Library for the PsiSwarm Robot - Version 0.4
Revision 3:7c0d1f581757, committed 2016-03-15
- Comitter:
- jah128
- Date:
- Tue Mar 15 00:58:09 2016 +0000
- Parent:
- 2:c6986ee3c7c5
- Commit message:
- Added to serial code; reverted back to old version of message handling [temporary fix?]
Changed in this revision
serial.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/serial.cpp Fri Mar 11 13:51:24 2016 +0000 +++ b/serial.cpp Tue Mar 15 00:58:09 2016 +0000 @@ -44,36 +44,6 @@ -void handle_user_serial_message(char * message, char length, char interface) -{ - // This is where user code for handling a (non-system) serial message should go - // - // message = pointer to message char array - // length = length of message - // interface = 0 for PC serial connection, 1 for Bluetooth - - if(interface) { - if(length == 8) { - for(int i = 0; i < length; i++) { - // Convert single byte value into a beacon heading in the range +/-180 degrees - float beacon_heading = message[i]; - float degrees_per_value = 256.0f / 360.0f; - - if(beacon_heading != 0) - beacon_heading /= degrees_per_value; - - beacon_heading -= 180; - - flocking_headings[i] = beacon_heading; - - debug("%d, ", flocking_headings[i]); - //debug("%f, ", beacon_heading); - } - - debug("\n"); - } - } -} void IF_start_file_transfer_mode() { @@ -364,7 +334,6 @@ sprintf(subcommand,"L=%1.3f R=%1.3f",l_dec,r_dec); if(allow_commands) { command_status = 1; - set_left_motor_speed(l_dec); set_right_motor_speed(r_dec); } else command_status = 2; @@ -570,6 +539,28 @@ display.write_string("DISCONNECTED"); } else command_status = 2; break; + case 5: + strcpy(subcommand,"MESSAGE 5"); + if(allow_commands) { + command_status = 1; + display.clear_display(); + display.home(); + display.write_string("PSI CONSOLE"); + display.set_position(1,0); + display.write_string("CONNECTED"); + } else command_status = 2; + break; + case 6: + strcpy(subcommand,"MESSAGE 6"); + if(allow_commands) { + command_status = 1; + display.clear_display(); + display.home(); + display.write_string("PSI CONSOLE"); + display.set_position(1,0); + display.write_string("DISCONNECTED"); + } else command_status = 2; + break; } break; case 21: @@ -909,6 +900,94 @@ send_message = 1; } else command_status = 2; break; + case 110: + strcpy(command,"GET FIRMWARE VERSION"); + sprintf(ret_message,"%1.2f",firmware_version); + send_message = 1; + break; + case 111: + strcpy(command,"GET SERIAL NUMBER"); + sprintf(ret_message,"%2.3f",serial_number); + send_message = 1; + break; + case 112: + strcpy(command,"GET HAS SIDE IR"); + sprintf(ret_message,"%d",has_side_ir); + send_message = 1; + break; + case 113: + strcpy(command,"GET HAS BASE IR"); + sprintf(ret_message,"%d",has_base_ir); + send_message = 1; + break; + case 114: + strcpy(command,"GET HAS ENCODERS"); + sprintf(ret_message,"%d",has_wheel_encoders); + send_message = 1; + break; + case 115: + strcpy(command,"GET HAS AUDIO"); + sprintf(ret_message,"%d",has_audio_pic); + send_message = 1; + break; + case 116: + strcpy(command,"GET HAS RECHARGING"); + sprintf(ret_message,"%d",has_recharging_circuit); + send_message = 1; + break; + case 117: + strcpy(command,"GET HAS COMPASS"); + sprintf(ret_message,"%d",has_compass); + send_message = 1; + break; + case 118: + strcpy(command,"GET HAS ULTRASONIC"); + sprintf(ret_message,"%d",has_ultrasonic_sensor); + send_message = 1; + break; + case 119: + strcpy(command,"GET HAS TEMPERATURE"); + sprintf(ret_message,"%d",has_temperature_sensor); + send_message = 1; + break; + case 120: + strcpy(command,"GET HAS BASE COLOUR"); + sprintf(ret_message,"%d",has_base_colour_sensor); + send_message = 1; + break; + case 121: + strcpy(command,"GET HAS TOP COLOUR"); + sprintf(ret_message,"%d",has_top_colour_sensor); + send_message = 1; + break; + case 122: + strcpy(command,"GET HAS RADIO"); + sprintf(ret_message,"%d",has_433_radio); + send_message = 1; + break; + case 123: + strcpy(command,"GET FIRMWARE H-DESC"); + char byte0 = 0; + char byte1 = 1; + if(has_side_ir)byte0+=128; + if(has_base_ir)byte0+=64; + if(has_wheel_encoders)byte0+=32; + if(has_audio_pic)byte0+=16; + if(has_recharging_circuit)byte0+=8; + if(has_compass)byte0+=4; + if(has_ultrasonic_sensor)byte0+=2; + if(has_temperature_sensor)byte0+=1; + if(has_base_colour_sensor)byte1+=128; + if(has_top_colour_sensor)byte1+=64; + if(has_433_radio)byte1+=32; + sprintf(ret_message,"%c%c",byte0,byte1); + send_message = 1; + break; + case 124: + strcpy(command,"GET PCB VERSION"); + sprintf(ret_message,"%1.2f",pcb_version); + send_message = 1; + break; } @@ -1113,17 +1192,19 @@ bt_buffer_index = 0; } -void IF_bt_rx_callback() -{ - while(bt.readable()) { - char byte = bt.getc(); - bt_buffer[bt_buffer_index] = byte; - bt_buffer_index++; - } +//void IF_bt_rx_callback() +//{ +// while(bt.readable()) { +// char byte = bt.getc(); +// +// bt_buffer[bt_buffer_index] = byte; +// bt_buffer_index++; +// } +// +// bt_message_timeout.attach(&IF_bt_message_timeout, bt_message_timeout_period); +//} - bt_message_timeout.attach(&IF_bt_message_timeout, bt_message_timeout_period); -} void IF_set_filename(char * filename_in){ strcpy(filename,filename_in); @@ -1195,49 +1276,49 @@ return crc_value; } -//void IF_bt_rx_callback() -//{ -// int count = 0; -// char message_array[255]; -// -// wait_ms(500); // Wait 0.5ms to allow a complete message to arrive before atttempting to process it -// -// while(bt.readable()) { -// char tc = bt.getc(); -// message_array[count] = tc; -// count ++; -// if(bt_command_message_started == 1) { -// if(bt_command_message_byte == 3) { -// bt_command_timeout.detach(); -// if(tc == COMMAND_MESSAGE_BYTE) { -// // A complete command message succesfully received, call handler -// bt_command_message_started = 0; -// count = 0; -// IF_handle_command_serial_message(bt_command_message , 1); -// } else { -// // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message -// bt_command_message_started = 0; -// message_array[0] = COMMAND_MESSAGE_BYTE; -// message_array[1] = bt_command_message[0]; -// message_array[2] = bt_command_message[1]; -// message_array[3] = bt_command_message[2]; -// message_array[4] = tc; -// count = 5; -// } -// } else { -// bt_command_timeout.attach(&IF_bt_rx_command_timeout,command_timeout_period); -// bt_command_message[bt_command_message_byte] = tc; -// bt_command_message_byte ++; -// } -// } else { -// if(count == 1) { -// if(tc == COMMAND_MESSAGE_BYTE) { -// bt_command_message_started = 1; -// bt_command_message_byte = 0; -// -// } -// } -// } -// } -// if(!bt_command_message_started && count>0) IF_handle_user_serial_message(message_array, count, 1); -//} \ No newline at end of file +void IF_bt_rx_callback() +{ + int count = 0; + char message_array[255]; + + wait_ms(500); // Wait 0.5ms to allow a complete message to arrive before atttempting to process it + + while(bt.readable()) { + char tc = bt.getc(); + message_array[count] = tc; + count ++; + if(bt_command_message_started == 1) { + if(bt_command_message_byte == 3) { + bt_command_timeout.detach(); + if(tc == COMMAND_MESSAGE_BYTE) { + // A complete command message succesfully received, call handler + bt_command_message_started = 0; + count = 0; + IF_handle_command_serial_message(bt_command_message , 1); + } else { + // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message + bt_command_message_started = 0; + message_array[0] = COMMAND_MESSAGE_BYTE; + message_array[1] = bt_command_message[0]; + message_array[2] = bt_command_message[1]; + message_array[3] = bt_command_message[2]; + message_array[4] = tc; + count = 5; + } + } else { + bt_command_timeout.attach(&IF_bt_rx_command_timeout,command_timeout_period); + bt_command_message[bt_command_message_byte] = tc; + bt_command_message_byte ++; + } + } else { + if(count == 1) { + if(tc == COMMAND_MESSAGE_BYTE) { + bt_command_message_started = 1; + bt_command_message_byte = 0; + + } + } + } + } + if(!bt_command_message_started && count>0) IF_handle_user_serial_message(message_array, count, 1); +} \ No newline at end of file