tarou yamada / serial_communication

Dependents:   communication

serial_communication.cpp@2:27ac6b5ec2d1, 2016-04-03 (annotated)

Committer:
inst
Date:
Sun Apr 03 14:18:34 2016 +0000
Revision:
2:27ac6b5ec2d1
Parent:
1:36cd04f61e68
Child:
3:7655bc258adf
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
inst 0:964bbeb0a1d3 1 #include "serial_communication.hpp"
inst 0:964bbeb0a1d3 2 #include "mbed.h"
inst 0:964bbeb0a1d3 3 #include "SimpleMapDeSerializer.hpp"
inst 1:36cd04f61e68 4 #include "communication.hpp"
inst 0:964bbeb0a1d3 5 #include <map>
inst 0:964bbeb0a1d3 6
inst 0:964bbeb0a1d3 7 serial_communication* serial_communication::instance_ = NULL;
inst 0:964bbeb0a1d3 8
inst 0:964bbeb0a1d3 9 serial_communication::serial_communication() : serial_(USBTX, USBRX),
inst 0:964bbeb0a1d3 10 semaphore_(true),
inst 0:964bbeb0a1d3 11 is_new_data_existing_(false) {
inst 1:36cd04f61e68 12 // 基準値で初期化
inst 1:36cd04f61e68 13 map_["stkLX"] = communication::velocity_offset_;
inst 1:36cd04f61e68 14 map_["stkLY"] = communication::velocity_offset_;
inst 2:27ac6b5ec2d1 15
inst 0:964bbeb0a1d3 16 serial_.baud(115200);
inst 0:964bbeb0a1d3 17 serial_.format(7, RawSerial::None, 1);
inst 0:964bbeb0a1d3 18 serial_.attach(this, &serial_communication::receive);
inst 0:964bbeb0a1d3 19 }
inst 0:964bbeb0a1d3 20
inst 0:964bbeb0a1d3 21 serial_communication::~serial_communication() {
inst 0:964bbeb0a1d3 22 delete instance_;
inst 0:964bbeb0a1d3 23 }
inst 0:964bbeb0a1d3 24
inst 1:36cd04f61e68 25 int serial_communication::get(string key) {
inst 0:964bbeb0a1d3 26 return map_[key];
inst 0:964bbeb0a1d3 27 }
inst 0:964bbeb0a1d3 28
inst 0:964bbeb0a1d3 29 bool serial_communication::update() {
inst 0:964bbeb0a1d3 30 if (is_new_data_existing_) {
inst 0:964bbeb0a1d3 31 is_new_data_existing_ = false;
inst 0:964bbeb0a1d3 32 SimpleMapSerialization::simpleMapDeSerializer(data_, ',', map_);
inst 0:964bbeb0a1d3 33 return true;
inst 0:964bbeb0a1d3 34 }
inst 0:964bbeb0a1d3 35
inst 0:964bbeb0a1d3 36 return false;
inst 0:964bbeb0a1d3 37 }
inst 0:964bbeb0a1d3 38
inst 0:964bbeb0a1d3 39 void serial_communication::receive() {
inst 0:964bbeb0a1d3 40 char c = serial_.getc();
inst 0:964bbeb0a1d3 41
inst 0:964bbeb0a1d3 42 switch (c) {
inst 0:964bbeb0a1d3 43 case '\n':
inst 0:964bbeb0a1d3 44 data_ = buffer_;
inst 0:964bbeb0a1d3 45 buffer_.erase();
inst 0:964bbeb0a1d3 46 buffer_ += "a,0,";
inst 0:964bbeb0a1d3 47 is_new_data_existing_ = true;
inst 0:964bbeb0a1d3 48
inst 0:964bbeb0a1d3 49 break;
inst 0:964bbeb0a1d3 50
inst 0:964bbeb0a1d3 51 case '\r':
inst 0:964bbeb0a1d3 52 break;
inst 0:964bbeb0a1d3 53
inst 0:964bbeb0a1d3 54 default:
inst 0:964bbeb0a1d3 55 //i2c.write(0x11 << 1, &c, 1);
inst 0:964bbeb0a1d3 56 buffer_ += c;
inst 0:964bbeb0a1d3 57 break;
inst 0:964bbeb0a1d3 58 }
inst 0:964bbeb0a1d3 59 }