Greg Kuhn / Mbed 2 deprecated scmRTOS_test

Program to control an accelerometer, motors and a rangefinder using the ScmRTOS ported to mbed. (Work in progress and buggy)

Dependencies:   mbed

Hexacopter/Command_handler.h

Committer:
jberry
Date:
2010-11-01
Revision:
0:9b057566f9ee

File content as of revision 0:9b057566f9ee:

#pragma once
#ifndef COMMAND_HANDLER_H
#define COMMAND_HANDLER_H
#include <messages.h>
#include <processes.h>

//DigitalOut led2(LED2); 
extern BusOut leds;
template<> OS_PROCESS void Command_handler::Exec() //serial stream handling process
{
    //led2 = 0;
    char RX_Command[100] = "";
    RX_Command[99] = '\0';
   
    for(;;)
    {       
       
       //RX_channel.pop(temp);
       for(byte i = 0; i<100; i++)
       {            
            RX_channel.pop(RX_Command[i]);
            leds = 0x4;
            if(i == 99)
                {
                    RX_Command[i] = '\0';                    
                }
            //pc.putc(RX_Command[i]);
            if(RX_Command[i] == '\0')  //keep popping chars until a delimiter is found
               break;
       }
      //led2 = !led2; 
      TX_channel.write(RX_Command, strlen(RX_Command)+1); //output the command for debugging
      TX_channel.push('\n');
      //char temp = 0;
      //TX_channel.pop(temp);
      //OUT->putc(temp);
      //OUT->printf(RX_Command);
      
        if (strstr(RX_Command,"SER:") != NULL) //check for Serv: in the command - this will indicate that the command is destined for the servo process
            {
               SER_channel.write(RX_Command, strlen(RX_Command)+1);
               //Servo_Command_Event.Signal();                
             }
            
        else if (strstr(RX_Command,"PIN") != NULL) //check for PING in the command - this will indicate that the command is destined for the PING process
            {

               PING_MESSAGE = 0;
               PING_MESSAGE.send();
             }    
        
        else if (strstr(RX_Command,"PIC") != NULL) //check for PING in the command - this will indicate that the command is destined for the PING process
        {

           PING_MESSAGE = 1;
           PING_MESSAGE.send();
         }    
        
        else if (strstr(RX_Command, "MOT:") != NULL) //check to see if incoming motor control command
        {
            MOT_channel.write(RX_Command, strlen(RX_Command)+1);
            
        }
        else if (strstr(RX_Command, "MO2:") != NULL) //this command will deal with both motors
        {
            MOT_channel.write(RX_Command, strlen(RX_Command)+1);
            
        }
        
        else if (strstr(RX_Command, "ACR") != NULL) //check to see if incoming motor control command
        { //OS::message<byte> ACCELEROMETER_MESSAGE; //if message is a zero, then return acceleration once, if a 1 then continually return acceleration data         
                         
                ACCELEROMETER_MESSAGE = 1;
                ACCELEROMETER_MESSAGE.send(); //send the message
            
        }        
        else if (strstr(RX_Command, "ACC") != NULL) //check to see if incoming motor control command
        { //OS::message<byte> ACCELEROMETER_Message; //if message is a zero, then return acceleration once, if a 1 then continually return acceleration data         
                         
                ACCELEROMETER_MESSAGE = 0;
                ACCELEROMETER_MESSAGE.send(); //send the message
            
        }
        leds = 0x4;
    }
    
}  


#endif