Yosuke Kirihata
/
Nucleo_roomba
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Revision 2:144ca2f5d850, committed 2015-02-14
- Comitter:
- YosukeK
- Date:
- Sat Feb 14 11:32:14 2015 +0000
- Parent:
- 1:aed433d882c9
- Commit message:
- ????????????????????
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Data.cpp Sat Feb 14 11:32:14 2015 +0000
@@ -0,0 +1,34 @@
+#include <mbed.h>
+#include "Data.h"
+
+/**
+ *
+ */
+Data::Data() {
+}
+
+Data::~Data() {
+
+}
+
+
+/**
+ *
+ */
+
+//LENGHT = 2;
+
+SendData::SendData(int left, int right) {
+ wheelVelocity[0] = left;
+ wheelVelocity[1] = right;
+}
+
+int get(int index) {
+ int result = -1;
+
+// if (0 <= index && index < 2) {
+// result = wheelVelocity[index];
+// }
+ return result;
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Data.h Sat Feb 14 11:32:14 2015 +0000
@@ -0,0 +1,43 @@
+#include <mbed.h>
+
+#ifndef __DATA_H_INCLUDED__
+#define __DATA_H_INCLUDED__
+
+/**
+ * データクラス
+ * 基底のクラス定義のみ
+ */
+class Data {
+ public:
+ Data();
+ ~Data();
+
+ private:
+
+};
+
+#endif
+
+
+#ifndef __SENDDATA_H_INCLUDED__
+#define __SENDDATA_H_INCLUDED__
+
+/**
+ * 送信データクラス
+ * データクラスから派生
+ */
+class SendData : public Data {
+ static const int LENGHT = 2;
+
+ public:
+ SendData();
+ SendData(int left, int right);
+
+ int get(int index);
+
+ private:
+ int wheelVelocity[LENGHT];
+
+};
+
+#endif
\ No newline at end of file
--- a/EventArg.cpp Wed Jan 21 16:20:12 2015 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,14 +0,0 @@
-#include "mbed.h"
-#include "EventArg.h"
-
-/**
- *
- */
-EventArg::EventArg() {
- leftWheetVelocity = 0;
- rightWheelVelocity = 0;
-}
-
-EventArg::~EventArg() {
-
-}
\ No newline at end of file
--- a/EventArg.h Wed Jan 21 16:20:12 2015 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,19 +0,0 @@
-#include "mbed.h"
-
-#ifndef __EVENTARG_H_INCLUDED__
-#define __EVENTARG_H_INCLUDED__
-
-/**
- *
- */
-class EventArg {
- public:
- EventArg();
- ~EventArg();
-
- public:
- int leftWheetVelocity;
- int rightWheelVelocity;
-};
-
-#endif
\ No newline at end of file
--- a/Roomba.cpp Wed Jan 21 16:20:12 2015 +0000
+++ b/Roomba.cpp Sat Feb 14 11:32:14 2015 +0000
@@ -1,4 +1,4 @@
-#include "mbed.h"
+#include <mbed.h>
#include "Roomba.h"
/**
@@ -6,87 +6,14 @@
* @param tx
* @param rx
*/
-Roomba::Roomba(PinName tx, PinName rx, PinName led):
- _s(tx, rx), _led(led){
- count = 0;
- timedOut = false;
- _led = 0;
- //_mode = Roomba::Mode::Off;
- Roomba::mp = &Roomba::serialReceiveCallback;
- _s.attach(this, Roomba::mp, Serial::RxIrq);
-}
-
-
-/**
- * @bref コマンド送信インターフェースの実装
- * @param e イベント引数
- * @return true
- */
-bool Roomba::send(EventArg e) {
-
- Roomba::start();
- Roomba::mode(Roomba::Full);//(Roomba::Mode::Full); If write struct Mode and no name enum, Compiler say no sutable constructor conver to enum...
- Roomba::drive(e.leftWheetVelocity, e.rightWheelVelocity);
-
- return true;
-}
-
-/**
- * @bref コマンド送信結果受信時のインターフェースの実装
- * @param result コマンド送信結果
- */
-void Roomba::notify(bool result) {
- if (result == true) {
- _led = 1;
- } else {
- _led = 0;
- }
+Roomba::Roomba(PinName tx, PinName rx):
+ _s(tx, rx) {
+ _mode = Roomba::Mode::Off;
}
/**
- * @bref 周期タイマのコールバックメソッド
- * @param e イベント引数
- */
-void Roomba::periodicCallback(EventArg e) {
-
- count = count + 1;
-
- if (count > 10) {
- if (timedOut == false) {
- timedOut = true;
- Roomba::notify(timedOut);
- }
- }
-
- Roomba::send(e);
-
-}
-
-/**
- * @bref シリアル受信時コールバックメソッド
- */
-void Roomba::serialReceiveCallback() {
- count = 0;
-
- if (timedOut) {
- timedOut = false;
- Roomba::notify(timedOut);
- }
-}
-
-///**
-// * @bref シリアル受信のアタッチ
-// */
-////継承先から操作できるようにしただけ
-//void Roomba::attachSerialReceiveCallback() {
-// Roomba::mp = &Roomba::serialReceiveCallback;
-// _s.attach(this, Roomba::mp, Serial::RxIrq);
-// //_s.attach(this, &Roomba::notify, Serial::RxIrq);
-//}
-
-/**
- * @bref Start
+ * @bref start
* @return true
*/
bool Roomba::start() {
@@ -102,7 +29,7 @@
* @param 操作モード
* @return true
*/
-bool Roomba::mode(Roomba::Mode m) {
+bool Roomba::mode(Roomba::Mode::EMode m) {
_s.putc(132);//Full;
@@ -111,36 +38,36 @@
/**
- * @bref Start
+ * @bref
* @param true
*/
bool Roomba::drive(int rightWheelVelocity, int leftWheelVelocity) {
+ bool ret = false;
- bool ret = false;
+ char command[10];
if ((-500 <= rightWheelVelocity && rightWheelVelocity <= 500)
&& (-500 <= leftWheelVelocity && leftWheelVelocity <= 500)) {
- Roomba::command[0] = 145;
- Roomba::command[1] = (rightWheelVelocity & 0xFF00) >> 8; //MSB
- Roomba::command[2] = rightWheelVelocity & 0xFF; //LSB
- Roomba::command[3] = (leftWheelVelocity & 0xFF00) >> 8; //MSB
- Roomba::command[4] = leftWheelVelocity & 0xFF; //LSB
- Roomba::command[5] = '\0';
+ command[0] = 145;
+ command[1] = (rightWheelVelocity & 0xFF00) >> 8; //MSB
+ command[2] = rightWheelVelocity & 0xFF; //LSB
+ command[3] = (leftWheelVelocity & 0xFF00) >> 8; //MSB
+ command[4] = leftWheelVelocity & 0xFF; //LSB
+ command[5] = '\0';
- for (int i = 0; Roomba::command[i] != '\0'; i++) {
- _s.putc(Roomba::command[i]);
+ for (int i = 0; i < 5; i++) {
+ _s.putc(command[i]);
}
- //_led = 0;
ret = true;
}
- //_led = 1;
return ret;
}
/**
* @bref バッテリ状態
+ * 実装未完了
* @param true
* @return
* @retval
--- a/Roomba.h Wed Jan 21 16:20:12 2015 +0000
+++ b/Roomba.h Sat Feb 14 11:32:14 2015 +0000
@@ -1,69 +1,39 @@
#include "mbed.h"
-#include "EventArg.h"
+//#include "Data.h"
#ifndef __ROOMBA_H_INCLUDED__
#define __ROOMBA_H_INCLUDED__
-/**
- * ルンバ制御クラスのインターフェース
- * 下記メソッドを継承先が実装すること
- */
-class IRoomba {
- public:
- //virtual ~IRoomba(){};//なぜ宣言を書いたのか、コメントにした理由とともに忘れた
- virtual bool send(EventArg e) = 0;
- virtual void notify(bool result) = 0;
-};
/**
* ルンバ制御クラス
*/
-class Roomba : public IRoomba {
+class Roomba {
public:
- virtual bool send(EventArg e);
- virtual void notify(bool result);
-
- //Mode.Fullのような書き方（またはそれに近い書き方がしたい）
- //調べていたら、Roomba::Mode::Fullのように書くことできそうだとわかったので試したが、上手く行かない
- //上手く行かない理由の考察はできていない
- //http://stackoverflow.com/questions/8213696/accessing-enum-values-defined-in-a-struct
- //struct Mode
- //{
- enum Mode
+ struct Mode
+ {
+ enum EMode
{
Off,
- Passive,//??
+ Passive,
Safe,
Full
};
- //};
-
- private:
- Serial _s;
- Roomba::Mode _mode;// = Roomba::Mode.Off;
- //EventArg::EventArg _e;
- DigitalOut _led;//Notify()で使用するLED：ルンバ状態を通知する
- //void (Roomba::*serialReceiveCallback)(); //= notify;
- void (Roomba::*mp)();//member function pointer
-
- char command[10];
+ };
+
+ Roomba(PinName tx, PinName rx);
- int count; //タイムアウト検出カウンタ（カウント値が一定数を超えればタイムアウト）
- bool timedOut;//タイムアウト検出フラグ
-
- public:
- Roomba(PinName tx, PinName rx, PinName led);
-
- void attachPeriodicCallback();
- virtual void periodicCallback(EventArg e);
- void attachSerialReceiveCallback();
- void serialReceiveCallback();
-
- bool mode(Roomba::Mode m);
+ bool mode(Roomba::Mode::EMode m);
//Mode getMode();
bool start();
bool drive(int rightWheelVelocity, int leftWheelVelocity);
bool battery(int* batteryCapacity);
+
+ protected:
+ Serial _s;
+
+ private:
+ Roomba::Mode::EMode _mode;
};
#endif
\ No newline at end of file
--- a/main.cpp Wed Jan 21 16:20:12 2015 +0000
+++ b/main.cpp Sat Feb 14 11:32:14 2015 +0000
@@ -1,106 +1,188 @@
-#include "mbed.h"
+#include <mbed.h>
#include "Roomba.h"
-#include "EventArg.h"
+
+/**
+ * データクラス
+ * 基底のクラス定義のみ
+ */
+class Data {
+ private:
+ public:
+ //virtual Data()
+ //virtual ~Data() {}
+};
+
+
+/**
+ * 送信データクラス
+ * データクラスから派生
+ */
+class SendData : public Data{
+ static const int LENGHT = 2;
+
+ private:
+ int wheelVelocity[LENGHT];
+
+ public:
+ SendData() {
+ }
+
+ SendData(int left, int right) {
+ wheelVelocity[0] = left;
+ wheelVelocity[1] = right;
+ }
+
+ int get(int index) {
+ int result = -1;
+
+ if (0 <= index && index < LENGHT) {
+ result = wheelVelocity[index];
+ }
+ return result;
+ }
+};
+
+
+/**
+ * ルンバ制御クラスのインターフェース
+ * 下記メソッドを継承先が実装すること
+ */
+class IRoomba {
+ public:
+ //virtual ~IRoomba(){};//なぜ宣言を書いたのか、コメントにした理由とともに忘れた
+ //virtual void set(Data data) = 0;
+ virtual bool send() = 0;
+};
+
/*
- * ルンバ向けイベント引数クラス
+ * ルンバ制御クラスの実装クラス
*/
-//class RoombaEventArg : public EventArg
-//{
-// typedef EventArg base;
-//
-// public:
-// //RoombaEventArg(int leftWheetVelocity, int rightWheelVelocity} {
-//
-// //}
-//
-// RoombaEventArg() {
-// leftWheetVelocity = 0;
-// rightWheelVelocity = 0;
-// };
-//
-// public:
-// int leftWheetVelocity;
-// int rightWheelVelocity;
-//};
+class ImplRoomba : protected Roomba, protected IRoomba {
+ static const int COUNT_TIME_OUT = 10;
+
+ typedef Roomba base;
+
+ private:
+ int count; //タイムアウト検出カウンタ（カウント値が一定数を超えればタイムアウト）
+ bool isTimedOut;//タイムアウト検出フラグ
+ DigitalOut _led;//notify()で使用するLED：ルンバ状態を通知する
+
+ SendData *_data;//送信データ
+
+ public:
+ ImplRoomba(PinName tx, PinName rx, PinName led) : Roomba(tx, rx), _led(led), _data() {
+ count = 0;
+ isTimedOut = false;
+ _led = 0;
-//
-///*
-// * 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);
-// }
-//};
+ //beseの持つSerialインスタンスにコールバックメソッドを接続する
+ base::_s.attach(this, &ImplRoomba::serialReceiveCallback, Serial::RxIrq);//!
+ }
+
+
+ /*
+ * @bref データ設定メソッド
+ */
+ virtual void ImplRoomba::set(SendData data) {
+ //Object of abstruct class type "ImplRoomba" is not allowed "ImplRoomba roomba(...);"
+ _data = &data;
+
+ base::_s.printf("%d", (*_data).get(1));
+
+ }
+
+
+ /*
+ * @bref 送信メソッド
+ */
+ virtual bool ImplRoomba::send() {
+
+ base::start();
+
+ base::mode(Roomba::Mode::Full);
+
+ int leftWheelVelocity = (*_data).get(0);
+ int rightWheerVelocity = (*_data).get(1);
+ base::drive(leftWheelVelocity, rightWheerVelocity);
+
+ return true;
+ }
+
+
+ /*
+ * @bref 通信状態通知メソッド
+ */
+ virtual void ImplRoomba::notify() {
+
+ if (isTimedOut == true) {
+ _led = 1;
+ } else {
+ _led = 0;
+ }
+ }
+
+
+ /**
+ * @bref 周期タイマのコールバックメソッド
+ */
+ virtual void ImplRoomba::periodicCallback() {
+
+ count = count + 1;
+
+ if (count > COUNT_TIME_OUT) {
+ if (isTimedOut == false) {
+ isTimedOut = true;
+ ImplRoomba::notify();
+ }
+ }
+
+ ImplRoomba::send();
+ }
+
+ /**
+ * @bref シリアル受信時コールバックメソッド
+ */
+ virtual void ImplRoomba::serialReceiveCallback() {
+ count = 0;
+
+ _led = 1;
+ base::_s.printf("hogehoge");
+
+ if (isTimedOut) {
+ isTimedOut = false;
+ ImplRoomba::notify();
+ }
+ }
+
+};
-Ticker ticker;
+ImplRoomba roomba(SERIAL_TX, SERIAL_RX, LED1);
+//Ticker ticker;
+//Serial pc(SERIAL_TX, SERIAL_RX);
-Serial pc(SERIAL_TX, SERIAL_RX);
+DigitalOut debugLed(LED1);
-//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() {}
-};*/
+int main() {
+ int leftWheelVelocity = 0;
+ int rightWheelVelocity = 0;
+
+ while (true) {
-//Ticker no kawari.
-int main() {
- //ticker.attach(roomba.periodicCallback, 0.1);
-
- //TODO:Serial receive message.
-
- int leftWheelVelocity = 500;
- int rightWheelVelocity = -500;
-
- EventArg e;//(leftWheelVelocity, rightWheelVelocity);
- e.leftWheetVelocity = leftWheelVelocity;
- e.rightWheelVelocity = rightWheelVelocity;
-
- while (true) {
- roomba.periodicCallback(e);
- wait_ms(100);
+ if (1) {
+ //ルンバの走行値を更新
+ leftWheelVelocity = -200;
+ rightWheelVelocity = 500;
+
+ SendData::SendData *data = new SendData(leftWheelVelocity, rightWheelVelocity);
+ roomba.set(*data);
+ delete data;
+ }
+
+ //ルンバへ定期的に走行値を送信
+ roomba.periodicCallback();
+
+ wait_ms(1000);
}
}
\ No newline at end of file