Tony YI
/
ESDC2014
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communication.cpp@2:442902ec3aa1, 2014-07-03 (annotated)
- Committer:
- terryLAI
- Date:
- Thu Jul 03 10:59:37 2014 +0000
- Revision:
- 2:442902ec3aa1
- Parent:
- 1:cbec1283a16a
- Child:
- 3:4306d042af6f
aa
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
TonyYI | 0:3417ca0a36c0 | 1 | /****************************************************** |
TonyYI | 0:3417ca0a36c0 | 2 | |
TonyYI | 0:3417ca0a36c0 | 3 | ****┏┓ ┏┓ |
TonyYI | 0:3417ca0a36c0 | 4 | **┏┛┻━━━━━━┛┻┓ |
TonyYI | 0:3417ca0a36c0 | 5 | **┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 6 | **┃ ━━━ ┃ |
TonyYI | 0:3417ca0a36c0 | 7 | **┃ ┳┛ ┗┳ ┃ |
TonyYI | 0:3417ca0a36c0 | 8 | **┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 9 | **┃ ''' ┻ ''' ┃ |
TonyYI | 0:3417ca0a36c0 | 10 | **┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 11 | **┗━━┓ ┏━━┛ |
TonyYI | 0:3417ca0a36c0 | 12 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 13 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 14 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 15 | *******┃ ┗━━━━━━━━┓ |
TonyYI | 0:3417ca0a36c0 | 16 | *******┃ ┃━┓ |
TonyYI | 0:3417ca0a36c0 | 17 | *******┃ NO BUG ┏━┛ |
TonyYI | 0:3417ca0a36c0 | 18 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 19 | *******┗━┓ ┓ ┏━┏━┓ ━┛ |
TonyYI | 0:3417ca0a36c0 | 20 | ***********┃ ┛ ┛ ┃ ┛ ┛ |
TonyYI | 0:3417ca0a36c0 | 21 | ***********┃ ┃ ┃ ┃ ┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 22 | ***********┗━┛━┛ ┗━┛━┛ |
TonyYI | 0:3417ca0a36c0 | 23 | |
TonyYI | 0:3417ca0a36c0 | 24 | This part is added by project ESDC2014 of CUHK team. |
TonyYI | 0:3417ca0a36c0 | 25 | All the code with this header are under GPL open source license. |
TonyYI | 0:3417ca0a36c0 | 26 | This program is running on Mbed Platform 'mbed LPC1768' avaliable in 'http://mbed.org'. |
TonyYI | 0:3417ca0a36c0 | 27 | **********************************************************/ |
TonyYI | 0:3417ca0a36c0 | 28 | #include <communication.h> |
TonyYI | 0:3417ca0a36c0 | 29 | |
TonyYI | 0:3417ca0a36c0 | 30 | Communication::Communication(MySerial* _DEBUG, MySerial *_IntelToMbed, MySerial *_MbedToArduino) |
TonyYI | 0:3417ca0a36c0 | 31 | { |
TonyYI | 0:3417ca0a36c0 | 32 | this->_DEBUG = _DEBUG; |
TonyYI | 0:3417ca0a36c0 | 33 | this->_IntelToMbed = _IntelToMbed; |
TonyYI | 0:3417ca0a36c0 | 34 | this->_MbedToArduino = _MbedToArduino; |
terryLAI | 1:cbec1283a16a | 35 | this->compass=new COMPASS(COMPASS_TX,COMPASS_RX); |
TonyYI | 0:3417ca0a36c0 | 36 | init(); |
TonyYI | 0:3417ca0a36c0 | 37 | } |
TonyYI | 0:3417ca0a36c0 | 38 | |
TonyYI | 0:3417ca0a36c0 | 39 | Communication::~Communication() |
TonyYI | 0:3417ca0a36c0 | 40 | { |
TonyYI | 0:3417ca0a36c0 | 41 | delete[] buffer_IntelToMbed; |
TonyYI | 0:3417ca0a36c0 | 42 | delete[] buffer_MbedToArduino; |
TonyYI | 0:3417ca0a36c0 | 43 | delete _DEBUG; |
TonyYI | 0:3417ca0a36c0 | 44 | delete _IntelToMbed; |
TonyYI | 0:3417ca0a36c0 | 45 | delete _MbedToArduino; |
TonyYI | 0:3417ca0a36c0 | 46 | } |
TonyYI | 0:3417ca0a36c0 | 47 | |
TonyYI | 0:3417ca0a36c0 | 48 | void Communication::init() |
TonyYI | 0:3417ca0a36c0 | 49 | { |
TonyYI | 0:3417ca0a36c0 | 50 | buffer_IntelToMbed = new uint8_t[BUFFER_SIZE]; |
TonyYI | 0:3417ca0a36c0 | 51 | buffer_MbedToArduino = new uint8_t[BUFFER_SIZE]; |
TonyYI | 0:3417ca0a36c0 | 52 | in_IntelToMbed = 0; |
TonyYI | 0:3417ca0a36c0 | 53 | out_IntelToMbed = 0; |
TonyYI | 0:3417ca0a36c0 | 54 | in_MbedToArduino = 0; |
TonyYI | 0:3417ca0a36c0 | 55 | out_MbedToArduino = 0; |
TonyYI | 0:3417ca0a36c0 | 56 | state_IntelToMbed = 0; |
TonyYI | 0:3417ca0a36c0 | 57 | state_MbedToArduino = 0; |
TonyYI | 0:3417ca0a36c0 | 58 | check_sum = 0; |
TonyYI | 0:3417ca0a36c0 | 59 | info_ok_IntelToMbed = 0; |
TonyYI | 0:3417ca0a36c0 | 60 | info_ok_MbedToArduino = 0; |
TonyYI | 0:3417ca0a36c0 | 61 | } |
TonyYI | 0:3417ca0a36c0 | 62 | |
TonyYI | 0:3417ca0a36c0 | 63 | uint8_t Communication::getByte(uint8_t communication_type) |
TonyYI | 0:3417ca0a36c0 | 64 | { |
TonyYI | 0:3417ca0a36c0 | 65 | uint8_t _x = 0; |
TonyYI | 0:3417ca0a36c0 | 66 | if(communication_type == 0) |
TonyYI | 0:3417ca0a36c0 | 67 | { |
TonyYI | 0:3417ca0a36c0 | 68 | _x = buffer_IntelToMbed[out_IntelToMbed++]; |
TonyYI | 0:3417ca0a36c0 | 69 | if(out_IntelToMbed == BUFFER_SIZE) |
TonyYI | 0:3417ca0a36c0 | 70 | { |
TonyYI | 0:3417ca0a36c0 | 71 | out_IntelToMbed &= 0x0000; |
TonyYI | 0:3417ca0a36c0 | 72 | } |
TonyYI | 0:3417ca0a36c0 | 73 | } |
TonyYI | 0:3417ca0a36c0 | 74 | else if(communication_type == 1) |
TonyYI | 0:3417ca0a36c0 | 75 | { |
TonyYI | 0:3417ca0a36c0 | 76 | _x = buffer_MbedToArduino[out_MbedToArduino++]; |
TonyYI | 0:3417ca0a36c0 | 77 | if(out_MbedToArduino == BUFFER_SIZE) |
TonyYI | 0:3417ca0a36c0 | 78 | { |
TonyYI | 0:3417ca0a36c0 | 79 | out_MbedToArduino &= 0x0000; |
TonyYI | 0:3417ca0a36c0 | 80 | } |
TonyYI | 0:3417ca0a36c0 | 81 | } |
TonyYI | 0:3417ca0a36c0 | 82 | return _x; |
TonyYI | 0:3417ca0a36c0 | 83 | } |
TonyYI | 0:3417ca0a36c0 | 84 | |
TonyYI | 0:3417ca0a36c0 | 85 | uint16_t Communication::get2Bytes(uint8_t communication_type) |
TonyYI | 0:3417ca0a36c0 | 86 | { |
TonyYI | 0:3417ca0a36c0 | 87 | uint8_t byte1 = getByte(communication_type); |
TonyYI | 0:3417ca0a36c0 | 88 | uint8_t byte2 = getByte(communication_type); |
TonyYI | 0:3417ca0a36c0 | 89 | return uint16_t((byte1 << 8) | byte2); |
TonyYI | 0:3417ca0a36c0 | 90 | } |
TonyYI | 0:3417ca0a36c0 | 91 | |
TonyYI | 0:3417ca0a36c0 | 92 | void Communication::putByte(uint8_t _x, uint8_t _i) |
TonyYI | 0:3417ca0a36c0 | 93 | { |
TonyYI | 0:3417ca0a36c0 | 94 | //Serial.write(_x);//For Arduino |
TonyYI | 0:3417ca0a36c0 | 95 | //For Mbed |
TonyYI | 0:3417ca0a36c0 | 96 | if(_i == 0) //_DEBUG |
TonyYI | 0:3417ca0a36c0 | 97 | { |
TonyYI | 0:3417ca0a36c0 | 98 | _DEBUG->putc(_x); |
TonyYI | 0:3417ca0a36c0 | 99 | } |
TonyYI | 0:3417ca0a36c0 | 100 | else if(_i == 1) //IntelToMbed |
TonyYI | 0:3417ca0a36c0 | 101 | { |
TonyYI | 0:3417ca0a36c0 | 102 | _IntelToMbed->putc(_x); |
TonyYI | 0:3417ca0a36c0 | 103 | } |
TonyYI | 0:3417ca0a36c0 | 104 | else if(_i == 2) //MbedToArduino |
TonyYI | 0:3417ca0a36c0 | 105 | { |
TonyYI | 0:3417ca0a36c0 | 106 | _MbedToArduino->putc(_x); |
TonyYI | 0:3417ca0a36c0 | 107 | } |
TonyYI | 0:3417ca0a36c0 | 108 | } |
TonyYI | 0:3417ca0a36c0 | 109 | |
TonyYI | 0:3417ca0a36c0 | 110 | void Communication::put2Bytes(uint16_t _x, uint8_t _i) |
TonyYI | 0:3417ca0a36c0 | 111 | { |
TonyYI | 0:3417ca0a36c0 | 112 | putByte(uint8_t(_x >> 8), _i); |
TonyYI | 0:3417ca0a36c0 | 113 | putByte(uint8_t(_x & 0x0f), _i); |
TonyYI | 0:3417ca0a36c0 | 114 | } |
TonyYI | 0:3417ca0a36c0 | 115 | |
TonyYI | 0:3417ca0a36c0 | 116 | void Communication::putToBuffer(uint8_t _x, uint8_t communication_type) |
TonyYI | 0:3417ca0a36c0 | 117 | { |
TonyYI | 0:3417ca0a36c0 | 118 | if(communication_type == 0) |
TonyYI | 0:3417ca0a36c0 | 119 | { |
TonyYI | 0:3417ca0a36c0 | 120 | buffer_IntelToMbed[in_IntelToMbed++] = _x; |
TonyYI | 0:3417ca0a36c0 | 121 | if(in_IntelToMbed == BUFFER_SIZE) |
TonyYI | 0:3417ca0a36c0 | 122 | { |
TonyYI | 0:3417ca0a36c0 | 123 | in_IntelToMbed &= 0x00; |
TonyYI | 0:3417ca0a36c0 | 124 | } |
TonyYI | 0:3417ca0a36c0 | 125 | } |
TonyYI | 0:3417ca0a36c0 | 126 | else if(communication_type == 1) |
TonyYI | 0:3417ca0a36c0 | 127 | { |
TonyYI | 0:3417ca0a36c0 | 128 | buffer_MbedToArduino[in_MbedToArduino++] = _x; |
TonyYI | 0:3417ca0a36c0 | 129 | if(in_MbedToArduino == BUFFER_SIZE) |
TonyYI | 0:3417ca0a36c0 | 130 | { |
TonyYI | 0:3417ca0a36c0 | 131 | in_MbedToArduino &= 0x00; |
TonyYI | 0:3417ca0a36c0 | 132 | } |
TonyYI | 0:3417ca0a36c0 | 133 | } |
TonyYI | 0:3417ca0a36c0 | 134 | } |
TonyYI | 0:3417ca0a36c0 | 135 | |
TonyYI | 0:3417ca0a36c0 | 136 | void Communication::parseMessage() |
TonyYI | 0:3417ca0a36c0 | 137 | { |
TonyYI | 0:3417ca0a36c0 | 138 | if(in_IntelToMbed != out_IntelToMbed) |
TonyYI | 0:3417ca0a36c0 | 139 | { |
TonyYI | 0:3417ca0a36c0 | 140 | uint8_t _x = getByte(0); |
TonyYI | 0:3417ca0a36c0 | 141 | switch(state_IntelToMbed) |
TonyYI | 0:3417ca0a36c0 | 142 | { |
TonyYI | 0:3417ca0a36c0 | 143 | case 0: //checking starter |
TonyYI | 0:3417ca0a36c0 | 144 | { |
TonyYI | 0:3417ca0a36c0 | 145 | if(DEBUG_ON) |
TonyYI | 0:3417ca0a36c0 | 146 | { |
TonyYI | 0:3417ca0a36c0 | 147 | _DEBUG->printf("Communication::parseMessage(). Checking STARTER...\r\n"); |
TonyYI | 0:3417ca0a36c0 | 148 | } |
TonyYI | 0:3417ca0a36c0 | 149 | check_sum = 0; |
TonyYI | 0:3417ca0a36c0 | 150 | |
TonyYI | 0:3417ca0a36c0 | 151 | if(_x == STARTER || _x == COMPASS_STARTER) |
TonyYI | 0:3417ca0a36c0 | 152 | { |
TonyYI | 0:3417ca0a36c0 | 153 | state_IntelToMbed++; |
TonyYI | 0:3417ca0a36c0 | 154 | } |
TonyYI | 0:3417ca0a36c0 | 155 | else |
TonyYI | 0:3417ca0a36c0 | 156 | { |
TonyYI | 0:3417ca0a36c0 | 157 | state_IntelToMbed = 0; |
TonyYI | 0:3417ca0a36c0 | 158 | if(DEBUG_ON) |
TonyYI | 0:3417ca0a36c0 | 159 | { |
TonyYI | 0:3417ca0a36c0 | 160 | _DEBUG->printf("Communication::parseMessage(). ERROR when checking STARTER: %x.\r\n", _x); |
TonyYI | 0:3417ca0a36c0 | 161 | } |
TonyYI | 0:3417ca0a36c0 | 162 | } |
TonyYI | 0:3417ca0a36c0 | 163 | break; |
TonyYI | 0:3417ca0a36c0 | 164 | } |
TonyYI | 0:3417ca0a36c0 | 165 | |
TonyYI | 0:3417ca0a36c0 | 166 | case 1: //checking action_type |
TonyYI | 0:3417ca0a36c0 | 167 | { |
TonyYI | 0:3417ca0a36c0 | 168 | if(DEBUG_ON) |
TonyYI | 0:3417ca0a36c0 | 169 | { |
TonyYI | 0:3417ca0a36c0 | 170 | _DEBUG->printf("Communication::parseMessage(). Checking ACTION_TYPE...\r\n"); |
TonyYI | 0:3417ca0a36c0 | 171 | } |
TonyYI | 0:3417ca0a36c0 | 172 | check_sum += _x; |
TonyYI | 0:3417ca0a36c0 | 173 | action_type = _x; |
terryLAI | 2:442902ec3aa1 | 174 | if(action_type == 0 || action_type == 1 || action_type == 2 || action_type == 3 || action_type == 4) |
TonyYI | 0:3417ca0a36c0 | 175 | { |
TonyYI | 0:3417ca0a36c0 | 176 | state_IntelToMbed++; |
TonyYI | 0:3417ca0a36c0 | 177 | } |
TonyYI | 0:3417ca0a36c0 | 178 | else |
TonyYI | 0:3417ca0a36c0 | 179 | { |
TonyYI | 0:3417ca0a36c0 | 180 | state_IntelToMbed = 0; |
TonyYI | 0:3417ca0a36c0 | 181 | if(DEBUG_ON) |
TonyYI | 0:3417ca0a36c0 | 182 | { |
TonyYI | 0:3417ca0a36c0 | 183 | _DEBUG->printf("Communication::parseMessage(). ERROR when checking ACTION_TYPE: %x.\r\n", action_type); |
TonyYI | 0:3417ca0a36c0 | 184 | } |
TonyYI | 0:3417ca0a36c0 | 185 | } |
TonyYI | 0:3417ca0a36c0 | 186 | break; |
TonyYI | 0:3417ca0a36c0 | 187 | } |
TonyYI | 0:3417ca0a36c0 | 188 | |
TonyYI | 0:3417ca0a36c0 | 189 | case 2: //move_dis upper 4 bits |
TonyYI | 0:3417ca0a36c0 | 190 | { |
TonyYI | 0:3417ca0a36c0 | 191 | if(DEBUG_ON) |
TonyYI | 0:3417ca0a36c0 | 192 | { |
TonyYI | 0:3417ca0a36c0 | 193 | _DEBUG->printf("Communication::parseMessage(). Checking MOVE_DIS upper 4 bits...\r\n"); |
TonyYI | 0:3417ca0a36c0 | 194 | } |
TonyYI | 0:3417ca0a36c0 | 195 | check_sum += _x; |
TonyYI | 0:3417ca0a36c0 | 196 | move_dis = _x << 8; |
TonyYI | 0:3417ca0a36c0 | 197 | state_IntelToMbed++; |
TonyYI | 0:3417ca0a36c0 | 198 | break; |
TonyYI | 0:3417ca0a36c0 | 199 | } |
TonyYI | 0:3417ca0a36c0 | 200 | |
TonyYI | 0:3417ca0a36c0 | 201 | case 3: //move_dis lower 4 bits |
TonyYI | 0:3417ca0a36c0 | 202 | { |
TonyYI | 0:3417ca0a36c0 | 203 | if(DEBUG_ON) |
TonyYI | 0:3417ca0a36c0 | 204 | { |
TonyYI | 0:3417ca0a36c0 | 205 | _DEBUG->printf("Communication::parseMessage(). Checking MOVE_DIS lower 4 bits...\r\n"); |
TonyYI | 0:3417ca0a36c0 | 206 | } |
TonyYI | 0:3417ca0a36c0 | 207 | check_sum += _x; |
TonyYI | 0:3417ca0a36c0 | 208 | move_dis |= _x; |
TonyYI | 0:3417ca0a36c0 | 209 | state_IntelToMbed++; |
TonyYI | 0:3417ca0a36c0 | 210 | break; |
TonyYI | 0:3417ca0a36c0 | 211 | } |
TonyYI | 0:3417ca0a36c0 | 212 | |
TonyYI | 0:3417ca0a36c0 | 213 | case 4: //move_dir |
TonyYI | 0:3417ca0a36c0 | 214 | { |
TonyYI | 0:3417ca0a36c0 | 215 | if(DEBUG_ON) |
TonyYI | 0:3417ca0a36c0 | 216 | { |
TonyYI | 0:3417ca0a36c0 | 217 | _DEBUG->printf("Communication::parseMessage(). Checking MOVE_DIR...\r\n"); |
TonyYI | 0:3417ca0a36c0 | 218 | } |
TonyYI | 0:3417ca0a36c0 | 219 | check_sum += _x; |
TonyYI | 0:3417ca0a36c0 | 220 | move_dir = _x; |
terryLAI | 2:442902ec3aa1 | 221 | if((action_type == 0 && (move_dir == 0 || move_dir == 1 || move_dir == 2 || move_dir == 3)) || (action_type == 1 && (move_dir == 0 || move_dir == 2)) || action_type == 2 || action_type == 3 || action_type == 4) |
TonyYI | 0:3417ca0a36c0 | 222 | { |
TonyYI | 0:3417ca0a36c0 | 223 | state_IntelToMbed++; |
TonyYI | 0:3417ca0a36c0 | 224 | } |
TonyYI | 0:3417ca0a36c0 | 225 | else |
TonyYI | 0:3417ca0a36c0 | 226 | { |
TonyYI | 0:3417ca0a36c0 | 227 | state_IntelToMbed = 0; |
TonyYI | 0:3417ca0a36c0 | 228 | if(DEBUG_ON) |
TonyYI | 0:3417ca0a36c0 | 229 | { |
TonyYI | 0:3417ca0a36c0 | 230 | _DEBUG->printf("Communication::parseMessage(). ERROR when checking MOVE_DIR: %x.\r\n", move_dir); |
TonyYI | 0:3417ca0a36c0 | 231 | } |
TonyYI | 0:3417ca0a36c0 | 232 | } |
TonyYI | 0:3417ca0a36c0 | 233 | break; |
TonyYI | 0:3417ca0a36c0 | 234 | } |
TonyYI | 0:3417ca0a36c0 | 235 | |
TonyYI | 0:3417ca0a36c0 | 236 | case 5: //rotate_dis upper 4 bits |
TonyYI | 0:3417ca0a36c0 | 237 | { |
TonyYI | 0:3417ca0a36c0 | 238 | if(DEBUG_ON) |
TonyYI | 0:3417ca0a36c0 | 239 | { |
TonyYI | 0:3417ca0a36c0 | 240 | _DEBUG->printf("Communication::parseMessage(). Checking ROTATE_DIS upper 4 bits...\r\n"); |
TonyYI | 0:3417ca0a36c0 | 241 | } |
TonyYI | 0:3417ca0a36c0 | 242 | check_sum += _x; |
TonyYI | 0:3417ca0a36c0 | 243 | rotate_dis = _x << 8; |
TonyYI | 0:3417ca0a36c0 | 244 | state_IntelToMbed++; |
TonyYI | 0:3417ca0a36c0 | 245 | break; |
TonyYI | 0:3417ca0a36c0 | 246 | } |
TonyYI | 0:3417ca0a36c0 | 247 | |
TonyYI | 0:3417ca0a36c0 | 248 | case 6: //rotate_dis lower 4 bits |
TonyYI | 0:3417ca0a36c0 | 249 | { |
TonyYI | 0:3417ca0a36c0 | 250 | if(DEBUG_ON) |
TonyYI | 0:3417ca0a36c0 | 251 | { |
TonyYI | 0:3417ca0a36c0 | 252 | _DEBUG->printf("Communication::parseMessage(). Checking ROTATE_DIS lower 4 bits...\r\n"); |
TonyYI | 0:3417ca0a36c0 | 253 | } |
TonyYI | 0:3417ca0a36c0 | 254 | check_sum += _x; |
TonyYI | 0:3417ca0a36c0 | 255 | rotate_dis |= _x; |
TonyYI | 0:3417ca0a36c0 | 256 | state_IntelToMbed++; |
TonyYI | 0:3417ca0a36c0 | 257 | break; |
TonyYI | 0:3417ca0a36c0 | 258 | } |
TonyYI | 0:3417ca0a36c0 | 259 | |
TonyYI | 0:3417ca0a36c0 | 260 | case 7: //rotate_dir |
TonyYI | 0:3417ca0a36c0 | 261 | { |
TonyYI | 0:3417ca0a36c0 | 262 | if(DEBUG_ON) |
TonyYI | 0:3417ca0a36c0 | 263 | { |
TonyYI | 0:3417ca0a36c0 | 264 | _DEBUG->printf("Communication::parseMessage(). Checking MOVE_DIR...\r\n"); |
TonyYI | 0:3417ca0a36c0 | 265 | } |
TonyYI | 0:3417ca0a36c0 | 266 | check_sum += _x; |
TonyYI | 0:3417ca0a36c0 | 267 | rotate_dir = _x; |
terryLAI | 2:442902ec3aa1 | 268 | if(action_type == 3 || action_type == 4 || (action_type == 1 && ((rotate_dir >> 6) == 0)) || ((action_type == 0 || action_type == 2) && ((rotate_dir >> 6) == 3))) |
TonyYI | 0:3417ca0a36c0 | 269 | { |
TonyYI | 0:3417ca0a36c0 | 270 | state_IntelToMbed++; |
TonyYI | 0:3417ca0a36c0 | 271 | } |
TonyYI | 0:3417ca0a36c0 | 272 | else |
TonyYI | 0:3417ca0a36c0 | 273 | { |
TonyYI | 0:3417ca0a36c0 | 274 | state_IntelToMbed = 0; |
TonyYI | 0:3417ca0a36c0 | 275 | if(DEBUG_ON) |
TonyYI | 0:3417ca0a36c0 | 276 | { |
TonyYI | 0:3417ca0a36c0 | 277 | _DEBUG->printf("Communication::parseMessage(). ERROR when checking ROTATE_DIR: %x.\r\n", rotate_dir); |
TonyYI | 0:3417ca0a36c0 | 278 | } |
TonyYI | 0:3417ca0a36c0 | 279 | } |
TonyYI | 0:3417ca0a36c0 | 280 | break; |
TonyYI | 0:3417ca0a36c0 | 281 | } |
TonyYI | 0:3417ca0a36c0 | 282 | |
TonyYI | 0:3417ca0a36c0 | 283 | case 8: //check_sum |
TonyYI | 0:3417ca0a36c0 | 284 | { |
TonyYI | 0:3417ca0a36c0 | 285 | if(DEBUG_ON) |
TonyYI | 0:3417ca0a36c0 | 286 | { |
TonyYI | 0:3417ca0a36c0 | 287 | _DEBUG->printf("Communication::parseMessage(). Checking CHECK_SUM...\r\n"); |
TonyYI | 0:3417ca0a36c0 | 288 | } |
TonyYI | 0:3417ca0a36c0 | 289 | if(check_sum == _x) |
TonyYI | 0:3417ca0a36c0 | 290 | { |
TonyYI | 0:3417ca0a36c0 | 291 | switch(action_type) |
TonyYI | 0:3417ca0a36c0 | 292 | { |
TonyYI | 0:3417ca0a36c0 | 293 | case 0: //car movement |
TonyYI | 0:3417ca0a36c0 | 294 | info_ok_IntelToMbed = 1; |
TonyYI | 0:3417ca0a36c0 | 295 | break; |
TonyYI | 0:3417ca0a36c0 | 296 | |
TonyYI | 0:3417ca0a36c0 | 297 | case 1: //lifter |
TonyYI | 0:3417ca0a36c0 | 298 | info_ok_IntelToMbed = 2; |
TonyYI | 0:3417ca0a36c0 | 299 | break; |
TonyYI | 0:3417ca0a36c0 | 300 | |
TonyYI | 0:3417ca0a36c0 | 301 | case 2: //camera platform |
TonyYI | 0:3417ca0a36c0 | 302 | info_ok_IntelToMbed = 3; |
TonyYI | 0:3417ca0a36c0 | 303 | break; |
TonyYI | 0:3417ca0a36c0 | 304 | |
TonyYI | 0:3417ca0a36c0 | 305 | case 3: //compass |
TonyYI | 0:3417ca0a36c0 | 306 | info_ok_IntelToMbed = 4; |
TonyYI | 0:3417ca0a36c0 | 307 | break; |
terryLAI | 2:442902ec3aa1 | 308 | |
terryLAI | 2:442902ec3aa1 | 309 | case 4: //buzzer |
terryLAI | 2:442902ec3aa1 | 310 | info_ok_IntelToMbed = 5; |
terryLAI | 2:442902ec3aa1 | 311 | break; |
TonyYI | 0:3417ca0a36c0 | 312 | |
TonyYI | 0:3417ca0a36c0 | 313 | default: |
TonyYI | 0:3417ca0a36c0 | 314 | info_ok_IntelToMbed = 0; //not ok |
TonyYI | 0:3417ca0a36c0 | 315 | break; |
TonyYI | 0:3417ca0a36c0 | 316 | } |
TonyYI | 0:3417ca0a36c0 | 317 | } |
TonyYI | 0:3417ca0a36c0 | 318 | else |
TonyYI | 0:3417ca0a36c0 | 319 | { |
TonyYI | 0:3417ca0a36c0 | 320 | if(DEBUG_ON) |
TonyYI | 0:3417ca0a36c0 | 321 | { |
TonyYI | 0:3417ca0a36c0 | 322 | _DEBUG->printf("Communication::parseMessage(). ERROR when checking CHECK_SUM: %x.\r\n", check_sum); |
TonyYI | 0:3417ca0a36c0 | 323 | } |
TonyYI | 0:3417ca0a36c0 | 324 | } |
TonyYI | 0:3417ca0a36c0 | 325 | state_IntelToMbed = 0; |
TonyYI | 0:3417ca0a36c0 | 326 | break; |
TonyYI | 0:3417ca0a36c0 | 327 | } |
TonyYI | 0:3417ca0a36c0 | 328 | |
TonyYI | 0:3417ca0a36c0 | 329 | default: |
TonyYI | 0:3417ca0a36c0 | 330 | { |
TonyYI | 0:3417ca0a36c0 | 331 | state_IntelToMbed = 0; |
TonyYI | 0:3417ca0a36c0 | 332 | break; |
TonyYI | 0:3417ca0a36c0 | 333 | } |
TonyYI | 0:3417ca0a36c0 | 334 | } |
TonyYI | 0:3417ca0a36c0 | 335 | } |
TonyYI | 0:3417ca0a36c0 | 336 | } |
TonyYI | 0:3417ca0a36c0 | 337 | |
TonyYI | 0:3417ca0a36c0 | 338 | void Communication::forwardMessage() |
TonyYI | 0:3417ca0a36c0 | 339 | { |
TonyYI | 0:3417ca0a36c0 | 340 | //message structure is defined in source/motion_platform/intel_board/lib/message.h |
TonyYI | 0:3417ca0a36c0 | 341 | uint8_t i = out_IntelToMbed - 9; //message size is 9 bytes |
TonyYI | 0:3417ca0a36c0 | 342 | putByte(buffer_IntelToMbed[i++], 2); //starter, 2 means MbedToArduino |
TonyYI | 0:3417ca0a36c0 | 343 | putByte(buffer_IntelToMbed[i++], 2); //action_type |
TonyYI | 0:3417ca0a36c0 | 344 | putByte(buffer_IntelToMbed[i++], 2); //move_dis |
TonyYI | 0:3417ca0a36c0 | 345 | putByte(buffer_IntelToMbed[i++], 2); |
TonyYI | 0:3417ca0a36c0 | 346 | putByte(buffer_IntelToMbed[i++], 2); //move_dir |
TonyYI | 0:3417ca0a36c0 | 347 | putByte(buffer_IntelToMbed[i++], 2); //rotate_dis |
TonyYI | 0:3417ca0a36c0 | 348 | putByte(buffer_IntelToMbed[i++], 2); |
TonyYI | 0:3417ca0a36c0 | 349 | putByte(buffer_IntelToMbed[i++], 2); //rotate_dir |
TonyYI | 0:3417ca0a36c0 | 350 | putByte(buffer_IntelToMbed[i++], 2); //checksum |
TonyYI | 0:3417ca0a36c0 | 351 | } |
TonyYI | 0:3417ca0a36c0 | 352 | |
TonyYI | 0:3417ca0a36c0 | 353 | void Communication::ACK(Lifter* lifter, Camera_platform* camera_platform) |
TonyYI | 0:3417ca0a36c0 | 354 | { |
TonyYI | 0:3417ca0a36c0 | 355 | if(action_type == 0) //car movement |
TonyYI | 0:3417ca0a36c0 | 356 | { |
TonyYI | 0:3417ca0a36c0 | 357 | while(info_ok_MbedToArduino != 1) |
TonyYI | 0:3417ca0a36c0 | 358 | { |
TonyYI | 0:3417ca0a36c0 | 359 | if(in_MbedToArduino != out_MbedToArduino) |
TonyYI | 0:3417ca0a36c0 | 360 | { |
TonyYI | 0:3417ca0a36c0 | 361 | uint8_t _x = getByte(1); |
TonyYI | 0:3417ca0a36c0 | 362 | switch(state_MbedToArduino) |
TonyYI | 0:3417ca0a36c0 | 363 | { |
TonyYI | 0:3417ca0a36c0 | 364 | case 0: //checking starter |
TonyYI | 0:3417ca0a36c0 | 365 | { |
TonyYI | 0:3417ca0a36c0 | 366 | //putByte('0', 1); |
TonyYI | 0:3417ca0a36c0 | 367 | if(_x == STARTER) |
TonyYI | 0:3417ca0a36c0 | 368 | { |
TonyYI | 0:3417ca0a36c0 | 369 | state_MbedToArduino++; |
TonyYI | 0:3417ca0a36c0 | 370 | } |
TonyYI | 0:3417ca0a36c0 | 371 | else |
TonyYI | 0:3417ca0a36c0 | 372 | { |
TonyYI | 0:3417ca0a36c0 | 373 | state_MbedToArduino = 0; |
TonyYI | 0:3417ca0a36c0 | 374 | } |
TonyYI | 0:3417ca0a36c0 | 375 | break; |
TonyYI | 0:3417ca0a36c0 | 376 | } |
TonyYI | 0:3417ca0a36c0 | 377 | |
TonyYI | 0:3417ca0a36c0 | 378 | case 1: //checking 'O' |
TonyYI | 0:3417ca0a36c0 | 379 | { |
TonyYI | 0:3417ca0a36c0 | 380 | //putByte('1', 1); |
TonyYI | 0:3417ca0a36c0 | 381 | if(_x == 0x4f) //O |
TonyYI | 0:3417ca0a36c0 | 382 | { |
TonyYI | 0:3417ca0a36c0 | 383 | state_MbedToArduino++; |
TonyYI | 0:3417ca0a36c0 | 384 | } |
TonyYI | 0:3417ca0a36c0 | 385 | else |
TonyYI | 0:3417ca0a36c0 | 386 | { |
TonyYI | 0:3417ca0a36c0 | 387 | state_MbedToArduino = 0; |
TonyYI | 0:3417ca0a36c0 | 388 | } |
TonyYI | 0:3417ca0a36c0 | 389 | break; |
TonyYI | 0:3417ca0a36c0 | 390 | } |
TonyYI | 0:3417ca0a36c0 | 391 | |
TonyYI | 0:3417ca0a36c0 | 392 | case 2: //checking 'K' |
TonyYI | 0:3417ca0a36c0 | 393 | { |
TonyYI | 0:3417ca0a36c0 | 394 | //putByte('2', 1); |
TonyYI | 0:3417ca0a36c0 | 395 | if(_x == 0x4b) //K |
TonyYI | 0:3417ca0a36c0 | 396 | { |
TonyYI | 0:3417ca0a36c0 | 397 | state_MbedToArduino++; |
TonyYI | 0:3417ca0a36c0 | 398 | } |
TonyYI | 0:3417ca0a36c0 | 399 | else |
TonyYI | 0:3417ca0a36c0 | 400 | { |
TonyYI | 0:3417ca0a36c0 | 401 | state_MbedToArduino = 0; |
TonyYI | 0:3417ca0a36c0 | 402 | } |
TonyYI | 0:3417ca0a36c0 | 403 | break; |
TonyYI | 0:3417ca0a36c0 | 404 | } |
TonyYI | 0:3417ca0a36c0 | 405 | |
TonyYI | 0:3417ca0a36c0 | 406 | case 3: //checking check_sum_MbedToArduino |
TonyYI | 0:3417ca0a36c0 | 407 | { |
TonyYI | 0:3417ca0a36c0 | 408 | //putByte('3', 1); |
TonyYI | 0:3417ca0a36c0 | 409 | if(_x == 0x9a) //checksum |
TonyYI | 0:3417ca0a36c0 | 410 | { |
TonyYI | 0:3417ca0a36c0 | 411 | info_ok_MbedToArduino = 1; |
TonyYI | 0:3417ca0a36c0 | 412 | } |
TonyYI | 0:3417ca0a36c0 | 413 | |
TonyYI | 0:3417ca0a36c0 | 414 | state_MbedToArduino = 0; |
TonyYI | 0:3417ca0a36c0 | 415 | break; |
TonyYI | 0:3417ca0a36c0 | 416 | } |
TonyYI | 0:3417ca0a36c0 | 417 | |
TonyYI | 0:3417ca0a36c0 | 418 | default: |
TonyYI | 0:3417ca0a36c0 | 419 | { |
TonyYI | 0:3417ca0a36c0 | 420 | state_MbedToArduino = 0; |
TonyYI | 0:3417ca0a36c0 | 421 | info_ok_MbedToArduino = 0; |
TonyYI | 0:3417ca0a36c0 | 422 | break; |
TonyYI | 0:3417ca0a36c0 | 423 | } |
TonyYI | 0:3417ca0a36c0 | 424 | } |
TonyYI | 0:3417ca0a36c0 | 425 | } |
TonyYI | 0:3417ca0a36c0 | 426 | } |
TonyYI | 0:3417ca0a36c0 | 427 | } |
TonyYI | 0:3417ca0a36c0 | 428 | else if(action_type == 1) //lifter |
TonyYI | 0:3417ca0a36c0 | 429 | { |
TonyYI | 0:3417ca0a36c0 | 430 | uint32_t pulseCountOld = 0; |
TonyYI | 0:3417ca0a36c0 | 431 | uint32_t pulseCountNew = 0; |
TonyYI | 0:3417ca0a36c0 | 432 | while(!lifter->isStopped()) |
TonyYI | 0:3417ca0a36c0 | 433 | { |
TonyYI | 0:3417ca0a36c0 | 434 | pulseCountOld = lifter->pulseCount; |
TonyYI | 0:3417ca0a36c0 | 435 | wait_ms(50); |
TonyYI | 0:3417ca0a36c0 | 436 | pulseCountNew = lifter->pulseCount; |
TonyYI | 0:3417ca0a36c0 | 437 | if(pulseCountOld == pulseCountNew) |
TonyYI | 0:3417ca0a36c0 | 438 | { |
TonyYI | 0:3417ca0a36c0 | 439 | break; |
TonyYI | 0:3417ca0a36c0 | 440 | } |
TonyYI | 0:3417ca0a36c0 | 441 | } |
TonyYI | 0:3417ca0a36c0 | 442 | } |
TonyYI | 0:3417ca0a36c0 | 443 | else if(action_type == 3) |
TonyYI | 0:3417ca0a36c0 | 444 | { |
terryLAI | 1:cbec1283a16a | 445 | |
terryLAI | 2:442902ec3aa1 | 446 | campass_degree = compass->read(); |
TonyYI | 0:3417ca0a36c0 | 447 | |
TonyYI | 0:3417ca0a36c0 | 448 | uint8_t temp1,temp2; |
TonyYI | 0:3417ca0a36c0 | 449 | temp1 = campass_degree; |
TonyYI | 0:3417ca0a36c0 | 450 | temp2 = campass_degree>>8; |
TonyYI | 0:3417ca0a36c0 | 451 | putByte(COMPASS_STARTER ,1); //1 means IntelToMbed |
TonyYI | 0:3417ca0a36c0 | 452 | putByte(temp1 ,1); //O |
TonyYI | 0:3417ca0a36c0 | 453 | putByte(temp2 ,1); //K |
TonyYI | 0:3417ca0a36c0 | 454 | putByte(0x9a ,1); //check_sum = 0xaf + 0x4b = 0x9a |
TonyYI | 0:3417ca0a36c0 | 455 | |
TonyYI | 0:3417ca0a36c0 | 456 | return; |
TonyYI | 0:3417ca0a36c0 | 457 | } |
terryLAI | 2:442902ec3aa1 | 458 | else if(action_type == 4) |
terryLAI | 2:442902ec3aa1 | 459 | { |
terryLAI | 2:442902ec3aa1 | 460 | |
terryLAI | 2:442902ec3aa1 | 461 | putByte(BUZZER_STARTER ,1); //1 means IntelToMbed |
terryLAI | 2:442902ec3aa1 | 462 | putByte(0,1); //O |
terryLAI | 2:442902ec3aa1 | 463 | putByte(0,1); //K |
terryLAI | 2:442902ec3aa1 | 464 | putByte(0,1); //check_sum = 0xaf + 0x4b = 0x9a |
terryLAI | 2:442902ec3aa1 | 465 | |
terryLAI | 2:442902ec3aa1 | 466 | return; |
terryLAI | 2:442902ec3aa1 | 467 | } |
TonyYI | 0:3417ca0a36c0 | 468 | |
TonyYI | 0:3417ca0a36c0 | 469 | putByte(STARTER ,1); //1 means IntelToMbed |
TonyYI | 0:3417ca0a36c0 | 470 | putByte(0x4f ,1); //O |
TonyYI | 0:3417ca0a36c0 | 471 | putByte(0x4b ,1); //K |
TonyYI | 0:3417ca0a36c0 | 472 | putByte(0x9a ,1); //check_sum = 0xaf + 0x4b = 0x9a |
TonyYI | 0:3417ca0a36c0 | 473 | } |
TonyYI | 0:3417ca0a36c0 | 474 | |
TonyYI | 0:3417ca0a36c0 | 475 | uint8_t Communication::getInfoOK(uint8_t communication_type) |
TonyYI | 0:3417ca0a36c0 | 476 | { |
TonyYI | 0:3417ca0a36c0 | 477 | if(communication_type == 0) |
TonyYI | 0:3417ca0a36c0 | 478 | { |
TonyYI | 0:3417ca0a36c0 | 479 | return info_ok_IntelToMbed; |
TonyYI | 0:3417ca0a36c0 | 480 | } |
TonyYI | 0:3417ca0a36c0 | 481 | else if(communication_type == 1) |
TonyYI | 0:3417ca0a36c0 | 482 | { |
TonyYI | 0:3417ca0a36c0 | 483 | return info_ok_MbedToArduino; |
TonyYI | 0:3417ca0a36c0 | 484 | } |
TonyYI | 0:3417ca0a36c0 | 485 | return 0; //error |
TonyYI | 0:3417ca0a36c0 | 486 | } |
TonyYI | 0:3417ca0a36c0 | 487 | |
TonyYI | 0:3417ca0a36c0 | 488 | void Communication::resetInfoOK(uint8_t communication_type) |
TonyYI | 0:3417ca0a36c0 | 489 | { |
TonyYI | 0:3417ca0a36c0 | 490 | if(communication_type == 0) |
TonyYI | 0:3417ca0a36c0 | 491 | { |
TonyYI | 0:3417ca0a36c0 | 492 | info_ok_IntelToMbed = 0; |
TonyYI | 0:3417ca0a36c0 | 493 | } |
TonyYI | 0:3417ca0a36c0 | 494 | else if(communication_type == 1) |
TonyYI | 0:3417ca0a36c0 | 495 | { |
TonyYI | 0:3417ca0a36c0 | 496 | info_ok_MbedToArduino = 0; |
TonyYI | 0:3417ca0a36c0 | 497 | } |
TonyYI | 0:3417ca0a36c0 | 498 | } |
TonyYI | 0:3417ca0a36c0 | 499 | |
TonyYI | 0:3417ca0a36c0 | 500 | uint16_t Communication::getMoveDis() |
TonyYI | 0:3417ca0a36c0 | 501 | { |
TonyYI | 0:3417ca0a36c0 | 502 | return move_dis; |
TonyYI | 0:3417ca0a36c0 | 503 | } |
TonyYI | 0:3417ca0a36c0 | 504 | |
TonyYI | 0:3417ca0a36c0 | 505 | uint16_t Communication::getRotateDis() |
TonyYI | 0:3417ca0a36c0 | 506 | { |
TonyYI | 0:3417ca0a36c0 | 507 | return rotate_dis; |
TonyYI | 0:3417ca0a36c0 | 508 | } |
TonyYI | 0:3417ca0a36c0 | 509 | |
TonyYI | 0:3417ca0a36c0 | 510 | uint8_t Communication::getMoveDir() |
TonyYI | 0:3417ca0a36c0 | 511 | { |
TonyYI | 0:3417ca0a36c0 | 512 | return move_dir; |
TonyYI | 0:3417ca0a36c0 | 513 | } |
TonyYI | 0:3417ca0a36c0 | 514 | |
TonyYI | 0:3417ca0a36c0 | 515 | uint8_t Communication::getRotateDir() |
TonyYI | 0:3417ca0a36c0 | 516 | { |
TonyYI | 0:3417ca0a36c0 | 517 | return rotate_dir; |
TonyYI | 0:3417ca0a36c0 | 518 | } |