![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
Serial interrupt and parsing
Diff: main.cpp
- Revision:
- 0:d33d2745b11b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Sun Jul 24 23:58:30 2016 +0000 @@ -0,0 +1,90 @@ +#include "mbed.h" +#include <string> +#include <vector> +// Need to create sensor library to handle all the sensor readings + +DigitalOut led1(LED1); +DigitalOut led2(LED2); + +Serial pc(USBTX, USBRX); + +typedef struct { + string direction; //Forward or Downward facing gives context for the values of x and y + float x; + float y; + float yaw; + float depth; +} message; + +typedef struct { + float w_yaw; + float w_pitch; + float w_roll; + float yaw; + float pitch; + float roll; +} orientation; + +typedef struct { + float depth; //From pressure sensor + float velsurge; //from flow meter + float accelsurge; //forward + float accelsway; //side to side + float accelheave; //downwards +} translation; + + +orientation vehicle_att; +translation vehicle_trans; +message vehicle_cmd; + +#define BUFFER_SIZE 255 + +char buffer[BUFFER_SIZE] = {' '}; +int buffer_iter = 0; + +void callback() { + char c = 0; + string packet; + string command; + float x, y, yaw, depth; + + // Note: you need to actually read from the serial to clear the RX interrupt + if (pc.readable()) { + do { + c = pc.getc(); + buffer[buffer_iter] = c; + buffer_iter++; + } + while (buffer_iter < BUFFER_SIZE && c != '\n'); + + command = strtok (buffer," ,\n"); + x = atof(strtok (NULL, " ,\n")); + y = atof(strtok (NULL, " ,\n")); + yaw = atof(strtok (NULL, " ,\n")); + depth = atof(strtok (NULL, " ,\n")); + pc.printf("Received Command: %s, X: %f, Y: %f, Yaw: %f, Depth: %f\n", command, x, y, yaw); + + memset(buffer, ' ', sizeof(buffer)); + buffer_iter = 0; + fflush(stdout); + + vehicle_cmd.direction = command; + vehicle_cmd.x = x; + vehicle_cmd.y = y; + vehicle_cmd.yaw = yaw; + vehicle_cmd.depth = depth; + } +} + + +int main() { + pc.attach(&callback); + + while (1) { + led1 = !led1; + pc.printf("Current Command: %s, X: %f, Y: %f, Yaw: %f, Depth: %f\n", vehicle_cmd.direction, vehicle_cmd.x, vehicle_cmd.y, + vehicle_cmd.yaw, vehicle_cmd.depth); + wait_ms(500); + } +} \ No newline at end of file