Diff: main.cpp

Revision:

4:4eebb4de22a7

Parent:

3:843b830ee8bd

Child:

6:98fe30430194

--- a/main.cpp	Wed Nov 11 03:45:30 2015 +0000
+++ b/main.cpp	Mon Nov 16 01:15:45 2015 +0000
@@ -12,8 +12,6 @@
 #define BACKLIGHT_ON(INTERFACE) INTERFACE->write_bit(1, 4);
 #define BACKLIGHT_OFF(INTERFACE) INTERFACE->write_bit(0, 4);
 
-#define PRINT_LCD(TEXT) lcd->printf(TEXT);
-#define CLEAR_LCD() lcd->cls();
 #define LCDFL() lcd->locate(0,0);
 #define LCDSL() lcd->locate(1,0);
 #define D_LEDS_OFF() i2cport->write_bit(0, 12); i2cport->write_bit(0, 13); i2cport->write_bit(0, 14); i2cport->write_bit(0, 15);
@@ -31,24 +29,26 @@
 Serial      pc(USBTX, USBRX);
 uint8_t     rxBuffer[5 + 1];
 
-Command     myCommand;
+Command     *myCommand;
 bool connectedToPC = false;
 
 void detectPC();
 
-void initInternal(){
+void initInternal()
+{
     i2cport = new MCP23017(p9, p10, 0x40);
     lcd = new WattBob_TextLCD(i2cport);
     myLED1 = 1;
     BACKLIGHT_ON(i2cport);
-    CLEAR_LCD();
+    lcd->cls();
     LCDFL();
-    PRINT_LCD("Initilizing...");
+    lcd->printf("Initilizing...");
     myLED2 = 1;
     return;
 }
 
-void initPort(int baudRate=gBaudRate){
+void initPort(int baudRate=gBaudRate)
+{
     myLED3 = 1;
     pc.baud(baudRate);
     pc.format(8, SerialBase::None, gStopBits);
@@ -57,7 +57,8 @@
     return;
 }
 
-int readSwitches(){
+int readSwitches()
+{
     do {
         if(i2cport->read_bit(8)) {
             return 1;
@@ -73,8 +74,9 @@
     } while (1);
 }
 
-void detectPC(){
-    CLEAR_LCD();
+void detectPC()
+{
+    lcd->cls();
     LCDFL();
     lcd->printf("Detected PC.");
     LCDSL();
@@ -82,117 +84,124 @@
     initPort();
 }
 
-bool displayAboardDialog(){
-    CLEAR_LCD();
+bool displayAboardDialog()
+{
+    lcd->cls();
     LCDFL();
     lcd->printf("Aboard operation?");
     LCDSL();
     lcd->printf("1: YES, 2,3,4: NO");
     int reply = readSwitches();
-    if (reply == 1) { return true; }
-    else { return false; }
+    if (reply == 1) {
+        return true;
+    } else {
+        return false;
+    }
 }
 
-int main(){
-        initInternal();
-        initPort();
-        srand((unsigned)time(NULL));
-        U_LEDS_OFF();
-        CLEAR_LCD();
-        myLED1 = 1;
-        
-        // Create a serial intereput for RxIrq so when PC is connected it sends '$' to tell MBED it's there.
-        // https://developer.mbed.org/cookbook/Serial-Interrupts
-        
-        for (;;) {
-            i2cport->write_bit(1, 12);
-            lcd->printf("1: Start sorting.");
-            LCDSL();
-            i2cport->write_bit(1,13);
-            lcd->printf("2: Connect to PC");
+int main()
+{
+    initInternal();
+    initPort();
+    srand((unsigned)time(NULL));
+    U_LEDS_OFF();
+    lcd->cls();
+    myLED1 = 1;
+
+    // Create a serial intereput for RxIrq so when PC is connected it sends '$' to tell MBED it's there.
+    // https://developer.mbed.org/cookbook/Serial-Interrupts
 
-            int selection = 0;
-            do {
-                selection = readSwitches();
-            } while (selection == 1 || selection == 2);
+    for (;;) {
+        i2cport->write_bit(1, 12);
+        lcd->printf("1: Start sorting.");
+        LCDSL();
+        i2cport->write_bit(1,13);
+        lcd->printf("2: Connect to PC");
+
+        int selection = 0;
+        do {
+            selection = readSwitches();
+        } while (selection == 1 || selection == 2);
 
-            if (selection == 1) {
-                // User selected op 1: Start sorting autonomaously.
-                i2cport->write_bit(0, 13);
-                CLEAR_LCD();
-                LCDFL();
-                lcd->printf("Starting sorting operation");
-                wait(1);
+        if (selection == 1) {
+            // User selected op 1: Start sorting autonomaously.
+            i2cport->write_bit(0, 13);
+            lcd->cls();
+            LCDFL();
+            lcd->printf("Starting sorting operation");
+            wait(1);
 
-                for(;;) {
-                    CLEAR_LCD();
-                    lcd->printf("Waiting for block");
-                    i2cport->write_bit(1, 15);
-                    bool aboardOperation = false;
+            for(;;) {
+                lcd->cls();
+                lcd->printf("Waiting for block");
+                i2cport->write_bit(1, 15);
+                bool aboardOperation = false;
 
-                    int blockInserted = 0;
-                    // Wait until a block is breaking the beam, or button 4 is pressed to aboard.
-                    do {
-                        blockInserted = blockIsInserted();
-                        if (i2cport->read_bit(11)) {
-                            aboardOperation = displayAboardDialog();
-                            // Cancel the aboard 
-                            if (aboardOperation == false) {
-                                CLEAR_LCD();
-                                LCDFL();
-                                lcd->printf("Waiting for block");
-                            }
+                int blockInserted = 0;
+                // Wait until a block is breaking the beam, or button 4 is pressed to aboard.
+                do {
+                    blockInserted = checkForBlock();
+                    if (i2cport->read_bit(11)) {
+                        aboardOperation = displayAboardDialog();
+                        // Cancel the aboard
+                        if (aboardOperation == false) {
+                            lcd->cls();
+                            LCDFL();
+                            lcd->printf("Waiting for block");
                         }
-                    } while (aboardOperation == false && blockInserted != 1);
-                    
-                    // Break and return to main menu i.e. Start Op, or Connect to PC.
-                    if (aboardOperation == true) { break; }
-                    // Cannot aboard any longer. Block is inserted.
-                    int largeBlock = blockIsLarge();
-                    
-                    if (largeBlock == hazBlock.blockSizeEnum){
+                    }
+                } while (aboardOperation == false && blockInserted != 1);
+
+                // Break and return to main menu i.e. Start Op, or Connect to PC.
+                if (aboardOperation == true) {
+                    break;
+                }
+                // Cannot aboard any longer. Block is inserted.
+                int largeBlock = blockIsLarge();
+
+                if (largeBlock == hazBlock.blockSizeEnum) {
 //                        detectColour()
-                        CLEAR_LCD();
-                        lcd->printf("Detecting Colour");
-                    }
-                   } 
-                    
+                    lcd->cls();
+                    lcd->printf("Detecting Colour");
                 }
-
-                else if (selection == 2) {
-                    // Wait for PC to send '$' char to make sure it's there.
-                    CLEAR_LCD();
-                    LCDFL();
-                    lcd->printf("Waiting for PC...");
-                    LCDSL();
-                    lcd->printf("4: Main Menu");
-                    
-                }
-
             }
-        
-        
-        FOREVER {
-            pc.printf("In FOREVER\n");
-            Type type = INVALID;
-            pc.printf("Type set to: %i\r\n", type);
-            do {
-                pc.printf("In DO-WHILE loop\r\n");
-                type = listenForCommand();
-                if (i2cport->read_bit(8)){
-                    pc.printf("Listening\r\n");
-                }
-            } while (type == -1);
-            
-            pc.printf("Command Inbound\r\n");
-            
-            myCommand.typeEnum = type;
-            pc.printf("Type: %i\r\n-------------\r\n", myCommand.typeEnum);
-            recieveCommand(&myCommand, type);
-            
-            pc.printf("inputstring:%s\r\n%s\r\n<%s>\r\n%s;\r\n", myCommand.inputString, myCommand.commandType, myCommand.commandObject, myCommand.commandString);
+
+        }
+
+        else if (selection == 2) {
+            // Wait for PC to send '$' char to make sure it's there.
+            lcd->cls();
+            LCDFL();
+            lcd->printf("Waiting for PC...");
+            LCDSL();
+            lcd->printf("4: Main Menu");
+
+        }
+
+    }
+
+
+    FOREVER {
+        pc.printf("In FOREVER\n");
+        Type type = INVALID;
+        pc.printf("Type set to: %i\r\n", type);
+        do {
+            pc.printf("In DO-WHILE loop\r\n");
+            type = listenForCommand();
+            if (i2cport->read_bit(8)) {
+                pc.printf("Listening\r\n");
+            }
+        } while (type == -1);
+
+        pc.printf("Command Inbound\r\n");
+
+        myCommand.typeEnum = type;
+        pc.printf("Type: %i\r\n-------------\r\n", myCommand.typeEnum);
+        recieveCommand(&myCommand, type);
+
+        pc.printf("inputstring:%s\r\n%s\r\n<%s>\r\n%s;\r\n", myCommand.inputString, myCommand.commandType, myCommand.commandObject, myCommand.commandString);
 //            decodeCommand(&myCommand);
-            
-            
-        }
+
+
+    }
 }
\ No newline at end of file