Command_handler.h

00001 #pragma once
00002 #ifndef COMMAND_HANDLER_H
00003 #define COMMAND_HANDLER_H
00004 #include <messages.h>
00005 #include <processes.h>
00006 
00007 //DigitalOut led2(LED2); 
00008 extern BusOut leds;
00009 template<> OS_PROCESS void Command_handler::Exec() //serial stream handling process
00010 {
00011     //led2 = 0;
00012     char RX_Command[100] = "";
00013     RX_Command[99] = '\0';
00014    
00015     for(;;)
00016     {       
00017        
00018        //RX_channel.pop(temp);
00019        for(byte i = 0; i<100; i++)
00020        {            
00021             RX_channel.pop(RX_Command[i]);
00022             leds = 0x4;
00023             if(i == 99)
00024                 {
00025                     RX_Command[i] = '\0';                    
00026                 }
00027             //pc.putc(RX_Command[i]);
00028             if(RX_Command[i] == '\0')  //keep popping chars until a delimiter is found
00029                break;
00030        }
00031       //led2 = !led2; 
00032       TX_channel.write(RX_Command, strlen(RX_Command)+1); //output the command for debugging
00033       TX_channel.push('\n');
00034       //char temp = 0;
00035       //TX_channel.pop(temp);
00036       //OUT->putc(temp);
00037       //OUT->printf(RX_Command);
00038       
00039         if (strstr(RX_Command,"SER:") != NULL) //check for Serv: in the command - this will indicate that the command is destined for the servo process
00040             {
00041                SER_channel.write(RX_Command, strlen(RX_Command)+1);
00042                //Servo_Command_Event.Signal();                
00043              }
00044             
00045         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
00046             {
00047 
00048                PING_MESSAGE = 0;
00049                PING_MESSAGE.send();
00050              }    
00051         
00052         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
00053         {
00054 
00055            PING_MESSAGE = 1;
00056            PING_MESSAGE.send();
00057          }    
00058         
00059         else if (strstr(RX_Command, "MOT:") != NULL) //check to see if incoming motor control command
00060         {
00061             MOT_channel.write(RX_Command, strlen(RX_Command)+1);
00062             
00063         }
00064         else if (strstr(RX_Command, "MO2:") != NULL) //this command will deal with both motors
00065         {
00066             MOT_channel.write(RX_Command, strlen(RX_Command)+1);
00067             
00068         }
00069         
00070         else if (strstr(RX_Command, "ACR") != NULL) //check to see if incoming motor control command
00071         { //OS::message<byte> ACCELEROMETER_MESSAGE; //if message is a zero, then return acceleration once, if a 1 then continually return acceleration data         
00072                          
00073                 ACCELEROMETER_MESSAGE = 1;
00074                 ACCELEROMETER_MESSAGE.send(); //send the message
00075             
00076         }        
00077         else if (strstr(RX_Command, "ACC") != NULL) //check to see if incoming motor control command
00078         { //OS::message<byte> ACCELEROMETER_Message; //if message is a zero, then return acceleration once, if a 1 then continually return acceleration data         
00079                          
00080                 ACCELEROMETER_MESSAGE = 0;
00081                 ACCELEROMETER_MESSAGE.send(); //send the message
00082             
00083         }
00084         leds = 0x4;
00085     }
00086     
00087 }  
00088 
00089 
00090 #endif
00091