Diff: SD.cpp

Revision:

0:9fd64882c5aa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SD.cpp	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,172 @@
+#include "SD.h"
+
+dictionary* translationFile;
+dictionary* programmedFile;
+
+void setupSDCard()
+{
+    translationFile = iniparser_load("/sd/translationFile.ini");
+    programmedFile = iniparser_load("/sd/programmedFile.ini");
+    
+    if(translationFile && programmedFile) {
+        printLCD("Files opened", "succesfully!");
+    }
+    else if(!translationFile && !programmedFile) {
+        printLCD("Error opening", "both files");
+    }
+    else if(!translationFile) {
+        printLCD("Error opening", "translation");
+    }
+    else {
+        printLCD("Error opening", "programmed");
+    }
+    wait(1.5);
+}
+
+vector<robotCommand>* translateTags(vector<int>& tagValues)
+{
+
+    vector<robotCommand>* commandVector = new vector<robotCommand>();
+    printLCD("Translating", NULL);
+    wait(.5);
+    
+    for (int i = 0; i < tagValues.size(); i += 2) // Tags alternate between command type and magnitude
+    {
+        printf("trying to find tag # %d\n", tagValues[i]);
+        char tagName[40];
+        sprintf(tagName, "translations:%d", tagValues[i]%1000);
+        
+        // get the command string from the ini file
+        
+        char commandName[30];
+        sprintf(commandName,"%s", iniparser_getstring(translationFile,tagName, "NONE"));
+
+        //printf("commandName is: %s\n", commandName);
+        CommandType commandID = None;
+        
+        if (strcmp(commandName, "FORWARD") == 0)
+            commandID = Forward;
+        else if (strcmp(commandName, "REVERSE") == 0)
+            commandID = Reverse; 
+        else if (strcmp(commandName, "LEFT") == 0)
+            commandID = Left; 
+        else if (strcmp(commandName, "RIGHT") == 0)
+            commandID = Right; 
+        else if (strcmp(commandName, "PLAYSOUND") == 0)
+            commandID = PlaySound; 
+        
+        sprintf(tagName, "Translations:%d", tagValues[i+1]%1000);
+        double magnitude = iniparser_getdouble(translationFile,tagName, 0.0);
+        printf("Adding %d %f", commandID, magnitude);
+        commandVector->push_back(robotCommand(commandID, magnitude));
+    }
+    printf("done searching\n");
+    printLCD("Translation", "Complete");
+    wait(.5);
+    return commandVector;
+}
+
+vector<robotCommand>* getProgrammedPath(int pathNumber)
+{
+    vector<robotCommand>* commandVector = new vector<robotCommand>();
+    printLCD("Translating", NULL);
+    wait(.5);
+    
+    char sectionName[30];
+    sprintf(sectionName, "path%d", pathNumber);
+    printf("section name: %s\n", sectionName);
+    int num_keys = iniparser_getsecnkeys(programmedFile, sectionName);
+    
+    printf("number of keys: %d\n", num_keys);
+    char keyName[5];
+    for (int i = 0; i < num_keys; i+= 2)
+    {
+        sprintf(keyName,"path%d:%d",pathNumber, i);
+        char commandName[30];
+        sprintf(commandName,"%s", iniparser_getstring(programmedFile,keyName, "NONE"));
+ 
+        CommandType commandID = None;
+        if (strcmp(commandName, "FORWARD") == 0)
+            commandID = Forward;
+        else if (strcmp(commandName, "REVERSE") == 0)
+            commandID = Reverse; 
+        else if (strcmp(commandName, "LEFT") == 0)
+            commandID = Left; 
+        else if (strcmp(commandName, "RIGHT") == 0)
+            commandID = Right; 
+        else if (strcmp(commandName, "PLAYSOUND") == 0)
+            commandID = PlaySound; 
+            
+        sprintf(keyName,"path%d:%d",pathNumber, i+1);
+        double magnitude = iniparser_getdouble(programmedFile,keyName, 0.0);
+        printf("Adding %d %f", commandID, magnitude);
+        commandVector->push_back(robotCommand(commandID, magnitude));
+    }
+    printf("done searching pre-programmed path\n");
+    printLCD("Translation", "Complete");
+    wait(.5);
+    return commandVector;
+}
+
+void writeTagCommand(int tagID, CommandType value)
+{
+    printf("first key: %s\n", translationFile->key[1]);
+    printf("Entering Write Command, tagID: %d, value: %d\n", tagID, value);
+    char stringValue[15];
+    tagID = tagID % 1000;
+    
+    if (value == 0)
+    {
+        sprintf(stringValue, "FORWARD");
+    }
+    else if (value == 1)
+    {
+        sprintf(stringValue, "REVERSE");
+    }
+    else if (value == 2)
+    {
+        sprintf(stringValue, "LEFT");
+    }
+    else if (value == 3)
+    {
+        sprintf(stringValue, "RIGHT");
+    }
+    else if (value == 4)
+    {
+        sprintf(stringValue, "PLAYSOUND");
+    }
+
+    char keyName[30];
+    sprintf(keyName, "translations:%d", tagID);
+    printf("trying to set\n");
+    int val = dictionary_set(translationFile, keyName, stringValue);
+    
+    
+    FILE* translationFilePointer = fopen("/sd/translationFile.ini", "w"); // need to make sure this is right
+    if (translationFilePointer != NULL) printf("file opened succesfully\n");
+    iniparser_dump(translationFile, translationFilePointer);
+    printf("done dumping\n");
+    printf("value is now %s\n", iniparser_getstring(translationFile,keyName, "NONE"));
+    fclose(translationFilePointer);
+    printLCD("Tag Updated", NULL);
+    wait(1.5);
+}
+
+void writeTagCommand(int tagID, double magValue)
+{
+    char keyName[30];
+    tagID = tagID % 1000;
+    sprintf(keyName, "translations:%d", tagID); // need to make sure this is right
+    
+    char stringValue[20];
+    sprintf(stringValue, "%f", magValue);
+    
+    dictionary_set(translationFile, keyName, stringValue); // add the key to the dictionary
+    FILE* translationFilePointer = fopen("/sd/translationFile.ini", "w");
+    iniparser_dump_ini(translationFile, translationFilePointer);
+    fclose(translationFilePointer);
+    printLCD("Tag Updated", NULL);
+    wait(1.5);
+}
+
+