Alan Millard / Mbed 2 deprecated BeautifulMemeProjectBT

Bluetooth communication for flocking.

Dependencies:   mbed

Fork of BeautifulMemeProject by James Hilder

PsiSwarm/serial.cpp@6:ff3c66f7372b, 2015-10-22 (annotated)

Committer:
jah128
Date:
Thu Oct 22 00:46:14 2015 +0000
Revision:
6:ff3c66f7372b
Parent:
0:8a5497a2e366
Child:
17:da524989b637
Initial version: beacon detection and sync. code, bearing estimation.

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