Diff: main.cpp

Revision:

0:32eb0835b5a3

Child:

1:aed433d882c9

diff -r 000000000000 -r 32eb0835b5a3 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jan 20 15:58:19 2015 +0000
@@ -0,0 +1,99 @@
+#include "mbed.h"
+#include "Roomba.h"
+#include "EventArg.h"
+
+/*
+ * ルンバ向けイベント引数クラス
+ */
+class RoombaEventArg : public EventArg
+{
+    typedef EventArg base;
+    
+    public:
+        RoombaEventArg() {
+            leftWheetVelocity  = 0;
+            rightWheelVelocity = 0;
+        };
+    
+    public:
+        int leftWheetVelocity;
+        int rightWheelVelocity;
+};
+
+//
+///*
+// * ルンバ制御クラスの実装クラス
+// */
+//class ImplRoomba : protected Roomba {
+//    typedef Roomba base;
+//    
+//    private:
+//        DigitalOut _led;//Notify()で使用するLED：ルンバ状態を通知する
+//    
+//    public:
+//        ImplRoomba(PinName tx, PinName rx, PinName led) :Roomba(tx, rx), _led(led){
+//            _led = 0;
+//            Roomba::attachSerialReceiveCallback();
+//        }
+//        
+//        /*
+//         * @bref 送信メソッド
+//         */
+//        virtual bool ImplRoomba::send(RoombaEventArg e) {
+//            _led != _led;
+//            base::start();
+//            base::mode(Roomba::Full);//(Roomba::Mode::Full); If write struct Mode and no name enum, Compiler say no sutable constructor conver to enum...
+//            base::drive(e.leftWheetVelocity, e.rightWheelVelocity);
+//            
+//            return true;
+//        }
+//        
+//        /*
+//         * @bref 状態通知メソッド
+//         */        
+//        virtual void ImplRoomba::notify(bool result) {
+//            if (result == false) {
+//                _led = 1;
+//            } else {
+//                _led = 0;    
+//            }
+//        }
+//        
+//        /*
+//         * @bref 周期タイマコールバック
+//         */
+//        virtual void ImplRoomba::periodicCallback(RoombaEventArg e) {
+//            base::periodicCallback(e);
+//        }
+//};
+
+
+Ticker ticker;
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+//匿名クラスでオーバーライドした書き方がしたい
+//Roomba
+Roomba roomba(SERIAL_TX, SERIAL_RX, LED1);/* = new Roomba: IRoomba {
+    bool Roomba::send() {
+        //start, mode, drive
+        return true;
+    }
+    void Roomba::notify() {}
+};*/
+
+//Ticker no kawari.
+int main() {
+    //ticker.attach(roomba.periodicCallback, 0.1);
+    
+    //TODO:Serial receive message.
+    
+    while (true) {
+        RoombaEventArg e;
+        e.leftWheetVelocity = 20;
+        e.rightWheelVelocity = 30;
+        
+        roomba.periodicCallback(e);
+        wait_ms(100);
+    }
+}
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