Diff: SerialCom.cpp

Revision:

0:fbdae7e6d805

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialCom.cpp	Mon May 14 11:29:06 2018 +0000
@@ -0,0 +1,182 @@
+/*
+ * SerialServer.cpp
+ * Copyright (c) 2017, ZHAW
+ * All rights reserved.
+ *
+ *  Created on: 05.06.2017
+ *      Author: Marcel Honegger
+ */
+
+
+#include <mbed.h>
+#include <iostream>
+#include <string>
+#include <sstream>
+#include <vector>
+#include "SerialCom.h"
+
+using namespace std;
+
+const float SerialCom::PERIOD = 0.0001f;     // the period of the timer interrupt, given in [s]
+const char SerialCom::DELIM = ',';
+
+/**
+ * Create a serial server object.
+ 
+
+ 
+SerialServer::SerialServer(RawSerial& serial, StateMachine& stateMachine) : serial(serial), stateMachine(stateMachine), thread(osPriorityRealtime, STACK_SIZE) {
+*/
+SerialCom::SerialCom(RawSerial& serial) : serial(serial), thread(osPriorityRealtime, STACK_SIZE) { 
+    // initialize local values
+    
+    input.clear();
+    
+    // start thread and ticker timer interrupt service routine
+    dataRecived = false;
+    
+    gainG = 1.1f;
+    gain_dG = 1.1f;
+    
+    thread.start(callback(this, &SerialCom::run));
+    ticker.attach(callback(this, &SerialCom::sendSignal), PERIOD);
+}
+
+/**
+ * Delete the serial server object and release all allocated resources.
+ */
+SerialCom::~SerialCom() {
+    
+    ticker.detach();
+}
+
+/**
+ * This method is called by the ticker timer interrupt service routine.
+ * It sends a signal to the thread to make it run again.
+ */
+void SerialCom::sendSignal() {
+    
+    thread.signal_set(signal);
+}
+
+/**
+ * This <code>run()</code> method contains an infinite loop with the run logic.
+ */
+void SerialCom::run() {
+    
+    //Serial pc(PA_2, PA_3); // tx, rx
+    //pc.baud(9600);
+    
+    Serial pc1(USBTX, USBRX); // tx, rx
+    pc1.baud(100000);
+    
+    while (true) {
+        
+        // wait for the periodic signal
+        
+        thread.signal_wait(signal);
+        
+        
+        
+        // read received characters while buffer is full
+        
+        while (serial.readable()) {
+            int32_t c = serial.getc();
+            //if (input.size() >= MESSAGE_SIZE) input.erase(0, 1);
+            input += static_cast<uint8_t>(c);
+        }
+        
+        // try to decode a message
+        
+        if (input[input.size()-1] != '&') {
+            
+            // message is too short, keep reading...
+            
+        } else {
+            //pc.printf("command: %s\r\n", input);
+            splitString();
+            if (tokens[0] == "M") {
+                if (tokens.size() == 45+2) {
+                    float newK[3][15];
+                    int y = 0;
+                    int x = 0;
+                    float checksum = 0;       
+                    for (int i=1; i < tokens.size()-1; i++) {
+                        newK[y][x] = strtof((tokens[i]).c_str(), 0);
+                        //pc.printf("Element %d ,  %d: %.10f\r\n", y, x, newK[y][x]);
+                        x++;
+                        checksum += newK[y][x];
+                        if (x == 15){
+                            x = 0;
+                            y++;
+                        }
+                    }
+                }
+                else{
+                    //pc.printf("Data to short od long\r\n");
+                }
+                  
+            }
+            else if (tokens[0] == "G") {
+                //pc.printf("Send data to pc\r\n");
+                if(sendData == false) {
+                    sendData = true;
+                    runCount = 0;
+                }
+                else{
+                    sendData = false;
+                }
+            }
+                
+            else if (tokens[0] == "N") {
+                //pc.printf("\r\nN\r\n");
+                float data[4] = {};
+                for (int i=1; i < tokens.size(); i++) {
+                    data[i-1] = strtof((tokens[i]).c_str(), 0);
+                    //pc.printf("Element %d %.2f\r\n", i,data[i-1]);
+                }
+                this->gainG = data[0];
+                this->gain_dG = data[1];
+                this->offsetX = data[2];
+                this->offsetY = data[3];
+                this->dataRecived = true;
+                //pc1.printf("\r\ %d %.2f %.2f\r\n",dataRecived,gainG,gain_dG);
+                
+            }
+            else{
+                //pc.printf("Command not understood\r\n");    
+            }
+            
+           
+            tokens.clear();
+            input.clear();
+
+      
+        }
+        if(sendData == true) {
+            if (output.size() == 0 && runCount >= 1000){
+                output += "Hello nicolas\n";
+                runCount = 0;
+            }
+        } 
+        runCount++;
+        while (serial.writeable() && (output.size() > 0)) {
+            serial.putc(output[0]);
+            output.erase(0, 1);
+        }    
+
+    }
+    
+}
+
+
+void SerialCom::splitString() {
+    stringstream ss(input);
+    string item;
+    while (getline(ss, item, DELIM)) {
+        tokens.push_back(item);
+   } 
+    return;
+}
+
+