Diff: laser.cpp

Revision:

11:0dafbbb3a686

Parent:

10:d37cd13dd529

Child:

12:cf8af0b4e0d2

--- a/laser.cpp	Tue Dec 22 03:46:12 2015 +0000
+++ b/laser.cpp	Tue Dec 22 04:22:12 2015 +0000
@@ -12,80 +12,8 @@
     char cmd[] = "0 -1 10 doMeasDistExt\n";   // single reading averaged over 10 measurements
     //char cmd[] = "0 -1 -1 doMeasDistExt\n";     // single reading of single measurement - This could make the laser to lock up and may need reseting
 
-
     sendCommand(cmd);
-
     processResponse();
-//    float distance = -5;
-//        vector<char*> v;
-//
-//        split(buf, ' ', v);
-//
-//        if (v.size() != 6 || atoi(v[1]) != 0 || strcmp(v[5], "Reply") != 0) {
-//            // there is an error
-//            distanceCallback(-1.0);
-//        } else {
-//            distance = atoi(v[2]) / 1000000.0; // distance in m
-//            distanceCallback(distance);
-//        }
-//
-//
-//  // processBuffer();
-
-//  float distance =  getDistance();
-//  distanceCallback(distance);
-}
-
-void Laser::processBuffer()
-{
-    //float distance;
-//    vector<char*> v;
-//   // debugCallback(buf);
-//
-//    split(buf, ' ', v);
-//
-//    if (v.size() != 6 || atoi(v[1]) != 0 || strcmp(v[5], "Reply") != 0) {
-//        // there is an error
-//        distanceCallback(-1.0);
-//    } else
-//    {
-//        distance = atoi(v[2]) / 1000000.0; // distance in m
-//        distanceCallback(distance);
-//    }
-
-
-    float distance = -5;
-    vector<char*> v;
-
-    split(buf, ' ', v);
-
-    if (v.size() != 6 || atoi(v[1]) != 0 || strcmp(v[5], "Reply") != 0) {
-        // there is an error
-        distanceCallback(-1.0, 0.0);
-    } else {
-        float elapsed =  (float)(timer.read_us()/1000.0);      // elapsed in ms
-        distance = atoi(v[2]) / 1000000.0; // distance in m
-        distanceCallback(distance, elapsed);
-    }
-}
-
-
-
-void Laser::enableMeasurement(bool enable)
-{
-    if (enable)
-        sendCommand(";\n");
-    else
-        sendCommand("switchMeasOff\n");
-}
-
-void Laser::setRedDot(bool on)
-{
-    if(on) {
-        char cmd[] = "0 -1 10 doMeasDistExt\n";     // doing a measurement turns the redDot on
-        sendCommand(cmd);
-    } else
-        sendCommand("switchMeasOff\n");
 }
 
 bool Laser::sendCommand(char cmd[])
@@ -100,34 +28,10 @@
     }
 
     return true;
-
-    //  return processResponse();
 }
 
 bool Laser::processResponse()
 {
-
-    // // Note: Need to actually read from the serial to clear the RX interrupt
-//        char c = 0;
-//        uint16_t count = 0;
-//        idx = 0;
-//        do {
-//            if(serial.readable()) {
-//                buf[idx++] = serial.getc();
-//            }
-//            else{wait_us(100);}
-//        } while (c != '\n' && idx < bufSize && count++ < 5000);  // timeout after about 500ms and ensure no overflow
-//
-//        if (count >= 5000 || idx == 0 || idx >= bufSize) return false;  // timeout or overflow
-//
-//        // now that we have the reply parse it
-//        buf[idx - 1] = 0;        // null terminate the string
-//
-//       // processBuffer();
-//        return true;
-
-
-
     int i = 0;
     char c = 0;
     uint16_t count = 0;
@@ -166,10 +70,25 @@
         distanceCallback(distance, elapsed);
     }
 
-//processBuffer();
     return true;
 }
 
+void Laser::enableMeasurement(bool enable)
+{
+    if (enable)
+        sendCommand(";\n");
+    else
+        sendCommand("switchMeasOff\n");
+}
+
+void Laser::setRedDot(bool on)
+{
+    if(on) {
+        char cmd[] = "0 -1 10 doMeasDistExt\n";     // doing a measurement turns the redDot on
+        sendCommand(cmd);
+    } else
+        sendCommand("switchMeasOff\n");
+}
 
 void Laser::split(char str[], char c, std::vector<char*>& v)
 {
@@ -182,18 +101,6 @@
     }
 }
 
-void Laser::processRxData(char c)
-{
-    if(c != '\n') {
-        buf[idx++] = c;
-        if(idx == bufSize) idx = 0;      // avoid overflow
-    } else {
-        buf[idx] = 0;       // null terminate the string
-        processBuffer();
-        idx = 0;
-    }
-}
-
 void Laser::setDistaceCallback(void (*callback)(float, float))
 {
     distanceCallback = callback;
@@ -204,7 +111,6 @@
     debugCallback = callback;
 }
 
-
 Laser::~Laser()
 {
     enableMeasurement(false);
@@ -212,6 +118,19 @@
 
 
 
+
+//void Laser::processRxData(char c)
+//{
+//    if(c != '\n') {
+//        buf[idx++] = c;
+//        if(idx == bufSize) idx = 0;      // avoid overflow
+//    } else {
+//        buf[idx] = 0;       // null terminate the string
+//        processBuffer();
+//        idx = 0;
+//    }
+//}
+
 //float Laser::getDistance()
 //{
 //    float distance = -4.0;
@@ -255,3 +174,36 @@
 //    return distance;
 //}
 
+//void Laser::processBuffer()
+//{
+//    //float distance;
+////    vector<char*> v;
+////   // debugCallback(buf);
+////
+////    split(buf, ' ', v);
+////
+////    if (v.size() != 6 || atoi(v[1]) != 0 || strcmp(v[5], "Reply") != 0) {
+////        // there is an error
+////        distanceCallback(-1.0);
+////    } else
+////    {
+////        distance = atoi(v[2]) / 1000000.0; // distance in m
+////        distanceCallback(distance);
+////    }
+//
+//
+//    float distance = -5;
+//    vector<char*> v;
+//
+//    split(buf, ' ', v);
+//
+//    if (v.size() != 6 || atoi(v[1]) != 0 || strcmp(v[5], "Reply") != 0) {
+//        // there is an error
+//        distanceCallback(-1.0, 0.0);
+//    } else {
+//        float elapsed =  (float)(timer.read_us()/1000.0);      // elapsed in ms
+//        distance = atoi(v[2]) / 1000000.0; // distance in m
+//        distanceCallback(distance, elapsed);
+//    }
+//}
+