuf;
+
+void Init::getSerial(){
+    osEvent evt = Global::queue.get();
+    if(evt.status == osEventMessage){
+        char temp = evt.value.v;
+        strbuf.push_back(temp);
+        if(temp == '\n'){
+            std::string::size_type spaceIndex = strbuf.find(" ");
+                
+            if (spaceIndex != std::string::npos) {//数値データがあるコマンド（" "がある場合）
+                char *gomi;
+                std::string command = strbuf.substr(0, spaceIndex);
+                double num = strtod(strbuf.substr(spaceIndex+1, strbuf.size()-2).c_str(), &gomi);//strbuf.size()-1には'\n'が入っている
+                printf("coms=%s, num=%f\n", command.c_str(), num);
+                setting(command, num);
+                    
+            }else{//数値データがないコマンド（" "がない場合）
+                std::string command = strbuf.substr(0,strbuf.size()-2);
+                setting(command);       
+            }
+            //ここで，ニュートラル情報をLocalFileに保存
+            Global::filewrite();
+            strbuf.clear();
+        }
+        if(strbuf.size() > 30)strbuf.clear();
+    }
+}
+
+
+void Init::setting(std::string command, double num){
+    if(command == "eleneu"){
+        Global::setneutralpitch(num);
+    }else if(command == "elemax"){
+        Global::setmaxpitch(num);
+    }else if(command == "elemin"){
+        Global::setminpitch(num);
+    }else if(command == "rudneu"){
+        Global::setneutralyaw(num);
+    }else if(command == "rudmax"){
+        Global::setmaxyaw(num);
+    }else if(command == "rudmin"){
+        Global::setminyaw(num);
+                        
+    }else if(command == "eleneudeg"){
+        Global::setneutralpitchdegree(num);
+    }else if(command == "elemaxdeg"){
+        Global::setmaxpitchdegree(num);
+    }else if(command == "elemindeg"){
+        Global::setminpitchdegree(num);
+    }else if(command == "rudneudeg"){
+        Global::setneutralyawdegree(num);
+    }else if(command == "rudmaxdeg"){
+        Global::setmaxyawdegree(num);
+    }else if(command == "rudmindeg"){
+        Global::setminyawdegree(num);
+                    
+    }else if(command == "elemaxplay"){
+        Global::setmaxpitchplayratio(num);
+    }else if(command == "eleminplay"){
+        Global::setminpitchplayratio(num);                        
+    }else if(command == "rudmaxplay"){
+        Global::setmaxyawplayratio(num);
+    }else if(command == "rudminplay"){
+        Global::setminyawplayratio(num);
+    }else if(command == "eletrim"){
+        Global::settrimpitchrate(num);
+                                
+    }else{
+        printf("Invalid Input\n");
+    }
+}
+
+void Init::setting(std::string command){
+    if(command == "eleneu"){
+        Global::setneutralpitch(Global::getpitch());
+    }else if(command == "elemax"){
+        Global::setmaxpitch(Global::getpitch());
+    }else if(command == "elemin"){
+        Global::setminpitch(Global::getpitch());
+    }else if(command == "rudneu"){
+        Global::setneutralyaw(Global::getyaw());
+    }else if(command == "rudmax"){
+        Global::setmaxyaw(Global::getyaw());
+    }else if(command == "rudmin"){
+        Global::setminyaw(Global::getyaw());
+                        
+    }else if(command == "eleneudeg"){
+        Global::setneutralpitchdegree(Global::getpitchdegree());
+    }else if(command == "elemaxdeg"){
+        Global::setmaxpitchdegree(Global::getpitchdegree());
+    }else if(command == "elemindeg"){
+        Global::setminpitchdegree(Global::getpitchdegree());
+    }else if(command == "rudneudeg"){
+        Global::setneutralyawdegree(Global::getyawdegree());
+    }else if(command == "rudmaxdeg"){
+        Global::setmaxyawdegree(Global::getyawdegree());
+    }else if(command == "rudmindeg"){
+        Global::setminyawdegree(Global::getyawdegree());
+                        
+    }else if(command == "show"){
+        showParam();
+                                        
+    }else{
+        printf("Invalid Input\n");
+    }
+}
+
+void Init::showParam(){
+    printf("------Servo Parameter------\n");
+    printf("elevatorNeutral  = %f\n", Global::getneutralpitch());
+    printf("elevatorMax      = %f\n", Global::getmaxpitch());
+    printf("elevatorMin      = %f\n", Global::getminpitch());
+    printf("rudderNeutral    = %f\n", Global::getneutralyaw());
+    printf("rudderMax        = %f\n", Global::getmaxyaw());
+    printf("rudderMin        = %f\n", Global::getminyaw());
+    printf("----Controller Parameter----\n");
+    printf("elevatorNeutral  = %f\n", Global::getneutralpitchdegree());
+    printf("elevatorMax      = %f\n", Global::getmaxpitchdegree());
+    printf("elevatorMin      = %f\n", Global::getminpitchdegree());
+    printf("rudderNeutral    = %f\n", Global::getneutralyawdegree());
+    printf("rudderMax        = %f\n", Global::getmaxyawdegree());
+    printf("rudderMin        = %f\n", Global::getminyawdegree());
+    printf("------Controller Play------\n");
+    printf("elevatorMaxPlay  = %f\n", Global::getmaxpitchplayratio());
+    printf("elevatorMinPlay  = %f\n", Global::getminpitchplayratio());
+    printf("rudderMaxPlay    = %f\n", Global::getmaxyawplayratio());
+    printf("rudderMinPlay    = %f\n", Global::getminyawplayratio());
+    printf("-------Trim Parameter-------\n");
+    printf("elevatorTrimRate = %f\n", Global::gettrimpitchrate());
+}
\ No newline at end of file