Alan Millard / Mbed 2 deprecated BeautifulMemeProjectBT

Bluetooth communication for flocking.

Dependencies:   mbed

Fork of BeautifulMemeProject by James Hilder

PsiSwarm/serial.cpp@20:e08376c0b4ea, 2016-01-15 (annotated)

Committer:
alanmillard
Date:
Fri Jan 15 14:42:42 2016 +0000
Revision:
20:e08376c0b4ea
Parent:
18:5921c1853e8a
Child:
21:e5ab8c56a769
Bluetooth communication working reliably with two robots.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:8a5497a2e366 1 /* University of York Robotics Laboratory PsiSwarm Library: Serial Control Source File
jah128 0:8a5497a2e366 2 *
jah128 0:8a5497a2e366 3 * File: serial.cpp
jah128 0:8a5497a2e366 4 *
jah128 6:ff3c66f7372b 5 * (C) Dept. Electronics & Computer Science, University of York
jah128 6:ff3c66f7372b 6 * James Hilder, Alan Millard, Homero Elizondo, Jon Timmis
jah128 0:8a5497a2e366 7 *
jah128 6:ff3c66f7372b 8 * PsiSwarm Library Version: 0.3
jah128 0:8a5497a2e366 9 *
jah128 6:ff3c66f7372b 10 * October 2015
jah128 0:8a5497a2e366 11 *
jah128 0:8a5497a2e366 12 */
jah128 0:8a5497a2e366 13
jah128 0:8a5497a2e366 14 #include "psiswarm.h"
jah128 0:8a5497a2e366 15
jah128 0:8a5497a2e366 16 static float command_timeout_period = 0.1f; //If a complete command message is not received in 0.1s then consider it a user message
jah128 0:8a5497a2e366 17 char pc_command_message_started = 0;
jah128 0:8a5497a2e366 18 char pc_command_message_byte = 0;
jah128 0:8a5497a2e366 19 char pc_command_message[3];
jah128 0:8a5497a2e366 20 char bt_command_message_started = 0;
jah128 0:8a5497a2e366 21 char bt_command_message_byte = 0;
jah128 0:8a5497a2e366 22 char bt_command_message[3];
jah128 0:8a5497a2e366 23
jah128 0:8a5497a2e366 24 char allow_commands = 1;
jah128 0:8a5497a2e366 25 char allow_requests = 1;
jah128 0:8a5497a2e366 26
jah128 0:8a5497a2e366 27 Timeout pc_command_timeout;
jah128 0:8a5497a2e366 28 Timeout bt_command_timeout;
jah128 0:8a5497a2e366 29
jah128 0:8a5497a2e366 30 // A predefined message structure for command messages is as follows:
jah128 0:8a5497a2e366 31 // [Byte 0][Byte 1][Byte 2][Byte 3][Byte 4]
jah128 0:8a5497a2e366 32 // Byte 0 and Byte 4 must be equal to COMMAND_MESSAGE_BYTE [in psiswarm.h] or message is treated as a user message
jah128 0:8a5497a2e366 33
jah128 0:8a5497a2e366 34 void handle_user_serial_message(char * message, char length, char interface)
jah128 0:8a5497a2e366 35 {
alanmillard 18:5921c1853e8a 36 // This is where user code for handling a (non-system) serial message should go
jah128 0:8a5497a2e366 37 //
alanmillard 18:5921c1853e8a 38 // message = pointer to message char array
alanmillard 18:5921c1853e8a 39 // length = length of message
alanmillard 18:5921c1853e8a 40 // interface = 0 for PC serial connection, 1 for Bluetooth
alanmillard 17:da524989b637 41
alanmillard 18:5921c1853e8a 42 if(interface)
alanmillard 18:5921c1853e8a 43 {
alanmillard 18:5921c1853e8a 44 if(length == 8)
alanmillard 18:5921c1853e8a 45 {
alanmillard 18:5921c1853e8a 46 // Convert 360 to 255 values!
alanmillard 18:5921c1853e8a 47 for(int i = 0; i < length; i++)
alanmillard 18:5921c1853e8a 48 {
alanmillard 18:5921c1853e8a 49 flocking_headings[i] = message[i];
alanmillard 20:e08376c0b4ea 50 // debug("%d, ", message[i]);
alanmillard 18:5921c1853e8a 51 }
alanmillard 18:5921c1853e8a 52
alanmillard 20:e08376c0b4ea 53 // debug("\n");
alanmillard 18:5921c1853e8a 54 }
alanmillard 18:5921c1853e8a 55 }
jah128 0:8a5497a2e366 56 }
jah128 0:8a5497a2e366 57
jah128 0:8a5497a2e366 58 void IF_handle_user_serial_message(char * message, char length, char interface)
jah128 0:8a5497a2e366 59 {
alanmillard 18:5921c1853e8a 60 char buffer[255];
alanmillard 18:5921c1853e8a 61 sprintf(buffer,message,length);
alanmillard 18:5921c1853e8a 62 for(int i=0; i<length; i++) {
alanmillard 18:5921c1853e8a 63 buffer[i]=message[i];
jah128 0:8a5497a2e366 64 }
alanmillard 18:5921c1853e8a 65 buffer[length]=0;
alanmillard 20:e08376c0b4ea 66 // if(interface) debug("Received BT message:%s [%d chars]\n",buffer,length);
alanmillard 20:e08376c0b4ea 67 // else debug("Received USB message:%s [%d chars]\n",buffer,length);
alanmillard 18:5921c1853e8a 68 handle_user_serial_message(message,length,interface);
jah128 0:8a5497a2e366 69 }
jah128 0:8a5497a2e366 70
jah128 0:8a5497a2e366 71 void IF_handle_command_serial_message(char message[3], char interface)
jah128 0:8a5497a2e366 72 {
jah128 0:8a5497a2e366 73 char iface [4];
jah128 0:8a5497a2e366 74 if(interface) strcpy(iface,"BT");
jah128 0:8a5497a2e366 75 else strcpy(iface,"USB");
jah128 0:8a5497a2e366 76 char command [26];
jah128 0:8a5497a2e366 77 char subcommand[30];
jah128 0:8a5497a2e366 78 float dec;
jah128 0:8a5497a2e366 79 float l_dec;
jah128 0:8a5497a2e366 80 float r_dec;
jah128 0:8a5497a2e366 81 int irp_delay;
jah128 0:8a5497a2e366 82 char colour_string[7];
jah128 0:8a5497a2e366 83 char ret_message[50];
jah128 0:8a5497a2e366 84 char send_message = 0;
jah128 0:8a5497a2e366 85 char command_status = 0;
jah128 0:8a5497a2e366 86 // command_status values:
jah128 0:8a5497a2e366 87 // 0 - unrecognised command
jah128 0:8a5497a2e366 88 // 1 - command actioned
jah128 0:8a5497a2e366 89 // 2 - command blocked
jah128 0:8a5497a2e366 90 // 3 - invalid parameters
jah128 0:8a5497a2e366 91
jah128 0:8a5497a2e366 92 subcommand[0]=0;
jah128 0:8a5497a2e366 93 command[0]=0;
jah128 0:8a5497a2e366 94 switch(message[0]) {
jah128 0:8a5497a2e366 95
jah128 0:8a5497a2e366 96 // MOTOR COMMANDS
jah128 0:8a5497a2e366 97
jah128 0:8a5497a2e366 98 case 1:
jah128 0:8a5497a2e366 99 strcpy(command,"SET LEFT MOTOR");
jah128 0:8a5497a2e366 100 dec = IF_decode_float(message[1],message[2]);
jah128 0:8a5497a2e366 101 sprintf(subcommand,"%1.5f",dec);
jah128 0:8a5497a2e366 102 if(allow_commands) {
jah128 0:8a5497a2e366 103 command_status = 1;
jah128 0:8a5497a2e366 104 set_left_motor_speed(dec);
jah128 0:8a5497a2e366 105 } else command_status = 2;
jah128 0:8a5497a2e366 106 break;
jah128 0:8a5497a2e366 107 case 2:
jah128 0:8a5497a2e366 108 strcpy(command,"SET RIGHT MOTOR");
jah128 0:8a5497a2e366 109 dec = IF_decode_float(message[1],message[2]);
jah128 0:8a5497a2e366 110 sprintf(subcommand,"%1.5f",dec);
jah128 0:8a5497a2e366 111 if(allow_commands) {
jah128 0:8a5497a2e366 112 set_right_motor_speed(dec);
jah128 0:8a5497a2e366 113 command_status = 1;
jah128 0:8a5497a2e366 114 } else command_status = 2;
jah128 0:8a5497a2e366 115 break;
jah128 0:8a5497a2e366 116 case 3:
jah128 0:8a5497a2e366 117 strcpy(command,"SET BOTH MOTORS");
jah128 0:8a5497a2e366 118 dec = IF_decode_float(message[1],message[2]);
jah128 0:8a5497a2e366 119 sprintf(subcommand,"%1.5f",dec);
jah128 0:8a5497a2e366 120 if(allow_commands) {
jah128 0:8a5497a2e366 121 command_status = 1;
jah128 0:8a5497a2e366 122 forward(dec);
jah128 0:8a5497a2e366 123 } else command_status = 2;
jah128 0:8a5497a2e366 124 break;
jah128 0:8a5497a2e366 125 case 4:
jah128 0:8a5497a2e366 126 strcpy(command,"BRAKE LEFT MOTOR");
jah128 0:8a5497a2e366 127 sprintf(subcommand,"");
jah128 0:8a5497a2e366 128 if(allow_commands) {
jah128 0:8a5497a2e366 129 command_status = 1;
jah128 0:8a5497a2e366 130 brake_left_motor();
jah128 0:8a5497a2e366 131 } else command_status = 2;
jah128 0:8a5497a2e366 132 break;
jah128 0:8a5497a2e366 133 case 5:
jah128 0:8a5497a2e366 134 strcpy(command,"BRAKE RIGHT MOTOR");
jah128 0:8a5497a2e366 135 sprintf(subcommand,"");
jah128 0:8a5497a2e366 136 if(allow_commands) {
jah128 0:8a5497a2e366 137 command_status = 1;
jah128 0:8a5497a2e366 138 brake_right_motor();
jah128 0:8a5497a2e366 139 } else command_status = 2;
jah128 0:8a5497a2e366 140 break;
jah128 0:8a5497a2e366 141 case 6:
jah128 0:8a5497a2e366 142 strcpy(command,"BRAKE BOTH MOTORS");
jah128 0:8a5497a2e366 143 sprintf(subcommand,"");
jah128 0:8a5497a2e366 144 if(allow_commands) {
jah128 0:8a5497a2e366 145 command_status = 1;
jah128 0:8a5497a2e366 146 brake();
jah128 0:8a5497a2e366 147 } else command_status = 2;
jah128 0:8a5497a2e366 148 break;
jah128 0:8a5497a2e366 149 case 7:
jah128 0:8a5497a2e366 150 strcpy(command,"STOP BOTH MOTORS");
jah128 0:8a5497a2e366 151 sprintf(subcommand,"");
jah128 0:8a5497a2e366 152 if(allow_commands) {
jah128 0:8a5497a2e366 153 command_status = 1;
jah128 0:8a5497a2e366 154 stop();
jah128 0:8a5497a2e366 155 } else command_status = 2;
jah128 0:8a5497a2e366 156 break;
jah128 0:8a5497a2e366 157 case 8:
jah128 0:8a5497a2e366 158 strcpy(command,"TURN ON SPOT");
jah128 0:8a5497a2e366 159 dec = IF_decode_float(message[1],message[2]);
jah128 0:8a5497a2e366 160 sprintf(subcommand,"%1.5f",dec);
jah128 0:8a5497a2e366 161 if(allow_commands) {
jah128 0:8a5497a2e366 162 command_status = 1;
jah128 0:8a5497a2e366 163 turn(dec);
jah128 0:8a5497a2e366 164 } else command_status = 2;
jah128 0:8a5497a2e366 165 break;
jah128 0:8a5497a2e366 166 case 9:
jah128 0:8a5497a2e366 167 strcpy(command,"SET EACH MOTOR");
jah128 0:8a5497a2e366 168 l_dec = IF_decode_float(message[1]);
jah128 0:8a5497a2e366 169 r_dec = IF_decode_float(message[2]);
jah128 0:8a5497a2e366 170 sprintf(subcommand,"L=%1.3f R=%1.3f",l_dec,r_dec);
jah128 0:8a5497a2e366 171 if(allow_commands) {
jah128 0:8a5497a2e366 172 command_status = 1;
jah128 0:8a5497a2e366 173
jah128 0:8a5497a2e366 174 set_left_motor_speed(l_dec);
jah128 0:8a5497a2e366 175 set_right_motor_speed(r_dec);
jah128 0:8a5497a2e366 176 } else command_status = 2;
jah128 0:8a5497a2e366 177 break;
jah128 0:8a5497a2e366 178 // LED COMMANDS
jah128 0:8a5497a2e366 179
jah128 0:8a5497a2e366 180 case 10:
jah128 0:8a5497a2e366 181 strcpy(command,"SET LED STATES");
jah128 0:8a5497a2e366 182 sprintf(subcommand,"G:%s R:%s",IF_char_to_binary_char(message[1]), IF_char_to_binary_char(message[2]));
jah128 0:8a5497a2e366 183 if(allow_commands) {
jah128 0:8a5497a2e366 184 command_status = 1;
jah128 0:8a5497a2e366 185 set_leds(message[1],message[2]);
jah128 0:8a5497a2e366 186 } else command_status = 2;
jah128 0:8a5497a2e366 187 break;
jah128 0:8a5497a2e366 188 case 11:
jah128 0:8a5497a2e366 189 strcpy(command,"SET RED LED STATES");
jah128 0:8a5497a2e366 190 sprintf(subcommand,"%s",IF_char_to_binary_char(message[1]));
jah128 0:8a5497a2e366 191 if(allow_commands) {
jah128 0:8a5497a2e366 192 command_status = 1;
jah128 0:8a5497a2e366 193 set_red_leds(message[1]);
jah128 0:8a5497a2e366 194 } else command_status = 2;
jah128 0:8a5497a2e366 195 break;
jah128 0:8a5497a2e366 196 case 12:
jah128 0:8a5497a2e366 197 strcpy(command,"SET GREEN LED STATES");
jah128 0:8a5497a2e366 198 sprintf(subcommand,"%s",IF_char_to_binary_char(message[1]));
jah128 0:8a5497a2e366 199 if(allow_commands) {
jah128 0:8a5497a2e366 200 command_status = 1;
jah128 0:8a5497a2e366 201 set_green_leds(message[1]);
jah128 0:8a5497a2e366 202 } else command_status = 2;
jah128 0:8a5497a2e366 203 break;
jah128 0:8a5497a2e366 204 case 13:
jah128 0:8a5497a2e366 205 strcpy(command,"SET LED");
jah128 0:8a5497a2e366 206 switch(message[2]) {
jah128 0:8a5497a2e366 207 case 1:
jah128 0:8a5497a2e366 208 strcpy(colour_string,"RED");
jah128 0:8a5497a2e366 209 break;
jah128 0:8a5497a2e366 210 case 2:
jah128 0:8a5497a2e366 211 strcpy(colour_string,"GREEN");
jah128 0:8a5497a2e366 212 break;
jah128 0:8a5497a2e366 213 case 3:
jah128 0:8a5497a2e366 214 strcpy(colour_string,"BOTH");
jah128 0:8a5497a2e366 215 break;
jah128 0:8a5497a2e366 216 case 0:
jah128 0:8a5497a2e366 217 strcpy(colour_string,"OFF");
jah128 0:8a5497a2e366 218 break;
jah128 0:8a5497a2e366 219 }
jah128 0:8a5497a2e366 220 if(message[1] < 8 && message[2] < 4) {
jah128 0:8a5497a2e366 221 sprintf(subcommand,"%d %s",message[1],colour_string);
jah128 0:8a5497a2e366 222 if(allow_commands) {
jah128 0:8a5497a2e366 223 command_status = 1;
jah128 0:8a5497a2e366 224 set_led(message[1],message[2]);
jah128 0:8a5497a2e366 225 } else command_status = 2;
jah128 0:8a5497a2e366 226 } else {
jah128 0:8a5497a2e366 227 sprintf(subcommand,"[INVALID CODE]");
jah128 0:8a5497a2e366 228 command_status = 3;
jah128 0:8a5497a2e366 229 }
jah128 0:8a5497a2e366 230 break;
jah128 0:8a5497a2e366 231 case 14:
jah128 0:8a5497a2e366 232 strcpy(command,"SET CENTER LED STATE");
jah128 0:8a5497a2e366 233 switch(message[1]) {
jah128 0:8a5497a2e366 234 case 1:
jah128 0:8a5497a2e366 235 strcpy(colour_string,"RED");
jah128 0:8a5497a2e366 236 break;
jah128 0:8a5497a2e366 237 case 2:
jah128 0:8a5497a2e366 238 strcpy(colour_string,"GREEN");
jah128 0:8a5497a2e366 239 break;
jah128 0:8a5497a2e366 240 case 3:
jah128 0:8a5497a2e366 241 strcpy(colour_string,"BOTH");
jah128 0:8a5497a2e366 242 break;
jah128 0:8a5497a2e366 243 case 0:
jah128 0:8a5497a2e366 244 strcpy(colour_string,"OFF");
jah128 0:8a5497a2e366 245 break;
jah128 0:8a5497a2e366 246 }
jah128 0:8a5497a2e366 247 if(message[1] < 4) {
jah128 0:8a5497a2e366 248 sprintf(subcommand,"%s",colour_string);
jah128 0:8a5497a2e366 249 if(allow_commands) {
jah128 0:8a5497a2e366 250 command_status = 1;
jah128 0:8a5497a2e366 251 set_center_led(message[1]);
jah128 0:8a5497a2e366 252 } else command_status = 2;
jah128 0:8a5497a2e366 253 } else {
jah128 0:8a5497a2e366 254 sprintf(subcommand,"[INVALID CODE]");
jah128 0:8a5497a2e366 255 command_status = 3;
jah128 0:8a5497a2e366 256 }
jah128 0:8a5497a2e366 257 break;
jah128 0:8a5497a2e366 258 case 15:
jah128 0:8a5497a2e366 259 strcpy(command,"SET C.LED BRIGHTNESS");
jah128 0:8a5497a2e366 260 dec = IF_decode_unsigned_float(message[1],message[2]);
jah128 0:8a5497a2e366 261 sprintf(subcommand,"%1.5f",dec);
jah128 0:8a5497a2e366 262 if(allow_commands) {
jah128 0:8a5497a2e366 263 command_status = 1;
jah128 0:8a5497a2e366 264 set_center_led_brightness(dec);
jah128 0:8a5497a2e366 265 } else command_status = 2;
jah128 0:8a5497a2e366 266 break;
jah128 0:8a5497a2e366 267 case 16:
jah128 0:8a5497a2e366 268 strcpy(command,"SET MBED LEDS");
jah128 0:8a5497a2e366 269 sprintf(subcommand,"%s",IF_nibble_to_binary_char(message[1]));
jah128 0:8a5497a2e366 270 if(allow_commands) {
jah128 0:8a5497a2e366 271 command_status = 1;
jah128 0:8a5497a2e366 272 mbed_led1 = (message[1] & 128) >> 7;
jah128 0:8a5497a2e366 273 mbed_led2 = (message[1] & 64) >> 6;
jah128 0:8a5497a2e366 274 mbed_led3 = (message[1] & 32) >> 5;
jah128 0:8a5497a2e366 275 mbed_led4 = (message[1] & 16) >> 4;
jah128 0:8a5497a2e366 276 } else command_status = 2;
jah128 0:8a5497a2e366 277 break;
jah128 0:8a5497a2e366 278 case 17:
jah128 0:8a5497a2e366 279 strcpy(command,"BLINK OUTER LEDS");
jah128 0:8a5497a2e366 280 dec = IF_decode_unsigned_float(message[1],message[2]);
jah128 0:8a5497a2e366 281 sprintf(subcommand,"FOR %1.5fS",dec);
jah128 0:8a5497a2e366 282 if(allow_commands) {
jah128 0:8a5497a2e366 283 command_status = 1;
jah128 0:8a5497a2e366 284 blink_leds(dec);
jah128 0:8a5497a2e366 285 } else command_status = 2;
jah128 0:8a5497a2e366 286 break;
jah128 0:8a5497a2e366 287 case 18:
jah128 0:8a5497a2e366 288 strcpy(command,"SET BASE LED STATE");
jah128 0:8a5497a2e366 289 switch(message[1]) {
jah128 0:8a5497a2e366 290 case 1:
jah128 0:8a5497a2e366 291 strcpy(subcommand,"ON");
jah128 0:8a5497a2e366 292 break;
jah128 0:8a5497a2e366 293 case 0:
jah128 0:8a5497a2e366 294 strcpy(subcommand,"OFF");
jah128 0:8a5497a2e366 295 break;
jah128 0:8a5497a2e366 296 }
jah128 0:8a5497a2e366 297 //Function not yet implemented
jah128 0:8a5497a2e366 298 break;
jah128 0:8a5497a2e366 299 case 19:
jah128 0:8a5497a2e366 300 strcpy(command,"SET CENTER LED ");
jah128 0:8a5497a2e366 301 switch(message[1]) {
jah128 0:8a5497a2e366 302 case 1:
jah128 0:8a5497a2e366 303 strcpy(colour_string,"RED");
jah128 0:8a5497a2e366 304 break;
jah128 0:8a5497a2e366 305 case 2:
jah128 0:8a5497a2e366 306 strcpy(colour_string,"GREEN");
jah128 0:8a5497a2e366 307 break;
jah128 0:8a5497a2e366 308 case 3:
jah128 0:8a5497a2e366 309 strcpy(colour_string,"BOTH");
jah128 0:8a5497a2e366 310 break;
jah128 0:8a5497a2e366 311 case 0:
jah128 0:8a5497a2e366 312 strcpy(colour_string,"OFF");
jah128 0:8a5497a2e366 313 break;
jah128 0:8a5497a2e366 314 }
jah128 0:8a5497a2e366 315 dec = IF_decode_unsigned_float(message[2]);
jah128 0:8a5497a2e366 316 sprintf(subcommand,"%s @ %1.5f brightness",colour_string,dec);
jah128 0:8a5497a2e366 317 if(allow_commands) {
jah128 0:8a5497a2e366 318 command_status = 1;
jah128 0:8a5497a2e366 319 set_center_led(message[1],dec);
jah128 0:8a5497a2e366 320 } else command_status = 2;
jah128 0:8a5497a2e366 321 break;
jah128 0:8a5497a2e366 322
jah128 0:8a5497a2e366 323 // DISPLAY COMMANDS
jah128 0:8a5497a2e366 324
jah128 0:8a5497a2e366 325 case 20:
jah128 0:8a5497a2e366 326 strcpy(command,"SET DISPLAY ");
jah128 0:8a5497a2e366 327 switch(message[1]) {
jah128 0:8a5497a2e366 328 case 0:
jah128 0:8a5497a2e366 329 strcpy(subcommand,"CLEAR");
jah128 0:8a5497a2e366 330 if(allow_commands) {
jah128 0:8a5497a2e366 331 command_status = 1;
jah128 0:8a5497a2e366 332 display.clear_display();
jah128 0:8a5497a2e366 333 } else command_status = 2;
jah128 0:8a5497a2e366 334 break;
jah128 0:8a5497a2e366 335 case 1:
jah128 0:8a5497a2e366 336 strcpy(subcommand,"MESSAGE 1");
jah128 0:8a5497a2e366 337 if(allow_commands) {
jah128 0:8a5497a2e366 338 command_status = 1;
jah128 0:8a5497a2e366 339 display.clear_display();
jah128 0:8a5497a2e366 340 display.home();
jah128 0:8a5497a2e366 341 display.write_string("PC CONNECTION");
jah128 0:8a5497a2e366 342 display.set_position(1,0);
jah128 0:8a5497a2e366 343 display.write_string("STARTED");
jah128 0:8a5497a2e366 344 } else command_status = 2;
jah128 0:8a5497a2e366 345 break;
jah128 0:8a5497a2e366 346 case 2:
jah128 0:8a5497a2e366 347 strcpy(subcommand,"MESSAGE 2");
jah128 0:8a5497a2e366 348 if(allow_commands) {
jah128 0:8a5497a2e366 349 command_status = 1;
jah128 0:8a5497a2e366 350 display.clear_display();
jah128 0:8a5497a2e366 351 display.home();
jah128 0:8a5497a2e366 352 display.write_string("PC CONNECTION");
jah128 0:8a5497a2e366 353 display.set_position(1,0);
jah128 0:8a5497a2e366 354 display.write_string("TERMINATED");
jah128 0:8a5497a2e366 355 } else command_status = 2;
jah128 0:8a5497a2e366 356 break;
jah128 0:8a5497a2e366 357 case 3:
jah128 0:8a5497a2e366 358 strcpy(subcommand,"MESSAGE 3");
jah128 0:8a5497a2e366 359 if(allow_commands) {
jah128 0:8a5497a2e366 360 command_status = 1;
jah128 0:8a5497a2e366 361 display.clear_display();
jah128 0:8a5497a2e366 362 display.home();
jah128 0:8a5497a2e366 363 display.write_string("ANDROID DEVICE");
jah128 0:8a5497a2e366 364 display.set_position(1,0);
jah128 0:8a5497a2e366 365 display.write_string("CONNECTED");
jah128 0:8a5497a2e366 366 } else command_status = 2;
jah128 0:8a5497a2e366 367 break;
jah128 0:8a5497a2e366 368 case 4:
jah128 0:8a5497a2e366 369 strcpy(subcommand,"MESSAGE 4");
jah128 0:8a5497a2e366 370 if(allow_commands) {
jah128 0:8a5497a2e366 371 command_status = 1;
jah128 0:8a5497a2e366 372 display.clear_display();
jah128 0:8a5497a2e366 373 display.home();
jah128 0:8a5497a2e366 374 display.write_string("ANDROID DEVICE");
jah128 0:8a5497a2e366 375 display.set_position(1,0);
jah128 0:8a5497a2e366 376 display.write_string("DISCONNECTED");
jah128 0:8a5497a2e366 377 } else command_status = 2;
jah128 0:8a5497a2e366 378 break;
jah128 0:8a5497a2e366 379 }
jah128 0:8a5497a2e366 380 break;
jah128 0:8a5497a2e366 381 case 21:
jah128 0:8a5497a2e366 382 strcpy(command,"SET CURSOR ");
jah128 0:8a5497a2e366 383 if(message[1] < 2 && message[2] < 16) {
jah128 0:8a5497a2e366 384 sprintf(subcommand,"[%d,%d]",message[1],message[2]);
jah128 0:8a5497a2e366 385 if(allow_commands) {
jah128 0:8a5497a2e366 386 display.set_position(message[1],message[2]);
jah128 0:8a5497a2e366 387 } else command_status = 2;
jah128 0:8a5497a2e366 388 } else {
jah128 0:8a5497a2e366 389 sprintf(subcommand,"[INVALID]");
jah128 0:8a5497a2e366 390 command_status = 3;
jah128 0:8a5497a2e366 391 }
jah128 0:8a5497a2e366 392 break;
jah128 0:8a5497a2e366 393 case 22:
jah128 0:8a5497a2e366 394 strcpy(command,"PRINT CHARACTERS ");
jah128 0:8a5497a2e366 395 char print_message[2];
jah128 0:8a5497a2e366 396 print_message[0]=message[1];
jah128 0:8a5497a2e366 397 print_message[1]=message[2];
jah128 0:8a5497a2e366 398 sprintf(subcommand,"[%c,%c]",message[1],message[2]);
jah128 0:8a5497a2e366 399 if(allow_commands) {
jah128 0:8a5497a2e366 400 display.write_string(print_message,2);
jah128 0:8a5497a2e366 401 } else command_status = 2;
jah128 0:8a5497a2e366 402 break;
jah128 0:8a5497a2e366 403 case 23:
jah128 0:8a5497a2e366 404 strcpy(command,"SET DISPLAY B.NESS");
jah128 0:8a5497a2e366 405 dec = IF_decode_unsigned_float(message[1],message[2]);
jah128 0:8a5497a2e366 406 sprintf(subcommand,"%1.5f",dec);
jah128 0:8a5497a2e366 407 if(allow_commands) {
jah128 0:8a5497a2e366 408 command_status = 1;
jah128 0:8a5497a2e366 409 display.set_backlight_brightness(dec);
jah128 0:8a5497a2e366 410 } else command_status = 2;
jah128 0:8a5497a2e366 411 break;
jah128 0:8a5497a2e366 412
jah128 0:8a5497a2e366 413 case 30:
jah128 0:8a5497a2e366 414 strcpy(command,"SET DEBUG MODE");
jah128 0:8a5497a2e366 415 switch(message[1]) {
jah128 0:8a5497a2e366 416 case 1:
jah128 0:8a5497a2e366 417 strcpy(subcommand,"ON");
jah128 0:8a5497a2e366 418 break;
jah128 0:8a5497a2e366 419 case 0:
jah128 0:8a5497a2e366 420 strcpy(subcommand,"OFF");
jah128 0:8a5497a2e366 421 break;
jah128 0:8a5497a2e366 422 }
jah128 0:8a5497a2e366 423 if(message[2] & 1) strcat (subcommand,"-PC");
jah128 0:8a5497a2e366 424 if(message[2] & 2) strcat (subcommand,"-BT");
jah128 0:8a5497a2e366 425 if(message[2] & 4) strcat (subcommand,"-DISP");
jah128 0:8a5497a2e366 426 if(allow_commands) {
jah128 0:8a5497a2e366 427 command_status = 1;
jah128 0:8a5497a2e366 428 debug_mode = message[1];
jah128 0:8a5497a2e366 429 debug_output = message[2];
jah128 0:8a5497a2e366 430 } else command_status = 2;
jah128 0:8a5497a2e366 431 break;
jah128 0:8a5497a2e366 432 case 31:
jah128 0:8a5497a2e366 433 strcpy(command,"SET DEMO MODE");
jah128 0:8a5497a2e366 434 switch(message[1] % 2) {
jah128 0:8a5497a2e366 435 case 1:
jah128 0:8a5497a2e366 436 strcpy(subcommand,"ON");
jah128 0:8a5497a2e366 437 break;
jah128 0:8a5497a2e366 438 case 0:
jah128 0:8a5497a2e366 439 strcpy(subcommand,"OFF");
jah128 0:8a5497a2e366 440 break;
jah128 0:8a5497a2e366 441 }
jah128 0:8a5497a2e366 442 if(allow_commands) {
jah128 0:8a5497a2e366 443 command_status = 1;
jah128 0:8a5497a2e366 444 demo_on = message[1] % 2;
jah128 0:8a5497a2e366 445 if(demo_on == 1) {
jah128 0:8a5497a2e366 446 user_code_restore_mode = user_code_running;
jah128 0:8a5497a2e366 447 user_code_running = 0;
jah128 0:8a5497a2e366 448 } else {
jah128 0:8a5497a2e366 449 user_code_running = user_code_restore_mode;
jah128 0:8a5497a2e366 450 }
jah128 0:8a5497a2e366 451 } else command_status = 2;
jah128 0:8a5497a2e366 452 break;
jah128 0:8a5497a2e366 453 case 32:
jah128 0:8a5497a2e366 454 strcpy(command,"SET USER CODE");
jah128 0:8a5497a2e366 455 switch(message[1] % 2) {
jah128 0:8a5497a2e366 456 case 1:
jah128 0:8a5497a2e366 457 strcpy(subcommand,"ON");
jah128 0:8a5497a2e366 458 break;
jah128 0:8a5497a2e366 459 case 0:
jah128 0:8a5497a2e366 460 strcpy(subcommand,"OFF");
jah128 0:8a5497a2e366 461 break;
jah128 0:8a5497a2e366 462 }
jah128 0:8a5497a2e366 463 if(allow_commands) {
jah128 0:8a5497a2e366 464 command_status = 1;
jah128 0:8a5497a2e366 465 user_code_running = message[1] % 2;
jah128 0:8a5497a2e366 466 } else command_status = 2;
jah128 0:8a5497a2e366 467 break;
jah128 0:8a5497a2e366 468 case 33:
jah128 0:8a5497a2e366 469 strcpy(command,"PAUSE USER CODE");
jah128 0:8a5497a2e366 470 dec = IF_decode_unsigned_float(message[1],message[2]) * 10;
jah128 0:8a5497a2e366 471 sprintf(subcommand,"FOR %2.3fS",dec);
jah128 0:8a5497a2e366 472 if(allow_commands) {
jah128 0:8a5497a2e366 473 command_status = 1;
jah128 0:8a5497a2e366 474 pause_user_code(dec);
jah128 0:8a5497a2e366 475 } else command_status = 2;
jah128 0:8a5497a2e366 476 break;
jah128 0:8a5497a2e366 477
jah128 0:8a5497a2e366 478 case 34:
jah128 0:8a5497a2e366 479 strcpy(command,"RESET ENCODERS");
jah128 0:8a5497a2e366 480 if(allow_commands) {
jah128 0:8a5497a2e366 481 command_status = 1;
jah128 0:8a5497a2e366 482 reset_encoders();
jah128 0:8a5497a2e366 483 } else command_status = 2;
jah128 0:8a5497a2e366 484 break;
jah128 0:8a5497a2e366 485
jah128 0:8a5497a2e366 486 case 35:
jah128 0:8a5497a2e366 487 strcpy(command,"SET ALLOW COMMANDS");
jah128 0:8a5497a2e366 488 switch(message[1] % 2) {
jah128 0:8a5497a2e366 489 case 1:
jah128 0:8a5497a2e366 490 strcpy(subcommand,"ON");
jah128 0:8a5497a2e366 491 break;
jah128 0:8a5497a2e366 492 case 0:
jah128 0:8a5497a2e366 493 strcpy(subcommand,"OFF");
jah128 0:8a5497a2e366 494 break;
jah128 0:8a5497a2e366 495 }
jah128 0:8a5497a2e366 496 allow_commands = message[1] % 2;
jah128 0:8a5497a2e366 497 command_status = 1;
jah128 0:8a5497a2e366 498 break;
jah128 0:8a5497a2e366 499
jah128 0:8a5497a2e366 500 case 36:
jah128 0:8a5497a2e366 501 irp_delay = (message[1] << 8) + message[2];
jah128 0:8a5497a2e366 502 sprintf(command,"SET IR PULSE DELAY %d MS",irp_delay);
jah128 0:8a5497a2e366 503 if(allow_commands) {
jah128 0:8a5497a2e366 504 command_status = 1;
jah128 0:8a5497a2e366 505 ir_pulse_delay = irp_delay;
jah128 0:8a5497a2e366 506 } else command_status = 2;
jah128 0:8a5497a2e366 507 break;
jah128 0:8a5497a2e366 508 case 37:
jah128 0:8a5497a2e366 509 irp_delay = (message[1] << 8) + message[2];
jah128 0:8a5497a2e366 510 sprintf(command,"SET BASE IR PULSE DELAY %d MS",irp_delay);
jah128 0:8a5497a2e366 511 if(allow_commands) {
jah128 0:8a5497a2e366 512 command_status = 1;
jah128 0:8a5497a2e366 513 base_ir_pulse_delay = irp_delay;
jah128 0:8a5497a2e366 514 } else command_status = 2;
jah128 0:8a5497a2e366 515 break;
jah128 0:8a5497a2e366 516
jah128 0:8a5497a2e366 517 // MOTOR REQUESTS
jah128 0:8a5497a2e366 518 case 40:
jah128 0:8a5497a2e366 519 strcpy(command,"GET LEFT MOTOR SPEED");
jah128 0:8a5497a2e366 520 sprintf(ret_message,"%1.5f",motor_left_speed);
jah128 0:8a5497a2e366 521 send_message = 1;
jah128 0:8a5497a2e366 522 break;
jah128 0:8a5497a2e366 523
jah128 0:8a5497a2e366 524 case 41:
jah128 0:8a5497a2e366 525 strcpy(command,"GET RIGHT MOTOR SPEED");
jah128 0:8a5497a2e366 526 sprintf(ret_message,"%1.5f",motor_right_speed);
jah128 0:8a5497a2e366 527 send_message = 1;
jah128 0:8a5497a2e366 528 break;
jah128 0:8a5497a2e366 529 case 42:
jah128 0:8a5497a2e366 530 strcpy(command,"GET BRAKE STATES");
jah128 0:8a5497a2e366 531 sprintf(ret_message,"%d,%d",motor_left_brake,motor_right_brake);
jah128 0:8a5497a2e366 532 send_message = 1;
jah128 0:8a5497a2e366 533 break;
jah128 0:8a5497a2e366 534 case 43:
jah128 0:8a5497a2e366 535 strcpy(command,"GET MOTOR STATES");
jah128 0:8a5497a2e366 536 //sprintf(ret_message,"%d,%d",motor_left_brake,motor_right_brake);
jah128 0:8a5497a2e366 537 send_message = 1;
jah128 0:8a5497a2e366 538 break;
jah128 0:8a5497a2e366 539 case 44:
jah128 0:8a5497a2e366 540 strcpy(command,"GET ENCODERS");
jah128 0:8a5497a2e366 541 sprintf(ret_message,"%d,%d",left_encoder,right_encoder);
jah128 0:8a5497a2e366 542 send_message = 1;
jah128 0:8a5497a2e366 543 break;
jah128 0:8a5497a2e366 544
jah128 0:8a5497a2e366 545 // LED REQUESTS
jah128 0:8a5497a2e366 546 case 50:
jah128 0:8a5497a2e366 547 strcpy(command,"GET LED STATES");
jah128 0:8a5497a2e366 548 sprintf(ret_message,"%04x",get_led_states());
jah128 0:8a5497a2e366 549 send_message = 1;
jah128 0:8a5497a2e366 550 break;
jah128 0:8a5497a2e366 551
jah128 0:8a5497a2e366 552 // GENERAL REQUESTS
jah128 0:8a5497a2e366 553 case 60:
jah128 0:8a5497a2e366 554 strcpy(command,"GET SOFTWARE VERSION");
jah128 0:8a5497a2e366 555 sprintf(ret_message,"%1.2f",SOFTWARE_VERSION_CODE);
jah128 0:8a5497a2e366 556 send_message = 1;
jah128 0:8a5497a2e366 557 break;
jah128 0:8a5497a2e366 558
jah128 0:8a5497a2e366 559 case 61:
jah128 0:8a5497a2e366 560 strcpy(command,"GET UPTIME");
jah128 0:8a5497a2e366 561 sprintf(ret_message,"%6.2f",get_uptime());
jah128 0:8a5497a2e366 562 send_message = 1;
jah128 0:8a5497a2e366 563 break;
jah128 0:8a5497a2e366 564
jah128 0:8a5497a2e366 565 case 62:
jah128 0:8a5497a2e366 566 strcpy(command,"GET ID");
jah128 0:8a5497a2e366 567 sprintf(ret_message,"%d",robot_id);
jah128 0:8a5497a2e366 568 send_message = 1;
jah128 0:8a5497a2e366 569 break;
jah128 0:8a5497a2e366 570
jah128 0:8a5497a2e366 571 case 63:
jah128 0:8a5497a2e366 572 strcpy(command,"GET SWITCH BYTE");
jah128 0:8a5497a2e366 573 sprintf(ret_message,"%02x",switch_byte);
jah128 0:8a5497a2e366 574 send_message = 1;
jah128 0:8a5497a2e366 575 break;
jah128 0:8a5497a2e366 576 case 64:
jah128 0:8a5497a2e366 577 strcpy(command,"GET USER CODE");
jah128 0:8a5497a2e366 578 sprintf(ret_message,"%d",user_code_running);
jah128 0:8a5497a2e366 579 send_message = 1;
jah128 0:8a5497a2e366 580 break;
jah128 0:8a5497a2e366 581 case 65:
jah128 0:8a5497a2e366 582 strcpy(command,"GET RESPONSE STRING");
jah128 0:8a5497a2e366 583 sprintf(ret_message,"PSI");
jah128 0:8a5497a2e366 584 send_message = 1;
jah128 0:8a5497a2e366 585 break;
jah128 0:8a5497a2e366 586 case 66:
jah128 0:8a5497a2e366 587 strcpy(command,"GET PROGRAM NAME");
jah128 0:8a5497a2e366 588 sprintf(ret_message,"%s",program_name);
jah128 0:8a5497a2e366 589 send_message = 1;
jah128 0:8a5497a2e366 590 break;
jah128 0:8a5497a2e366 591 case 67:
jah128 0:8a5497a2e366 592 strcpy(command,"GET AUTHOR NAME");
jah128 0:8a5497a2e366 593 sprintf(ret_message,"%s",author_name);
jah128 0:8a5497a2e366 594 send_message = 1;
jah128 0:8a5497a2e366 595 break;
jah128 0:8a5497a2e366 596 case 68:
jah128 0:8a5497a2e366 597 strcpy(command,"GET DEBUG MODE");
jah128 0:8a5497a2e366 598 sprintf(ret_message,"%1d%1d",debug_mode,debug_output);
jah128 0:8a5497a2e366 599 send_message = 1;
jah128 0:8a5497a2e366 600 break;
jah128 0:8a5497a2e366 601 case 69:
jah128 0:8a5497a2e366 602 strcpy(command,"GET SYSTEM WARNINGS");
jah128 0:8a5497a2e366 603 sprintf(ret_message,"%d",system_warnings);
jah128 0:8a5497a2e366 604 send_message = 1;
jah128 0:8a5497a2e366 605 break;
jah128 0:8a5497a2e366 606
jah128 0:8a5497a2e366 607
jah128 0:8a5497a2e366 608 // Sensors
jah128 0:8a5497a2e366 609 case 80:
jah128 0:8a5497a2e366 610 strcpy(command,"STORE BG. IR VALUES");
jah128 0:8a5497a2e366 611 if(allow_commands) {
jah128 0:8a5497a2e366 612 command_status = 1;
jah128 0:8a5497a2e366 613 store_background_raw_ir_values();
jah128 0:8a5497a2e366 614 } else command_status = 2;
jah128 0:8a5497a2e366 615 break;
jah128 0:8a5497a2e366 616 case 81:
jah128 0:8a5497a2e366 617 strcpy(command,"STORE IL. IR VALUES");
jah128 0:8a5497a2e366 618 if(allow_commands) {
jah128 0:8a5497a2e366 619 command_status = 1;
jah128 0:8a5497a2e366 620 store_illuminated_raw_ir_values();
jah128 0:8a5497a2e366 621 } else command_status = 2;
jah128 0:8a5497a2e366 622 break;
jah128 0:8a5497a2e366 623 case 82:
jah128 0:8a5497a2e366 624 strcpy(command,"STORE IR VALUES");
jah128 0:8a5497a2e366 625 if(allow_commands) {
jah128 0:8a5497a2e366 626 command_status = 1;
jah128 0:8a5497a2e366 627 store_ir_values();
jah128 0:8a5497a2e366 628 } else command_status = 2;
jah128 0:8a5497a2e366 629 break;
jah128 0:8a5497a2e366 630 case 83:
jah128 0:8a5497a2e366 631 strcpy(command,"STORE BG BASE IR VALUES");
jah128 0:8a5497a2e366 632 if(allow_commands) {
jah128 0:8a5497a2e366 633 command_status = 1;
jah128 0:8a5497a2e366 634 store_background_base_ir_values();
jah128 0:8a5497a2e366 635 } else command_status = 2;
jah128 0:8a5497a2e366 636 break;
jah128 0:8a5497a2e366 637 case 84:
jah128 0:8a5497a2e366 638 strcpy(command,"STORE IL. BASE IR VALUES");
jah128 0:8a5497a2e366 639 if(allow_commands) {
jah128 0:8a5497a2e366 640 command_status = 1;
jah128 0:8a5497a2e366 641 store_illuminated_base_ir_values();
jah128 0:8a5497a2e366 642 } else command_status = 2;
jah128 0:8a5497a2e366 643 break;
jah128 0:8a5497a2e366 644 case 85:
jah128 0:8a5497a2e366 645 strcpy(command,"STORE BASE IR VALUES");
jah128 0:8a5497a2e366 646 if(allow_commands) {
jah128 0:8a5497a2e366 647 command_status = 1;
jah128 0:8a5497a2e366 648 store_base_ir_values();
jah128 0:8a5497a2e366 649 } else command_status = 2;
jah128 0:8a5497a2e366 650 break;
jah128 0:8a5497a2e366 651 case 86:
jah128 0:8a5497a2e366 652 strcpy(command,"STORE ALL IR VALUES");
jah128 0:8a5497a2e366 653 if(allow_commands) {
jah128 0:8a5497a2e366 654 command_status = 1;
jah128 0:8a5497a2e366 655 store_ir_values();
jah128 0:8a5497a2e366 656 store_base_ir_values();
jah128 0:8a5497a2e366 657 } else command_status = 2;
jah128 0:8a5497a2e366 658 break;
jah128 0:8a5497a2e366 659 case 90:
jah128 0:8a5497a2e366 660 sprintf(command,"%s %d","GET BG IR VALUE",message[1]);
jah128 0:8a5497a2e366 661 sprintf(ret_message,"%d",get_background_raw_ir_value(message[1]));
jah128 0:8a5497a2e366 662 send_message = 1;
jah128 0:8a5497a2e366 663 break;
jah128 0:8a5497a2e366 664 case 91:
jah128 0:8a5497a2e366 665 sprintf(command,"%s %d","GET IL IR VALUE",message[1]);
jah128 0:8a5497a2e366 666 sprintf(ret_message,"%d",get_illuminated_raw_ir_value(message[1]));
jah128 0:8a5497a2e366 667 send_message = 1;
jah128 0:8a5497a2e366 668 break;
jah128 0:8a5497a2e366 669 case 92:
jah128 0:8a5497a2e366 670 strcpy(command,"GET BG IR VALUES");
jah128 0:8a5497a2e366 671 sprintf(ret_message,"%03X%03X%03X%03X%03X%03X%03X%03X",get_background_raw_ir_value(0),get_background_raw_ir_value(1),get_background_raw_ir_value(2),get_background_raw_ir_value(3),get_background_raw_ir_value(4),get_background_raw_ir_value(5),get_background_raw_ir_value(6),get_background_raw_ir_value(7));
jah128 0:8a5497a2e366 672 send_message = 1;
jah128 0:8a5497a2e366 673 break;
jah128 0:8a5497a2e366 674 case 93:
jah128 0:8a5497a2e366 675 strcpy(command,"GET ILLUMINATED IR VALUES");
jah128 0:8a5497a2e366 676 sprintf(ret_message,"%03X%03X%03X%03X%03X%03X%03X%03X",get_illuminated_raw_ir_value(0),get_illuminated_raw_ir_value(1),get_illuminated_raw_ir_value(2),get_illuminated_raw_ir_value(3),get_illuminated_raw_ir_value(4),get_illuminated_raw_ir_value(5),get_illuminated_raw_ir_value(6),get_illuminated_raw_ir_value(7));
jah128 0:8a5497a2e366 677 send_message = 1;
jah128 0:8a5497a2e366 678 break;
jah128 0:8a5497a2e366 679 case 94:
jah128 0:8a5497a2e366 680 sprintf(command,"%s %d","GET BG BASE IR VALUE",message[1]);
jah128 0:8a5497a2e366 681 sprintf(ret_message,"%d",get_background_base_ir_value(message[1]));
jah128 0:8a5497a2e366 682 send_message = 1;
jah128 0:8a5497a2e366 683 break;
jah128 0:8a5497a2e366 684 case 95:
jah128 0:8a5497a2e366 685 sprintf(command,"%s %d","GET IL BASE IR VALUE",message[1]);
jah128 0:8a5497a2e366 686 sprintf(ret_message,"%d",get_illuminated_base_ir_value(message[1]));
jah128 0:8a5497a2e366 687 send_message = 1;
jah128 0:8a5497a2e366 688 break;
jah128 0:8a5497a2e366 689 case 96:
jah128 0:8a5497a2e366 690 strcpy(command,"GET BG BASE IR VALUES");
jah128 0:8a5497a2e366 691 sprintf(ret_message,"%03X%03X%03X%03X%03X",get_background_base_ir_value(0),get_background_base_ir_value(1),get_background_base_ir_value(2),get_background_base_ir_value(3),get_background_base_ir_value(4));
jah128 0:8a5497a2e366 692 send_message = 1;
jah128 0:8a5497a2e366 693 break;
jah128 0:8a5497a2e366 694 case 97:
jah128 0:8a5497a2e366 695 strcpy(command,"GET IL BASE IR VALUES");
jah128 0:8a5497a2e366 696 sprintf(ret_message,"%03X%03X%03X%03X%03X",get_illuminated_base_ir_value(0),get_illuminated_base_ir_value(1),get_illuminated_base_ir_value(2),get_illuminated_base_ir_value(3),get_illuminated_base_ir_value(4));
jah128 0:8a5497a2e366 697 send_message = 1;
jah128 0:8a5497a2e366 698 break;
jah128 0:8a5497a2e366 699 }
jah128 0:8a5497a2e366 700
jah128 0:8a5497a2e366 701
jah128 0:8a5497a2e366 702 if(send_message) {
jah128 0:8a5497a2e366 703 char message_length = strlen(ret_message);
jah128 0:8a5497a2e366 704 switch(interface) {
jah128 0:8a5497a2e366 705 case 0:
jah128 0:8a5497a2e366 706 pc.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,message_length,ret_message);
jah128 0:8a5497a2e366 707 break;
jah128 0:8a5497a2e366 708 case 1:
jah128 0:8a5497a2e366 709 bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,message_length,ret_message);
jah128 0:8a5497a2e366 710 break;
jah128 0:8a5497a2e366 711 }
jah128 0:8a5497a2e366 712 debug("Received %s request message: %s %s [%02x%02x%02x]\nReply: %s [%d ch]\n",iface, command, subcommand,message[0],message[1],message[2],ret_message,message_length);
jah128 0:8a5497a2e366 713 } else {
jah128 0:8a5497a2e366 714 switch(interface) {
jah128 0:8a5497a2e366 715 case 0:
jah128 0:8a5497a2e366 716 pc.printf("%c%c",ACKNOWLEDGE_MESSAGE_BYTE,command_status);
jah128 0:8a5497a2e366 717 break;
jah128 0:8a5497a2e366 718 case 1:
jah128 0:8a5497a2e366 719 bt.printf("%c%c",ACKNOWLEDGE_MESSAGE_BYTE,command_status);
jah128 0:8a5497a2e366 720 break;
jah128 0:8a5497a2e366 721 }
jah128 0:8a5497a2e366 722 switch(command_status) {
jah128 0:8a5497a2e366 723 case 0:
jah128 0:8a5497a2e366 724 debug("Unrecognised %s command message [%02x%02x%02x]\n",iface,message[0],message[1],message[2]);
jah128 0:8a5497a2e366 725 break;
jah128 0:8a5497a2e366 726 case 1:
jah128 0:8a5497a2e366 727 debug("Actioned %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]);
jah128 0:8a5497a2e366 728 break;
jah128 0:8a5497a2e366 729 case 2:
jah128 0:8a5497a2e366 730 debug("Blocked %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]);
jah128 0:8a5497a2e366 731 break;
jah128 0:8a5497a2e366 732 case 3:
jah128 0:8a5497a2e366 733 debug("Invalid %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]);
jah128 0:8a5497a2e366 734 break;
jah128 0:8a5497a2e366 735 }
jah128 0:8a5497a2e366 736 }
jah128 0:8a5497a2e366 737 }
jah128 0:8a5497a2e366 738
jah128 0:8a5497a2e366 739 char * IF_nibble_to_binary_char(char in)
jah128 0:8a5497a2e366 740 {
jah128 0:8a5497a2e366 741 char * ret = (char*)malloc(sizeof(char)*5);
jah128 0:8a5497a2e366 742 for(int i=0; i<4; i++) {
jah128 0:8a5497a2e366 743 if(in & (128 >> i)) ret[i]='1';
jah128 0:8a5497a2e366 744 else ret[i]='0';
jah128 0:8a5497a2e366 745 }
jah128 0:8a5497a2e366 746 ret[4]=0;
jah128 0:8a5497a2e366 747 return ret;
jah128 0:8a5497a2e366 748 }
jah128 0:8a5497a2e366 749
jah128 0:8a5497a2e366 750 char * IF_char_to_binary_char(char in)
jah128 0:8a5497a2e366 751 {
jah128 0:8a5497a2e366 752 char * ret = (char*)malloc(sizeof(char)*9);
jah128 0:8a5497a2e366 753 for(int i=0; i<8; i++) {
jah128 0:8a5497a2e366 754 if(in & (128 >> i)) ret[i]='1';
jah128 0:8a5497a2e366 755 else ret[i]='0';
jah128 0:8a5497a2e366 756 }
jah128 0:8a5497a2e366 757 ret[8]=0;
jah128 0:8a5497a2e366 758 return ret;
jah128 0:8a5497a2e366 759 }
jah128 0:8a5497a2e366 760
jah128 0:8a5497a2e366 761 float IF_decode_unsigned_float(char byte0, char byte1)
jah128 0:8a5497a2e366 762 {
jah128 0:8a5497a2e366 763 unsigned short sval = (byte0) << 8;
jah128 0:8a5497a2e366 764 sval += byte1;
jah128 0:8a5497a2e366 765 float scaled = sval / 65535.0f;
jah128 0:8a5497a2e366 766 return scaled;
jah128 0:8a5497a2e366 767 }
jah128 0:8a5497a2e366 768
jah128 0:8a5497a2e366 769 float IF_decode_float(char byte0, char byte1)
jah128 0:8a5497a2e366 770 {
jah128 0:8a5497a2e366 771 // MSB is byte 0 is sign, rest is linear spread between 0 and 1
jah128 0:8a5497a2e366 772 char sign = byte0 / 128;
jah128 0:8a5497a2e366 773 short sval = (byte0 % 128) << 8;
jah128 0:8a5497a2e366 774 sval += byte1;
jah128 0:8a5497a2e366 775 float scaled = sval / 32767.0f;
jah128 0:8a5497a2e366 776 if(sign == 0) scaled = 0-scaled;
jah128 0:8a5497a2e366 777 return scaled;
jah128 0:8a5497a2e366 778 }
jah128 0:8a5497a2e366 779
jah128 0:8a5497a2e366 780 float IF_decode_unsigned_float(char byte0)
jah128 0:8a5497a2e366 781 {
jah128 0:8a5497a2e366 782 unsigned short sval = (byte0);
jah128 0:8a5497a2e366 783 float scaled = sval / 255.0f;
jah128 0:8a5497a2e366 784 return scaled;
jah128 0:8a5497a2e366 785 }
jah128 0:8a5497a2e366 786
jah128 0:8a5497a2e366 787 float IF_decode_float(char byte0)
jah128 0:8a5497a2e366 788 {
jah128 0:8a5497a2e366 789 // MSB is byte 0 is sign, rest is linear spread between 0 and 1
jah128 0:8a5497a2e366 790 char sign = byte0 / 128;
jah128 0:8a5497a2e366 791 short sval = (byte0 % 128);
jah128 0:8a5497a2e366 792 float scaled = sval / 127.0f;
jah128 0:8a5497a2e366 793 if(sign == 0) scaled = 0-scaled;
jah128 0:8a5497a2e366 794 return scaled;
jah128 0:8a5497a2e366 795 }
jah128 0:8a5497a2e366 796
jah128 0:8a5497a2e366 797 void IF_setup_serial_interfaces()
jah128 0:8a5497a2e366 798 {
jah128 0:8a5497a2e366 799 if(ENABLE_PC_SERIAL) {
jah128 0:8a5497a2e366 800 pc.baud(PC_BAUD);
jah128 0:8a5497a2e366 801 pc.attach(&IF_pc_rx_callback, Serial::RxIrq);
jah128 0:8a5497a2e366 802 }
jah128 0:8a5497a2e366 803 if(ENABLE_BLUETOOTH) {
jah128 0:8a5497a2e366 804 bt.baud(BLUETOOTH_BAUD);
jah128 0:8a5497a2e366 805 bt.attach(&IF_bt_rx_callback, Serial::RxIrq);
jah128 0:8a5497a2e366 806 }
jah128 0:8a5497a2e366 807 }
jah128 0:8a5497a2e366 808
jah128 0:8a5497a2e366 809 void IF_pc_rx_command_timeout()
jah128 0:8a5497a2e366 810 {
jah128 0:8a5497a2e366 811 char message_array[6];
jah128 0:8a5497a2e366 812 char length = 1 + pc_command_message_byte;
jah128 0:8a5497a2e366 813 pc_command_message_started = 0;
jah128 0:8a5497a2e366 814 message_array[0] = COMMAND_MESSAGE_BYTE;
jah128 0:8a5497a2e366 815 for(int k=0; k<pc_command_message_byte; k++) {
jah128 0:8a5497a2e366 816 message_array[k+1] = pc_command_message[k];
jah128 0:8a5497a2e366 817 }
jah128 0:8a5497a2e366 818 IF_handle_user_serial_message(message_array, length, 0);
jah128 0:8a5497a2e366 819 }
jah128 0:8a5497a2e366 820
jah128 0:8a5497a2e366 821 void IF_bt_rx_command_timeout()
jah128 0:8a5497a2e366 822 {
jah128 0:8a5497a2e366 823 char message_array[6];
jah128 0:8a5497a2e366 824 char length = 1 + bt_command_message_byte;
jah128 0:8a5497a2e366 825 bt_command_message_started = 0;
jah128 0:8a5497a2e366 826 message_array[0] = COMMAND_MESSAGE_BYTE;
jah128 0:8a5497a2e366 827 for(int k=0; k<bt_command_message_byte; k++) {
jah128 0:8a5497a2e366 828 message_array[k+1] = bt_command_message[k];
jah128 0:8a5497a2e366 829 }
jah128 0:8a5497a2e366 830 IF_handle_user_serial_message(message_array, length, 1);
jah128 0:8a5497a2e366 831 }
jah128 0:8a5497a2e366 832
jah128 0:8a5497a2e366 833 void IF_pc_rx_callback()
jah128 0:8a5497a2e366 834 {
jah128 0:8a5497a2e366 835 int count = 0;
jah128 0:8a5497a2e366 836 char message_array[255];
jah128 0:8a5497a2e366 837
jah128 0:8a5497a2e366 838 while(pc.readable()) {
jah128 0:8a5497a2e366 839 char tc = pc.getc();
jah128 0:8a5497a2e366 840 message_array[count] = tc;
jah128 0:8a5497a2e366 841 count ++;
jah128 0:8a5497a2e366 842 if(pc_command_message_started == 1) {
jah128 0:8a5497a2e366 843 if(pc_command_message_byte == 3) {
jah128 0:8a5497a2e366 844 pc_command_timeout.detach();
jah128 0:8a5497a2e366 845 if(tc == COMMAND_MESSAGE_BYTE) {
jah128 0:8a5497a2e366 846 // A complete command message succesfully received, call handler
jah128 0:8a5497a2e366 847 pc_command_message_started = 0;
jah128 0:8a5497a2e366 848 count = 0;
jah128 0:8a5497a2e366 849 IF_handle_command_serial_message(pc_command_message , 0);
jah128 0:8a5497a2e366 850 } else {
jah128 0:8a5497a2e366 851 // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message
jah128 0:8a5497a2e366 852 pc_command_message_started = 0;
jah128 0:8a5497a2e366 853 message_array[0] = COMMAND_MESSAGE_BYTE;
jah128 0:8a5497a2e366 854 message_array[1] = pc_command_message[0];
jah128 0:8a5497a2e366 855 message_array[2] = pc_command_message[1];
jah128 0:8a5497a2e366 856 message_array[3] = pc_command_message[2];
jah128 0:8a5497a2e366 857 message_array[4] = tc;
jah128 0:8a5497a2e366 858 count = 5;
jah128 0:8a5497a2e366 859 }
jah128 0:8a5497a2e366 860 } else {
jah128 0:8a5497a2e366 861 pc_command_message[pc_command_message_byte] = tc;
jah128 0:8a5497a2e366 862 pc_command_message_byte ++;
jah128 0:8a5497a2e366 863 }
jah128 0:8a5497a2e366 864 } else {
jah128 0:8a5497a2e366 865 if(count == 1) {
jah128 0:8a5497a2e366 866 if(tc == COMMAND_MESSAGE_BYTE) {
jah128 0:8a5497a2e366 867 pc_command_timeout.attach(&IF_pc_rx_command_timeout,command_timeout_period);
jah128 0:8a5497a2e366 868 pc_command_message_started = 1;
jah128 0:8a5497a2e366 869 pc_command_message_byte = 0;
jah128 0:8a5497a2e366 870
jah128 0:8a5497a2e366 871 }
jah128 0:8a5497a2e366 872 }
jah128 0:8a5497a2e366 873 }
jah128 0:8a5497a2e366 874 }
jah128 0:8a5497a2e366 875 if(!pc_command_message_started && count>0) IF_handle_user_serial_message(message_array, count, 0);
jah128 0:8a5497a2e366 876 }
alanmillard 20:e08376c0b4ea 877
alanmillard 20:e08376c0b4ea 878 Timeout bt_message_timeout;
alanmillard 20:e08376c0b4ea 879 static float bt_message_timeout_period = 0.001; // 1 millisecond
alanmillard 20:e08376c0b4ea 880 char bt_buffer[255];
alanmillard 20:e08376c0b4ea 881 int bt_buffer_index = 0;
alanmillard 20:e08376c0b4ea 882
alanmillard 20:e08376c0b4ea 883 void IF_bt_message_timeout()
alanmillard 20:e08376c0b4ea 884 {
alanmillard 20:e08376c0b4ea 885 char buffer[255];
alanmillard 20:e08376c0b4ea 886
alanmillard 20:e08376c0b4ea 887 sprintf(buffer, bt_buffer, bt_buffer_index);
alanmillard 20:e08376c0b4ea 888 buffer[bt_buffer_index] = 0;
alanmillard 20:e08376c0b4ea 889
alanmillard 20:e08376c0b4ea 890 // debug("BT message timeout: %s [%d chars]\n", buffer, bt_buffer_index);
alanmillard 20:e08376c0b4ea 891
alanmillard 20:e08376c0b4ea 892 IF_handle_user_serial_message(bt_buffer, bt_buffer_index, 1);
alanmillard 20:e08376c0b4ea 893
alanmillard 20:e08376c0b4ea 894 bt_buffer_index = 0;
alanmillard 20:e08376c0b4ea 895 }
alanmillard 20:e08376c0b4ea 896
jah128 0:8a5497a2e366 897 void IF_bt_rx_callback()
jah128 0:8a5497a2e366 898 {
alanmillard 20:e08376c0b4ea 899 while(bt.readable())
alanmillard 20:e08376c0b4ea 900 {
alanmillard 20:e08376c0b4ea 901 char byte = bt.getc();
alanmillard 20:e08376c0b4ea 902
alanmillard 20:e08376c0b4ea 903 bt_buffer[bt_buffer_index] = byte;
alanmillard 20:e08376c0b4ea 904 bt_buffer_index++;
alanmillard 20:e08376c0b4ea 905 }
alanmillard 20:e08376c0b4ea 906
alanmillard 20:e08376c0b4ea 907 bt_message_timeout.attach(&IF_bt_message_timeout, bt_message_timeout_period);
alanmillard 20:e08376c0b4ea 908 }
alanmillard 20:e08376c0b4ea 909
alanmillard 20:e08376c0b4ea 910 //void IF_bt_rx_callback()
alanmillard 20:e08376c0b4ea 911 //{
alanmillard 18:5921c1853e8a 912 // int count = 0;
alanmillard 18:5921c1853e8a 913 // char message_array[255];
alanmillard 18:5921c1853e8a 914 //
alanmillard 18:5921c1853e8a 915 // wait_ms(500); // Wait 0.5ms to allow a complete message to arrive before atttempting to process it
alanmillard 18:5921c1853e8a 916 //
alanmillard 18:5921c1853e8a 917 // while(bt.readable()) {
alanmillard 18:5921c1853e8a 918 // char tc = bt.getc();
alanmillard 18:5921c1853e8a 919 // message_array[count] = tc;
alanmillard 18:5921c1853e8a 920 // count ++;
alanmillard 18:5921c1853e8a 921 // if(bt_command_message_started == 1) {
alanmillard 18:5921c1853e8a 922 // if(bt_command_message_byte == 3) {
alanmillard 18:5921c1853e8a 923 // bt_command_timeout.detach();
alanmillard 18:5921c1853e8a 924 // if(tc == COMMAND_MESSAGE_BYTE) {
alanmillard 18:5921c1853e8a 925 // // A complete command message succesfully received, call handler
alanmillard 18:5921c1853e8a 926 // bt_command_message_started = 0;
alanmillard 18:5921c1853e8a 927 // count = 0;
alanmillard 18:5921c1853e8a 928 // IF_handle_command_serial_message(bt_command_message , 1);
alanmillard 18:5921c1853e8a 929 // } else {
alanmillard 18:5921c1853e8a 930 // // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message
alanmillard 18:5921c1853e8a 931 // bt_command_message_started = 0;
alanmillard 18:5921c1853e8a 932 // message_array[0] = COMMAND_MESSAGE_BYTE;
alanmillard 18:5921c1853e8a 933 // message_array[1] = bt_command_message[0];
alanmillard 18:5921c1853e8a 934 // message_array[2] = bt_command_message[1];
alanmillard 18:5921c1853e8a 935 // message_array[3] = bt_command_message[2];
alanmillard 18:5921c1853e8a 936 // message_array[4] = tc;
alanmillard 18:5921c1853e8a 937 // count = 5;
alanmillard 18:5921c1853e8a 938 // }
alanmillard 18:5921c1853e8a 939 // } else {
alanmillard 18:5921c1853e8a 940 // bt_command_timeout.attach(&IF_bt_rx_command_timeout,command_timeout_period);
alanmillard 18:5921c1853e8a 941 // bt_command_message[bt_command_message_byte] = tc;
alanmillard 18:5921c1853e8a 942 // bt_command_message_byte ++;
alanmillard 17:da524989b637 943 // }
alanmillard 18:5921c1853e8a 944 // } else {
alanmillard 18:5921c1853e8a 945 // if(count == 1) {
alanmillard 18:5921c1853e8a 946 // if(tc == COMMAND_MESSAGE_BYTE) {
alanmillard 18:5921c1853e8a 947 // bt_command_message_started = 1;
alanmillard 18:5921c1853e8a 948 // bt_command_message_byte = 0;
alanmillard 18:5921c1853e8a 949 //
alanmillard 18:5921c1853e8a 950 // }
alanmillard 18:5921c1853e8a 951 // }
alanmillard 17:da524989b637 952 // }
alanmillard 17:da524989b637 953 // }
alanmillard 18:5921c1853e8a 954 // if(!bt_command_message_started && count>0) IF_handle_user_serial_message(message_array, count, 1);
alanmillard 20:e08376c0b4ea 955 //}