Yaroslav Barabanov / Mbed 2 deprecated turret_2017

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Dependencies:   mbed

uart.cpp

Committer:
Yar
Date:
2017-01-19
Revision:
3:e47c0c98f515
Parent:
2:a9d63ae515ad

File content as of revision 3:e47c0c98f515:

#include "uart.hpp"
#include "mbed.h"
//#include "rtos.h"
#include <string> 
#include <stdlib.h>
#include "main.hpp"
#include "servo.hpp"
#include "gun.hpp"
#include "led_color.hpp"

StateLed UartStateLed;

using namespace std;
// скорость UART
const int baudRate = UART_BAUDRATE;
// время обновления UART
const int uartDelay = 10;
//const int servoDigit = 10;

Serial pc(PIN_UART_TX, PIN_UART_RX, baudRate);
/*
void uartThread(void const *argument) {
    while (true) {
        //Thread::wait(uartDelay);
        string inputData = "";
        if (pc.readable() > 0) { 
            while(true) {
                char p = pc.getc(); 
                inputData = inputData + p;
                if(p == '\n' || p == '\r') { 
                    pc.printf("\n"); 
                    pc.printf(inputData.c_str()); 
                    pc.printf("\n"); 
                    break; 
                } // if
            } // while
            if (inputData.length() > 3) 
            if (inputData.substr(0, 3) == "get") {
                pc.printf("servo 0 %f\n", getServoAngle(0));
                pc.printf("servo 1 %d\n", getServoAngle(1));
            } else
            if (inputData.substr(0, 3) == "set" && inputData.length() > 13) {
                char* pEnd;
                double servoOne, servoTwo;
                // строка с командой
                string setdata = inputData.substr(0, 13);
                // строка с числом
                string numer = inputData.substr(14, inputData.length());
                if (setdata == "set all angle") {
                    servoOne = strtod(numer.c_str(), &pEnd);
                    servoTwo = strtod(pEnd, NULL);
                    setServoAngle(servoOne, 0);
                    setServoAngle(servoTwo, 1);
                } else
                if (setdata == "set all speed") {
                    servoOne = strtod(numer.c_str(), &pEnd);
                    servoTwo = strtod(pEnd, NULL);
                    setServoSpeed(servoOne, 0);
                    setServoSpeed(servoTwo, 1);
                } else
                if (setdata == "set one speed") {
                     servoOne = strtod(numer.c_str(), NULL);
                     setServoSpeed(servoOne, 0);
                } else
                if (setdata == "set two speed") {
                     servoTwo = strtod(numer.c_str(), NULL);
                     setServoSpeed(servoTwo, 1);
                } else
                if (setdata == "set one angle") {
                     servoOne = strtod(numer.c_str(), NULL);
                     setServoAngle(servoOne, 0);
                } else
                if (setdata == "set two angle") {
                     servoTwo = strtod(numer.c_str(), NULL);
                      setServoAngle(servoTwo, 1);
                }
            } else
            if (inputData.length() >= 4 && inputData.substr(0, 4) == "shot") {
                shotGun();
            } else
            if (inputData.length() >= 6 && inputData.substr(0, 6) == "gun on") {
                enabledGun();
            } else
            if (inputData.length() >= 7 && inputData.substr(0, 7) == "gun off") {
                disabledGun();
            } else
            if (inputData.length() >= 7 && inputData.substr(0, 7) == "led red") {
                UartStateLed.setLedRed();
            } else
            if (inputData.length() >= 9 && inputData.substr(0, 9) == "led green") {
                UartStateLed.setLedRed();
            } else
            if (inputData.length() >= 8 && inputData.substr(0, 8) == "led blue") {
                UartStateLed.setLedRed();
            } else
            if (inputData.length() >= 8 && inputData.substr(0, 8) == "led null") {
                UartStateLed.setLedNull();
            } else
            if (inputData.length() >= 9 && inputData.substr(0, 9) == "led white") {
                UartStateLed.setLedRed();
            }
        } // if
        while(pc.readable() > 0) {
            char p = pc.getc(); 
        }
    }
}
*/

void uartUpdate(void) {
        string inputData = "";
        if (pc.readable() > 0) { 
            while(true) {
                char p = pc.getc(); 
                inputData = inputData + p;
                if(p == '\n' || p == '\r') { 
                    pc.printf("\n"); 
                    pc.printf(inputData.c_str()); 
                    pc.printf("\n"); 
                    break; 
                } // if
            } // while
            if (inputData.length() > 3) 
            if (inputData.substr(0, 3) == "get") {
                pc.printf("servo 0 %f\n", getServoAngle(0));
                pc.printf("servo 1 %d\n", getServoAngle(1));
            } else
            if (inputData.substr(0, 3) == "set" && inputData.length() > 13) {
                char* pEnd;
                double servoOne, servoTwo;
                // строка с командой
                string setdata = inputData.substr(0, 13);
                // строка с числом
                string numer = inputData.substr(14, inputData.length());
                if (setdata == "set all angle") {
                    servoOne = strtod(numer.c_str(), &pEnd);
                    servoTwo = strtod(pEnd, NULL);
                    setServoAngle(servoOne, 0);
                    setServoAngle(servoTwo, 1);
                } else
                if (setdata == "set all speed") {
                    servoOne = strtod(numer.c_str(), &pEnd);
                    servoTwo = strtod(pEnd, NULL);
                    setServoSpeed(servoOne, 0);
                    setServoSpeed(servoTwo, 1);
                } else
                if (setdata == "set one speed") {
                     servoOne = strtod(numer.c_str(), NULL);
                     setServoSpeed(servoOne, 0);
                } else
                if (setdata == "set two speed") {
                     servoTwo = strtod(numer.c_str(), NULL);
                     setServoSpeed(servoTwo, 1);
                } else
                if (setdata == "set one angle") {
                     servoOne = strtod(numer.c_str(), NULL);
                     setServoAngle(servoOne, 0);
                } else
                if (setdata == "set two angle") {
                     servoTwo = strtod(numer.c_str(), NULL);
                      setServoAngle(servoTwo, 1);
                }
            } else
            if (inputData.length() >= 4 && inputData.substr(0, 4) == "shot") {
                shotGun();
            } else
            if (inputData.length() >= 6 && inputData.substr(0, 6) == "gun on") {
                enabledGun();
            } else
            if (inputData.length() >= 7 && inputData.substr(0, 7) == "gun off") {
                disabledGun();
            } else
            if (inputData.length() >= 7 && inputData.substr(0, 7) == "led red") {
                UartStateLed.setLedRed();
            } else
            if (inputData.length() >= 9 && inputData.substr(0, 9) == "led green") {
                UartStateLed.setLedRed();
            } else
            if (inputData.length() >= 8 && inputData.substr(0, 8) == "led blue") {
                UartStateLed.setLedRed();
            } else
            if (inputData.length() >= 8 && inputData.substr(0, 8) == "led null") {
                UartStateLed.setLedNull();
            } else
            if (inputData.length() >= 9 && inputData.substr(0, 9) == "led white") {
                UartStateLed.setLedRed();
            }
        } // if
        while(pc.readable() > 0) {
            char p = pc.getc(); 
        }
    //}
}