James O'Keeffe / Mbed 2 deprecated BeaconDemo_RobotCodeNew

ft. button press reset

Dependencies:   mbed

Fork of BeaconDemo_RobotCode by Science Memeseum

PsiSwarm/serial.cpp@0:8a5497a2e366, 2015-10-03 (annotated)

Committer:
jah128
Date:
Sat Oct 03 22:48:50 2015 +0000
Revision:
0:8a5497a2e366
Child:
6:ff3c66f7372b
Initial commit of PsiSwarm API and example code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:8a5497a2e366 1 /* University of York Robotics Laboratory PsiSwarm Library: Serial Control Source File
jah128 0:8a5497a2e366 2 *
jah128 0:8a5497a2e366 3 * File: serial.cpp
jah128 0:8a5497a2e366 4 *
jah128 0:8a5497a2e366 5 * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
jah128 0:8a5497a2e366 6 *
jah128 0:8a5497a2e366 7 * PsiSwarm Library Version: 0.2
jah128 0:8a5497a2e366 8 *
jah128 0:8a5497a2e366 9 * September 2015
jah128 0:8a5497a2e366 10 *
jah128 0:8a5497a2e366 11 */
jah128 0:8a5497a2e366 12
jah128 0:8a5497a2e366 13 #include "psiswarm.h"
jah128 0:8a5497a2e366 14
jah128 0:8a5497a2e366 15 static float command_timeout_period = 0.1f; //If a complete command message is not received in 0.1s then consider it a user message
jah128 0:8a5497a2e366 16 char pc_command_message_started = 0;
jah128 0:8a5497a2e366 17 char pc_command_message_byte = 0;
jah128 0:8a5497a2e366 18 char pc_command_message[3];
jah128 0:8a5497a2e366 19 char bt_command_message_started = 0;
jah128 0:8a5497a2e366 20 char bt_command_message_byte = 0;
jah128 0:8a5497a2e366 21 char bt_command_message[3];
jah128 0:8a5497a2e366 22
jah128 0:8a5497a2e366 23
jah128 0:8a5497a2e366 24
jah128 0:8a5497a2e366 25 char allow_commands = 1;
jah128 0:8a5497a2e366 26 char allow_requests = 1;
jah128 0:8a5497a2e366 27
jah128 0:8a5497a2e366 28 Timeout pc_command_timeout;
jah128 0:8a5497a2e366 29 Timeout bt_command_timeout;
jah128 0:8a5497a2e366 30
jah128 0:8a5497a2e366 31
jah128 0:8a5497a2e366 32
jah128 0:8a5497a2e366 33 // A predefined message structure for command messages is as follows:
jah128 0:8a5497a2e366 34 // [Byte 0][Byte 1][Byte 2][Byte 3][Byte 4]
jah128 0:8a5497a2e366 35 // Byte 0 and Byte 4 must be equal to COMMAND_MESSAGE_BYTE [in psiswarm.h] or message is treated as a user message
jah128 0:8a5497a2e366 36
jah128 0:8a5497a2e366 37
jah128 0:8a5497a2e366 38 void handle_user_serial_message(char * message, char length, char interface)
jah128 0:8a5497a2e366 39 {
jah128 0:8a5497a2e366 40 //This is where user code for handling a (non-system) serial message should go
jah128 0:8a5497a2e366 41 //By default, nothing is done
jah128 0:8a5497a2e366 42 //
jah128 0:8a5497a2e366 43 //message = pointer to message char array
jah128 0:8a5497a2e366 44 //length = length of message
jah128 0:8a5497a2e366 45 //interface = 0 for PC serial connection, 1 for Bluetooth
jah128 0:8a5497a2e366 46 }
jah128 0:8a5497a2e366 47
jah128 0:8a5497a2e366 48 void IF_handle_user_serial_message(char * message, char length, char interface)
jah128 0:8a5497a2e366 49 {
jah128 0:8a5497a2e366 50 char buffer[255];
jah128 0:8a5497a2e366 51 sprintf(buffer,message,length);
jah128 0:8a5497a2e366 52 for(int i=0; i<length; i++) {
jah128 0:8a5497a2e366 53 buffer[i]=message[i];
jah128 0:8a5497a2e366 54 }
jah128 0:8a5497a2e366 55 buffer[length]=0;
jah128 0:8a5497a2e366 56 if(interface) debug("Received BT message:%s [%d chars]\n",buffer,length);
jah128 0:8a5497a2e366 57 else debug("Received USB message:%s [%d chars]\n",buffer,length);
jah128 0:8a5497a2e366 58 handle_user_serial_message(message,length,interface);
jah128 0:8a5497a2e366 59 }
jah128 0:8a5497a2e366 60
jah128 0:8a5497a2e366 61
jah128 0:8a5497a2e366 62 void IF_handle_command_serial_message(char message[3], char interface)
jah128 0:8a5497a2e366 63 {
jah128 0:8a5497a2e366 64 char iface [4];
jah128 0:8a5497a2e366 65 if(interface) strcpy(iface,"BT");
jah128 0:8a5497a2e366 66 else strcpy(iface,"USB");
jah128 0:8a5497a2e366 67 char command [26];
jah128 0:8a5497a2e366 68 char subcommand[30];
jah128 0:8a5497a2e366 69 float dec;
jah128 0:8a5497a2e366 70 float l_dec;
jah128 0:8a5497a2e366 71 float r_dec;
jah128 0:8a5497a2e366 72 int irp_delay;
jah128 0:8a5497a2e366 73 char colour_string[7];
jah128 0:8a5497a2e366 74 char ret_message[50];
jah128 0:8a5497a2e366 75 char send_message = 0;
jah128 0:8a5497a2e366 76 char command_status = 0;
jah128 0:8a5497a2e366 77 // command_status values:
jah128 0:8a5497a2e366 78 // 0 - unrecognised command
jah128 0:8a5497a2e366 79 // 1 - command actioned
jah128 0:8a5497a2e366 80 // 2 - command blocked
jah128 0:8a5497a2e366 81 // 3 - invalid parameters
jah128 0:8a5497a2e366 82
jah128 0:8a5497a2e366 83 subcommand[0]=0;
jah128 0:8a5497a2e366 84 command[0]=0;
jah128 0:8a5497a2e366 85 switch(message[0]) {
jah128 0:8a5497a2e366 86
jah128 0:8a5497a2e366 87 // MOTOR COMMANDS
jah128 0:8a5497a2e366 88
jah128 0:8a5497a2e366 89 case 1:
jah128 0:8a5497a2e366 90 strcpy(command,"SET LEFT MOTOR");
jah128 0:8a5497a2e366 91 dec = IF_decode_float(message[1],message[2]);
jah128 0:8a5497a2e366 92 sprintf(subcommand,"%1.5f",dec);
jah128 0:8a5497a2e366 93 if(allow_commands) {
jah128 0:8a5497a2e366 94 command_status = 1;
jah128 0:8a5497a2e366 95 set_left_motor_speed(dec);
jah128 0:8a5497a2e366 96 } else command_status = 2;
jah128 0:8a5497a2e366 97 break;
jah128 0:8a5497a2e366 98 case 2:
jah128 0:8a5497a2e366 99 strcpy(command,"SET RIGHT MOTOR");
jah128 0:8a5497a2e366 100 dec = IF_decode_float(message[1],message[2]);
jah128 0:8a5497a2e366 101 sprintf(subcommand,"%1.5f",dec);
jah128 0:8a5497a2e366 102 if(allow_commands) {
jah128 0:8a5497a2e366 103 set_right_motor_speed(dec);
jah128 0:8a5497a2e366 104 command_status = 1;
jah128 0:8a5497a2e366 105 } else command_status = 2;
jah128 0:8a5497a2e366 106 break;
jah128 0:8a5497a2e366 107 case 3:
jah128 0:8a5497a2e366 108 strcpy(command,"SET BOTH MOTORS");
jah128 0:8a5497a2e366 109 dec = IF_decode_float(message[1],message[2]);
jah128 0:8a5497a2e366 110 sprintf(subcommand,"%1.5f",dec);
jah128 0:8a5497a2e366 111 if(allow_commands) {
jah128 0:8a5497a2e366 112 command_status = 1;
jah128 0:8a5497a2e366 113 forward(dec);
jah128 0:8a5497a2e366 114 } else command_status = 2;
jah128 0:8a5497a2e366 115 break;
jah128 0:8a5497a2e366 116 case 4:
jah128 0:8a5497a2e366 117 strcpy(command,"BRAKE LEFT MOTOR");
jah128 0:8a5497a2e366 118 sprintf(subcommand,"");
jah128 0:8a5497a2e366 119 if(allow_commands) {
jah128 0:8a5497a2e366 120 command_status = 1;
jah128 0:8a5497a2e366 121 brake_left_motor();
jah128 0:8a5497a2e366 122 } else command_status = 2;
jah128 0:8a5497a2e366 123 break;
jah128 0:8a5497a2e366 124 case 5:
jah128 0:8a5497a2e366 125 strcpy(command,"BRAKE RIGHT MOTOR");
jah128 0:8a5497a2e366 126 sprintf(subcommand,"");
jah128 0:8a5497a2e366 127 if(allow_commands) {
jah128 0:8a5497a2e366 128 command_status = 1;
jah128 0:8a5497a2e366 129 brake_right_motor();
jah128 0:8a5497a2e366 130 } else command_status = 2;
jah128 0:8a5497a2e366 131 break;
jah128 0:8a5497a2e366 132 case 6:
jah128 0:8a5497a2e366 133 strcpy(command,"BRAKE BOTH MOTORS");
jah128 0:8a5497a2e366 134 sprintf(subcommand,"");
jah128 0:8a5497a2e366 135 if(allow_commands) {
jah128 0:8a5497a2e366 136 command_status = 1;
jah128 0:8a5497a2e366 137 brake();
jah128 0:8a5497a2e366 138 } else command_status = 2;
jah128 0:8a5497a2e366 139 break;
jah128 0:8a5497a2e366 140 case 7:
jah128 0:8a5497a2e366 141 strcpy(command,"STOP BOTH MOTORS");
jah128 0:8a5497a2e366 142 sprintf(subcommand,"");
jah128 0:8a5497a2e366 143 if(allow_commands) {
jah128 0:8a5497a2e366 144 command_status = 1;
jah128 0:8a5497a2e366 145 stop();
jah128 0:8a5497a2e366 146 } else command_status = 2;
jah128 0:8a5497a2e366 147 break;
jah128 0:8a5497a2e366 148 case 8:
jah128 0:8a5497a2e366 149 strcpy(command,"TURN ON SPOT");
jah128 0:8a5497a2e366 150 dec = IF_decode_float(message[1],message[2]);
jah128 0:8a5497a2e366 151 sprintf(subcommand,"%1.5f",dec);
jah128 0:8a5497a2e366 152 if(allow_commands) {
jah128 0:8a5497a2e366 153 command_status = 1;
jah128 0:8a5497a2e366 154 turn(dec);
jah128 0:8a5497a2e366 155 } else command_status = 2;
jah128 0:8a5497a2e366 156 break;
jah128 0:8a5497a2e366 157 case 9:
jah128 0:8a5497a2e366 158 strcpy(command,"SET EACH MOTOR");
jah128 0:8a5497a2e366 159 l_dec = IF_decode_float(message[1]);
jah128 0:8a5497a2e366 160 r_dec = IF_decode_float(message[2]);
jah128 0:8a5497a2e366 161 sprintf(subcommand,"L=%1.3f R=%1.3f",l_dec,r_dec);
jah128 0:8a5497a2e366 162 if(allow_commands) {
jah128 0:8a5497a2e366 163 command_status = 1;
jah128 0:8a5497a2e366 164
jah128 0:8a5497a2e366 165 set_left_motor_speed(l_dec);
jah128 0:8a5497a2e366 166 set_right_motor_speed(r_dec);
jah128 0:8a5497a2e366 167 } else command_status = 2;
jah128 0:8a5497a2e366 168 break;
jah128 0:8a5497a2e366 169 // LED COMMANDS
jah128 0:8a5497a2e366 170
jah128 0:8a5497a2e366 171 case 10:
jah128 0:8a5497a2e366 172 strcpy(command,"SET LED STATES");
jah128 0:8a5497a2e366 173 sprintf(subcommand,"G:%s R:%s",IF_char_to_binary_char(message[1]), IF_char_to_binary_char(message[2]));
jah128 0:8a5497a2e366 174 if(allow_commands) {
jah128 0:8a5497a2e366 175 command_status = 1;
jah128 0:8a5497a2e366 176 set_leds(message[1],message[2]);
jah128 0:8a5497a2e366 177 } else command_status = 2;
jah128 0:8a5497a2e366 178 break;
jah128 0:8a5497a2e366 179 case 11:
jah128 0:8a5497a2e366 180 strcpy(command,"SET RED LED STATES");
jah128 0:8a5497a2e366 181 sprintf(subcommand,"%s",IF_char_to_binary_char(message[1]));
jah128 0:8a5497a2e366 182 if(allow_commands) {
jah128 0:8a5497a2e366 183 command_status = 1;
jah128 0:8a5497a2e366 184 set_red_leds(message[1]);
jah128 0:8a5497a2e366 185 } else command_status = 2;
jah128 0:8a5497a2e366 186 break;
jah128 0:8a5497a2e366 187 case 12:
jah128 0:8a5497a2e366 188 strcpy(command,"SET GREEN LED STATES");
jah128 0:8a5497a2e366 189 sprintf(subcommand,"%s",IF_char_to_binary_char(message[1]));
jah128 0:8a5497a2e366 190 if(allow_commands) {
jah128 0:8a5497a2e366 191 command_status = 1;
jah128 0:8a5497a2e366 192 set_green_leds(message[1]);
jah128 0:8a5497a2e366 193 } else command_status = 2;
jah128 0:8a5497a2e366 194 break;
jah128 0:8a5497a2e366 195 case 13:
jah128 0:8a5497a2e366 196 strcpy(command,"SET LED");
jah128 0:8a5497a2e366 197 switch(message[2]) {
jah128 0:8a5497a2e366 198 case 1:
jah128 0:8a5497a2e366 199 strcpy(colour_string,"RED");
jah128 0:8a5497a2e366 200 break;
jah128 0:8a5497a2e366 201 case 2:
jah128 0:8a5497a2e366 202 strcpy(colour_string,"GREEN");
jah128 0:8a5497a2e366 203 break;
jah128 0:8a5497a2e366 204 case 3:
jah128 0:8a5497a2e366 205 strcpy(colour_string,"BOTH");
jah128 0:8a5497a2e366 206 break;
jah128 0:8a5497a2e366 207 case 0:
jah128 0:8a5497a2e366 208 strcpy(colour_string,"OFF");
jah128 0:8a5497a2e366 209 break;
jah128 0:8a5497a2e366 210 }
jah128 0:8a5497a2e366 211 if(message[1] < 8 && message[2] < 4) {
jah128 0:8a5497a2e366 212 sprintf(subcommand,"%d %s",message[1],colour_string);
jah128 0:8a5497a2e366 213 if(allow_commands) {
jah128 0:8a5497a2e366 214 command_status = 1;
jah128 0:8a5497a2e366 215 set_led(message[1],message[2]);
jah128 0:8a5497a2e366 216 } else command_status = 2;
jah128 0:8a5497a2e366 217 } else {
jah128 0:8a5497a2e366 218 sprintf(subcommand,"[INVALID CODE]");
jah128 0:8a5497a2e366 219 command_status = 3;
jah128 0:8a5497a2e366 220 }
jah128 0:8a5497a2e366 221 break;
jah128 0:8a5497a2e366 222 case 14:
jah128 0:8a5497a2e366 223 strcpy(command,"SET CENTER LED STATE");
jah128 0:8a5497a2e366 224 switch(message[1]) {
jah128 0:8a5497a2e366 225 case 1:
jah128 0:8a5497a2e366 226 strcpy(colour_string,"RED");
jah128 0:8a5497a2e366 227 break;
jah128 0:8a5497a2e366 228 case 2:
jah128 0:8a5497a2e366 229 strcpy(colour_string,"GREEN");
jah128 0:8a5497a2e366 230 break;
jah128 0:8a5497a2e366 231 case 3:
jah128 0:8a5497a2e366 232 strcpy(colour_string,"BOTH");
jah128 0:8a5497a2e366 233 break;
jah128 0:8a5497a2e366 234 case 0:
jah128 0:8a5497a2e366 235 strcpy(colour_string,"OFF");
jah128 0:8a5497a2e366 236 break;
jah128 0:8a5497a2e366 237 }
jah128 0:8a5497a2e366 238 if(message[1] < 4) {
jah128 0:8a5497a2e366 239 sprintf(subcommand,"%s",colour_string);
jah128 0:8a5497a2e366 240 if(allow_commands) {
jah128 0:8a5497a2e366 241 command_status = 1;
jah128 0:8a5497a2e366 242 set_center_led(message[1]);
jah128 0:8a5497a2e366 243 } else command_status = 2;
jah128 0:8a5497a2e366 244 } else {
jah128 0:8a5497a2e366 245 sprintf(subcommand,"[INVALID CODE]");
jah128 0:8a5497a2e366 246 command_status = 3;
jah128 0:8a5497a2e366 247 }
jah128 0:8a5497a2e366 248 break;
jah128 0:8a5497a2e366 249 case 15:
jah128 0:8a5497a2e366 250 strcpy(command,"SET C.LED BRIGHTNESS");
jah128 0:8a5497a2e366 251 dec = IF_decode_unsigned_float(message[1],message[2]);
jah128 0:8a5497a2e366 252 sprintf(subcommand,"%1.5f",dec);
jah128 0:8a5497a2e366 253 if(allow_commands) {
jah128 0:8a5497a2e366 254 command_status = 1;
jah128 0:8a5497a2e366 255 set_center_led_brightness(dec);
jah128 0:8a5497a2e366 256 } else command_status = 2;
jah128 0:8a5497a2e366 257 break;
jah128 0:8a5497a2e366 258 case 16:
jah128 0:8a5497a2e366 259 strcpy(command,"SET MBED LEDS");
jah128 0:8a5497a2e366 260 sprintf(subcommand,"%s",IF_nibble_to_binary_char(message[1]));
jah128 0:8a5497a2e366 261 if(allow_commands) {
jah128 0:8a5497a2e366 262 command_status = 1;
jah128 0:8a5497a2e366 263 mbed_led1 = (message[1] & 128) >> 7;
jah128 0:8a5497a2e366 264 mbed_led2 = (message[1] & 64) >> 6;
jah128 0:8a5497a2e366 265 mbed_led3 = (message[1] & 32) >> 5;
jah128 0:8a5497a2e366 266 mbed_led4 = (message[1] & 16) >> 4;
jah128 0:8a5497a2e366 267 } else command_status = 2;
jah128 0:8a5497a2e366 268 break;
jah128 0:8a5497a2e366 269 case 17:
jah128 0:8a5497a2e366 270 strcpy(command,"BLINK OUTER LEDS");
jah128 0:8a5497a2e366 271 dec = IF_decode_unsigned_float(message[1],message[2]);
jah128 0:8a5497a2e366 272 sprintf(subcommand,"FOR %1.5fS",dec);
jah128 0:8a5497a2e366 273 if(allow_commands) {
jah128 0:8a5497a2e366 274 command_status = 1;
jah128 0:8a5497a2e366 275 blink_leds(dec);
jah128 0:8a5497a2e366 276 } else command_status = 2;
jah128 0:8a5497a2e366 277 break;
jah128 0:8a5497a2e366 278 case 18:
jah128 0:8a5497a2e366 279 strcpy(command,"SET BASE LED STATE");
jah128 0:8a5497a2e366 280 switch(message[1]) {
jah128 0:8a5497a2e366 281 case 1:
jah128 0:8a5497a2e366 282 strcpy(subcommand,"ON");
jah128 0:8a5497a2e366 283 break;
jah128 0:8a5497a2e366 284 case 0:
jah128 0:8a5497a2e366 285 strcpy(subcommand,"OFF");
jah128 0:8a5497a2e366 286 break;
jah128 0:8a5497a2e366 287 }
jah128 0:8a5497a2e366 288 //Function not yet implemented
jah128 0:8a5497a2e366 289 break;
jah128 0:8a5497a2e366 290 case 19:
jah128 0:8a5497a2e366 291 strcpy(command,"SET CENTER LED ");
jah128 0:8a5497a2e366 292 switch(message[1]) {
jah128 0:8a5497a2e366 293 case 1:
jah128 0:8a5497a2e366 294 strcpy(colour_string,"RED");
jah128 0:8a5497a2e366 295 break;
jah128 0:8a5497a2e366 296 case 2:
jah128 0:8a5497a2e366 297 strcpy(colour_string,"GREEN");
jah128 0:8a5497a2e366 298 break;
jah128 0:8a5497a2e366 299 case 3:
jah128 0:8a5497a2e366 300 strcpy(colour_string,"BOTH");
jah128 0:8a5497a2e366 301 break;
jah128 0:8a5497a2e366 302 case 0:
jah128 0:8a5497a2e366 303 strcpy(colour_string,"OFF");
jah128 0:8a5497a2e366 304 break;
jah128 0:8a5497a2e366 305 }
jah128 0:8a5497a2e366 306 dec = IF_decode_unsigned_float(message[2]);
jah128 0:8a5497a2e366 307 sprintf(subcommand,"%s @ %1.5f brightness",colour_string,dec);
jah128 0:8a5497a2e366 308 if(allow_commands) {
jah128 0:8a5497a2e366 309 command_status = 1;
jah128 0:8a5497a2e366 310 set_center_led(message[1],dec);
jah128 0:8a5497a2e366 311 } else command_status = 2;
jah128 0:8a5497a2e366 312 break;
jah128 0:8a5497a2e366 313
jah128 0:8a5497a2e366 314 // DISPLAY COMMANDS
jah128 0:8a5497a2e366 315
jah128 0:8a5497a2e366 316 case 20:
jah128 0:8a5497a2e366 317 strcpy(command,"SET DISPLAY ");
jah128 0:8a5497a2e366 318 switch(message[1]) {
jah128 0:8a5497a2e366 319 case 0:
jah128 0:8a5497a2e366 320 strcpy(subcommand,"CLEAR");
jah128 0:8a5497a2e366 321 if(allow_commands) {
jah128 0:8a5497a2e366 322 command_status = 1;
jah128 0:8a5497a2e366 323 display.clear_display();
jah128 0:8a5497a2e366 324 } else command_status = 2;
jah128 0:8a5497a2e366 325 break;
jah128 0:8a5497a2e366 326 case 1:
jah128 0:8a5497a2e366 327 strcpy(subcommand,"MESSAGE 1");
jah128 0:8a5497a2e366 328 if(allow_commands) {
jah128 0:8a5497a2e366 329 command_status = 1;
jah128 0:8a5497a2e366 330 display.clear_display();
jah128 0:8a5497a2e366 331 display.home();
jah128 0:8a5497a2e366 332 display.write_string("PC CONNECTION");
jah128 0:8a5497a2e366 333 display.set_position(1,0);
jah128 0:8a5497a2e366 334 display.write_string("STARTED");
jah128 0:8a5497a2e366 335 } else command_status = 2;
jah128 0:8a5497a2e366 336 break;
jah128 0:8a5497a2e366 337 case 2:
jah128 0:8a5497a2e366 338 strcpy(subcommand,"MESSAGE 2");
jah128 0:8a5497a2e366 339 if(allow_commands) {
jah128 0:8a5497a2e366 340 command_status = 1;
jah128 0:8a5497a2e366 341 display.clear_display();
jah128 0:8a5497a2e366 342 display.home();
jah128 0:8a5497a2e366 343 display.write_string("PC CONNECTION");
jah128 0:8a5497a2e366 344 display.set_position(1,0);
jah128 0:8a5497a2e366 345 display.write_string("TERMINATED");
jah128 0:8a5497a2e366 346 } else command_status = 2;
jah128 0:8a5497a2e366 347 break;
jah128 0:8a5497a2e366 348 case 3:
jah128 0:8a5497a2e366 349 strcpy(subcommand,"MESSAGE 3");
jah128 0:8a5497a2e366 350 if(allow_commands) {
jah128 0:8a5497a2e366 351 command_status = 1;
jah128 0:8a5497a2e366 352 display.clear_display();
jah128 0:8a5497a2e366 353 display.home();
jah128 0:8a5497a2e366 354 display.write_string("ANDROID DEVICE");
jah128 0:8a5497a2e366 355 display.set_position(1,0);
jah128 0:8a5497a2e366 356 display.write_string("CONNECTED");
jah128 0:8a5497a2e366 357 } else command_status = 2;
jah128 0:8a5497a2e366 358 break;
jah128 0:8a5497a2e366 359 case 4:
jah128 0:8a5497a2e366 360 strcpy(subcommand,"MESSAGE 4");
jah128 0:8a5497a2e366 361 if(allow_commands) {
jah128 0:8a5497a2e366 362 command_status = 1;
jah128 0:8a5497a2e366 363 display.clear_display();
jah128 0:8a5497a2e366 364 display.home();
jah128 0:8a5497a2e366 365 display.write_string("ANDROID DEVICE");
jah128 0:8a5497a2e366 366 display.set_position(1,0);
jah128 0:8a5497a2e366 367 display.write_string("DISCONNECTED");
jah128 0:8a5497a2e366 368 } else command_status = 2;
jah128 0:8a5497a2e366 369 break;
jah128 0:8a5497a2e366 370 }
jah128 0:8a5497a2e366 371 break;
jah128 0:8a5497a2e366 372 case 21:
jah128 0:8a5497a2e366 373 strcpy(command,"SET CURSOR ");
jah128 0:8a5497a2e366 374 if(message[1] < 2 && message[2] < 16) {
jah128 0:8a5497a2e366 375 sprintf(subcommand,"[%d,%d]",message[1],message[2]);
jah128 0:8a5497a2e366 376 if(allow_commands) {
jah128 0:8a5497a2e366 377 display.set_position(message[1],message[2]);
jah128 0:8a5497a2e366 378 } else command_status = 2;
jah128 0:8a5497a2e366 379 } else {
jah128 0:8a5497a2e366 380 sprintf(subcommand,"[INVALID]");
jah128 0:8a5497a2e366 381 command_status = 3;
jah128 0:8a5497a2e366 382 }
jah128 0:8a5497a2e366 383 break;
jah128 0:8a5497a2e366 384 case 22:
jah128 0:8a5497a2e366 385 strcpy(command,"PRINT CHARACTERS ");
jah128 0:8a5497a2e366 386 char print_message[2];
jah128 0:8a5497a2e366 387 print_message[0]=message[1];
jah128 0:8a5497a2e366 388 print_message[1]=message[2];
jah128 0:8a5497a2e366 389 sprintf(subcommand,"[%c,%c]",message[1],message[2]);
jah128 0:8a5497a2e366 390 if(allow_commands) {
jah128 0:8a5497a2e366 391 display.write_string(print_message,2);
jah128 0:8a5497a2e366 392 } else command_status = 2;
jah128 0:8a5497a2e366 393 break;
jah128 0:8a5497a2e366 394 case 23:
jah128 0:8a5497a2e366 395 strcpy(command,"SET DISPLAY B.NESS");
jah128 0:8a5497a2e366 396 dec = IF_decode_unsigned_float(message[1],message[2]);
jah128 0:8a5497a2e366 397 sprintf(subcommand,"%1.5f",dec);
jah128 0:8a5497a2e366 398 if(allow_commands) {
jah128 0:8a5497a2e366 399 command_status = 1;
jah128 0:8a5497a2e366 400 display.set_backlight_brightness(dec);
jah128 0:8a5497a2e366 401 } else command_status = 2;
jah128 0:8a5497a2e366 402 break;
jah128 0:8a5497a2e366 403
jah128 0:8a5497a2e366 404 case 30:
jah128 0:8a5497a2e366 405 strcpy(command,"SET DEBUG MODE");
jah128 0:8a5497a2e366 406 switch(message[1]) {
jah128 0:8a5497a2e366 407 case 1:
jah128 0:8a5497a2e366 408 strcpy(subcommand,"ON");
jah128 0:8a5497a2e366 409 break;
jah128 0:8a5497a2e366 410 case 0:
jah128 0:8a5497a2e366 411 strcpy(subcommand,"OFF");
jah128 0:8a5497a2e366 412 break;
jah128 0:8a5497a2e366 413 }
jah128 0:8a5497a2e366 414 if(message[2] & 1) strcat (subcommand,"-PC");
jah128 0:8a5497a2e366 415 if(message[2] & 2) strcat (subcommand,"-BT");
jah128 0:8a5497a2e366 416 if(message[2] & 4) strcat (subcommand,"-DISP");
jah128 0:8a5497a2e366 417 if(allow_commands) {
jah128 0:8a5497a2e366 418 command_status = 1;
jah128 0:8a5497a2e366 419 debug_mode = message[1];
jah128 0:8a5497a2e366 420 debug_output = message[2];
jah128 0:8a5497a2e366 421 } else command_status = 2;
jah128 0:8a5497a2e366 422 break;
jah128 0:8a5497a2e366 423 case 31:
jah128 0:8a5497a2e366 424 strcpy(command,"SET DEMO MODE");
jah128 0:8a5497a2e366 425 switch(message[1] % 2) {
jah128 0:8a5497a2e366 426 case 1:
jah128 0:8a5497a2e366 427 strcpy(subcommand,"ON");
jah128 0:8a5497a2e366 428 break;
jah128 0:8a5497a2e366 429 case 0:
jah128 0:8a5497a2e366 430 strcpy(subcommand,"OFF");
jah128 0:8a5497a2e366 431 break;
jah128 0:8a5497a2e366 432 }
jah128 0:8a5497a2e366 433 if(allow_commands) {
jah128 0:8a5497a2e366 434 command_status = 1;
jah128 0:8a5497a2e366 435 demo_on = message[1] % 2;
jah128 0:8a5497a2e366 436 if(demo_on == 1) {
jah128 0:8a5497a2e366 437 user_code_restore_mode = user_code_running;
jah128 0:8a5497a2e366 438 user_code_running = 0;
jah128 0:8a5497a2e366 439 } else {
jah128 0:8a5497a2e366 440 user_code_running = user_code_restore_mode;
jah128 0:8a5497a2e366 441 }
jah128 0:8a5497a2e366 442 } else command_status = 2;
jah128 0:8a5497a2e366 443 break;
jah128 0:8a5497a2e366 444 case 32:
jah128 0:8a5497a2e366 445 strcpy(command,"SET USER CODE");
jah128 0:8a5497a2e366 446 switch(message[1] % 2) {
jah128 0:8a5497a2e366 447 case 1:
jah128 0:8a5497a2e366 448 strcpy(subcommand,"ON");
jah128 0:8a5497a2e366 449 break;
jah128 0:8a5497a2e366 450 case 0:
jah128 0:8a5497a2e366 451 strcpy(subcommand,"OFF");
jah128 0:8a5497a2e366 452 break;
jah128 0:8a5497a2e366 453 }
jah128 0:8a5497a2e366 454 if(allow_commands) {
jah128 0:8a5497a2e366 455 command_status = 1;
jah128 0:8a5497a2e366 456 user_code_running = message[1] % 2;
jah128 0:8a5497a2e366 457 } else command_status = 2;
jah128 0:8a5497a2e366 458 break;
jah128 0:8a5497a2e366 459 case 33:
jah128 0:8a5497a2e366 460 strcpy(command,"PAUSE USER CODE");
jah128 0:8a5497a2e366 461 dec = IF_decode_unsigned_float(message[1],message[2]) * 10;
jah128 0:8a5497a2e366 462 sprintf(subcommand,"FOR %2.3fS",dec);
jah128 0:8a5497a2e366 463 if(allow_commands) {
jah128 0:8a5497a2e366 464 command_status = 1;
jah128 0:8a5497a2e366 465 pause_user_code(dec);
jah128 0:8a5497a2e366 466 } else command_status = 2;
jah128 0:8a5497a2e366 467 break;
jah128 0:8a5497a2e366 468
jah128 0:8a5497a2e366 469 case 34:
jah128 0:8a5497a2e366 470 strcpy(command,"RESET ENCODERS");
jah128 0:8a5497a2e366 471 if(allow_commands) {
jah128 0:8a5497a2e366 472 command_status = 1;
jah128 0:8a5497a2e366 473 reset_encoders();
jah128 0:8a5497a2e366 474 } else command_status = 2;
jah128 0:8a5497a2e366 475 break;
jah128 0:8a5497a2e366 476
jah128 0:8a5497a2e366 477 case 35:
jah128 0:8a5497a2e366 478 strcpy(command,"SET ALLOW COMMANDS");
jah128 0:8a5497a2e366 479 switch(message[1] % 2) {
jah128 0:8a5497a2e366 480 case 1:
jah128 0:8a5497a2e366 481 strcpy(subcommand,"ON");
jah128 0:8a5497a2e366 482 break;
jah128 0:8a5497a2e366 483 case 0:
jah128 0:8a5497a2e366 484 strcpy(subcommand,"OFF");
jah128 0:8a5497a2e366 485 break;
jah128 0:8a5497a2e366 486 }
jah128 0:8a5497a2e366 487 allow_commands = message[1] % 2;
jah128 0:8a5497a2e366 488 command_status = 1;
jah128 0:8a5497a2e366 489 break;
jah128 0:8a5497a2e366 490
jah128 0:8a5497a2e366 491 case 36:
jah128 0:8a5497a2e366 492 irp_delay = (message[1] << 8) + message[2];
jah128 0:8a5497a2e366 493 sprintf(command,"SET IR PULSE DELAY %d MS",irp_delay);
jah128 0:8a5497a2e366 494 if(allow_commands) {
jah128 0:8a5497a2e366 495 command_status = 1;
jah128 0:8a5497a2e366 496 ir_pulse_delay = irp_delay;
jah128 0:8a5497a2e366 497 } else command_status = 2;
jah128 0:8a5497a2e366 498 break;
jah128 0:8a5497a2e366 499 case 37:
jah128 0:8a5497a2e366 500 irp_delay = (message[1] << 8) + message[2];
jah128 0:8a5497a2e366 501 sprintf(command,"SET BASE IR PULSE DELAY %d MS",irp_delay);
jah128 0:8a5497a2e366 502 if(allow_commands) {
jah128 0:8a5497a2e366 503 command_status = 1;
jah128 0:8a5497a2e366 504 base_ir_pulse_delay = irp_delay;
jah128 0:8a5497a2e366 505 } else command_status = 2;
jah128 0:8a5497a2e366 506 break;
jah128 0:8a5497a2e366 507
jah128 0:8a5497a2e366 508 // MOTOR REQUESTS
jah128 0:8a5497a2e366 509 case 40:
jah128 0:8a5497a2e366 510 strcpy(command,"GET LEFT MOTOR SPEED");
jah128 0:8a5497a2e366 511 sprintf(ret_message,"%1.5f",motor_left_speed);
jah128 0:8a5497a2e366 512 send_message = 1;
jah128 0:8a5497a2e366 513 break;
jah128 0:8a5497a2e366 514
jah128 0:8a5497a2e366 515 case 41:
jah128 0:8a5497a2e366 516 strcpy(command,"GET RIGHT MOTOR SPEED");
jah128 0:8a5497a2e366 517 sprintf(ret_message,"%1.5f",motor_right_speed);
jah128 0:8a5497a2e366 518 send_message = 1;
jah128 0:8a5497a2e366 519 break;
jah128 0:8a5497a2e366 520 case 42:
jah128 0:8a5497a2e366 521 strcpy(command,"GET BRAKE STATES");
jah128 0:8a5497a2e366 522 sprintf(ret_message,"%d,%d",motor_left_brake,motor_right_brake);
jah128 0:8a5497a2e366 523 send_message = 1;
jah128 0:8a5497a2e366 524 break;
jah128 0:8a5497a2e366 525 case 43:
jah128 0:8a5497a2e366 526 strcpy(command,"GET MOTOR STATES");
jah128 0:8a5497a2e366 527 //sprintf(ret_message,"%d,%d",motor_left_brake,motor_right_brake);
jah128 0:8a5497a2e366 528 send_message = 1;
jah128 0:8a5497a2e366 529 break;
jah128 0:8a5497a2e366 530 case 44:
jah128 0:8a5497a2e366 531 strcpy(command,"GET ENCODERS");
jah128 0:8a5497a2e366 532 sprintf(ret_message,"%d,%d",left_encoder,right_encoder);
jah128 0:8a5497a2e366 533 send_message = 1;
jah128 0:8a5497a2e366 534 break;
jah128 0:8a5497a2e366 535
jah128 0:8a5497a2e366 536 // LED REQUESTS
jah128 0:8a5497a2e366 537 case 50:
jah128 0:8a5497a2e366 538 strcpy(command,"GET LED STATES");
jah128 0:8a5497a2e366 539 sprintf(ret_message,"%04x",get_led_states());
jah128 0:8a5497a2e366 540 send_message = 1;
jah128 0:8a5497a2e366 541 break;
jah128 0:8a5497a2e366 542
jah128 0:8a5497a2e366 543 // GENERAL REQUESTS
jah128 0:8a5497a2e366 544 case 60:
jah128 0:8a5497a2e366 545 strcpy(command,"GET SOFTWARE VERSION");
jah128 0:8a5497a2e366 546 sprintf(ret_message,"%1.2f",SOFTWARE_VERSION_CODE);
jah128 0:8a5497a2e366 547 send_message = 1;
jah128 0:8a5497a2e366 548 break;
jah128 0:8a5497a2e366 549
jah128 0:8a5497a2e366 550 case 61:
jah128 0:8a5497a2e366 551 strcpy(command,"GET UPTIME");
jah128 0:8a5497a2e366 552 sprintf(ret_message,"%6.2f",get_uptime());
jah128 0:8a5497a2e366 553 send_message = 1;
jah128 0:8a5497a2e366 554 break;
jah128 0:8a5497a2e366 555
jah128 0:8a5497a2e366 556 case 62:
jah128 0:8a5497a2e366 557 strcpy(command,"GET ID");
jah128 0:8a5497a2e366 558 sprintf(ret_message,"%d",robot_id);
jah128 0:8a5497a2e366 559 send_message = 1;
jah128 0:8a5497a2e366 560 break;
jah128 0:8a5497a2e366 561
jah128 0:8a5497a2e366 562 case 63:
jah128 0:8a5497a2e366 563 strcpy(command,"GET SWITCH BYTE");
jah128 0:8a5497a2e366 564 sprintf(ret_message,"%02x",switch_byte);
jah128 0:8a5497a2e366 565 send_message = 1;
jah128 0:8a5497a2e366 566 break;
jah128 0:8a5497a2e366 567 case 64:
jah128 0:8a5497a2e366 568 strcpy(command,"GET USER CODE");
jah128 0:8a5497a2e366 569 sprintf(ret_message,"%d",user_code_running);
jah128 0:8a5497a2e366 570 send_message = 1;
jah128 0:8a5497a2e366 571 break;
jah128 0:8a5497a2e366 572 case 65:
jah128 0:8a5497a2e366 573 strcpy(command,"GET RESPONSE STRING");
jah128 0:8a5497a2e366 574 sprintf(ret_message,"PSI");
jah128 0:8a5497a2e366 575 send_message = 1;
jah128 0:8a5497a2e366 576 break;
jah128 0:8a5497a2e366 577 case 66:
jah128 0:8a5497a2e366 578 strcpy(command,"GET PROGRAM NAME");
jah128 0:8a5497a2e366 579 sprintf(ret_message,"%s",program_name);
jah128 0:8a5497a2e366 580 send_message = 1;
jah128 0:8a5497a2e366 581 break;
jah128 0:8a5497a2e366 582 case 67:
jah128 0:8a5497a2e366 583 strcpy(command,"GET AUTHOR NAME");
jah128 0:8a5497a2e366 584 sprintf(ret_message,"%s",author_name);
jah128 0:8a5497a2e366 585 send_message = 1;
jah128 0:8a5497a2e366 586 break;
jah128 0:8a5497a2e366 587 case 68:
jah128 0:8a5497a2e366 588 strcpy(command,"GET DEBUG MODE");
jah128 0:8a5497a2e366 589 sprintf(ret_message,"%1d%1d",debug_mode,debug_output);
jah128 0:8a5497a2e366 590 send_message = 1;
jah128 0:8a5497a2e366 591 break;
jah128 0:8a5497a2e366 592 case 69:
jah128 0:8a5497a2e366 593 strcpy(command,"GET SYSTEM WARNINGS");
jah128 0:8a5497a2e366 594 sprintf(ret_message,"%d",system_warnings);
jah128 0:8a5497a2e366 595 send_message = 1;
jah128 0:8a5497a2e366 596 break;
jah128 0:8a5497a2e366 597
jah128 0:8a5497a2e366 598
jah128 0:8a5497a2e366 599 // Sensors
jah128 0:8a5497a2e366 600 case 80:
jah128 0:8a5497a2e366 601 strcpy(command,"STORE BG. IR VALUES");
jah128 0:8a5497a2e366 602 if(allow_commands) {
jah128 0:8a5497a2e366 603 command_status = 1;
jah128 0:8a5497a2e366 604 store_background_raw_ir_values();
jah128 0:8a5497a2e366 605 } else command_status = 2;
jah128 0:8a5497a2e366 606 break;
jah128 0:8a5497a2e366 607 case 81:
jah128 0:8a5497a2e366 608 strcpy(command,"STORE IL. IR VALUES");
jah128 0:8a5497a2e366 609 if(allow_commands) {
jah128 0:8a5497a2e366 610 command_status = 1;
jah128 0:8a5497a2e366 611 store_illuminated_raw_ir_values();
jah128 0:8a5497a2e366 612 } else command_status = 2;
jah128 0:8a5497a2e366 613 break;
jah128 0:8a5497a2e366 614 case 82:
jah128 0:8a5497a2e366 615 strcpy(command,"STORE IR VALUES");
jah128 0:8a5497a2e366 616 if(allow_commands) {
jah128 0:8a5497a2e366 617 command_status = 1;
jah128 0:8a5497a2e366 618 store_ir_values();
jah128 0:8a5497a2e366 619 } else command_status = 2;
jah128 0:8a5497a2e366 620 break;
jah128 0:8a5497a2e366 621 case 83:
jah128 0:8a5497a2e366 622 strcpy(command,"STORE BG BASE IR VALUES");
jah128 0:8a5497a2e366 623 if(allow_commands) {
jah128 0:8a5497a2e366 624 command_status = 1;
jah128 0:8a5497a2e366 625 store_background_base_ir_values();
jah128 0:8a5497a2e366 626 } else command_status = 2;
jah128 0:8a5497a2e366 627 break;
jah128 0:8a5497a2e366 628 case 84:
jah128 0:8a5497a2e366 629 strcpy(command,"STORE IL. BASE IR VALUES");
jah128 0:8a5497a2e366 630 if(allow_commands) {
jah128 0:8a5497a2e366 631 command_status = 1;
jah128 0:8a5497a2e366 632 store_illuminated_base_ir_values();
jah128 0:8a5497a2e366 633 } else command_status = 2;
jah128 0:8a5497a2e366 634 break;
jah128 0:8a5497a2e366 635 case 85:
jah128 0:8a5497a2e366 636 strcpy(command,"STORE BASE IR VALUES");
jah128 0:8a5497a2e366 637 if(allow_commands) {
jah128 0:8a5497a2e366 638 command_status = 1;
jah128 0:8a5497a2e366 639 store_base_ir_values();
jah128 0:8a5497a2e366 640 } else command_status = 2;
jah128 0:8a5497a2e366 641 break;
jah128 0:8a5497a2e366 642 case 86:
jah128 0:8a5497a2e366 643 strcpy(command,"STORE ALL IR VALUES");
jah128 0:8a5497a2e366 644 if(allow_commands) {
jah128 0:8a5497a2e366 645 command_status = 1;
jah128 0:8a5497a2e366 646 store_ir_values();
jah128 0:8a5497a2e366 647 store_base_ir_values();
jah128 0:8a5497a2e366 648 } else command_status = 2;
jah128 0:8a5497a2e366 649 break;
jah128 0:8a5497a2e366 650 case 90:
jah128 0:8a5497a2e366 651 sprintf(command,"%s %d","GET BG IR VALUE",message[1]);
jah128 0:8a5497a2e366 652 sprintf(ret_message,"%d",get_background_raw_ir_value(message[1]));
jah128 0:8a5497a2e366 653 send_message = 1;
jah128 0:8a5497a2e366 654 break;
jah128 0:8a5497a2e366 655 case 91:
jah128 0:8a5497a2e366 656 sprintf(command,"%s %d","GET IL IR VALUE",message[1]);
jah128 0:8a5497a2e366 657 sprintf(ret_message,"%d",get_illuminated_raw_ir_value(message[1]));
jah128 0:8a5497a2e366 658 send_message = 1;
jah128 0:8a5497a2e366 659 break;
jah128 0:8a5497a2e366 660 case 92:
jah128 0:8a5497a2e366 661 strcpy(command,"GET BG IR VALUES");
jah128 0:8a5497a2e366 662 sprintf(ret_message,"%03X%03X%03X%03X%03X%03X%03X%03X",get_background_raw_ir_value(0),get_background_raw_ir_value(1),get_background_raw_ir_value(2),get_background_raw_ir_value(3),get_background_raw_ir_value(4),get_background_raw_ir_value(5),get_background_raw_ir_value(6),get_background_raw_ir_value(7));
jah128 0:8a5497a2e366 663 send_message = 1;
jah128 0:8a5497a2e366 664 break;
jah128 0:8a5497a2e366 665 case 93:
jah128 0:8a5497a2e366 666 strcpy(command,"GET ILLUMINATED IR VALUES");
jah128 0:8a5497a2e366 667 sprintf(ret_message,"%03X%03X%03X%03X%03X%03X%03X%03X",get_illuminated_raw_ir_value(0),get_illuminated_raw_ir_value(1),get_illuminated_raw_ir_value(2),get_illuminated_raw_ir_value(3),get_illuminated_raw_ir_value(4),get_illuminated_raw_ir_value(5),get_illuminated_raw_ir_value(6),get_illuminated_raw_ir_value(7));
jah128 0:8a5497a2e366 668 send_message = 1;
jah128 0:8a5497a2e366 669 break;
jah128 0:8a5497a2e366 670 case 94:
jah128 0:8a5497a2e366 671 sprintf(command,"%s %d","GET BG BASE IR VALUE",message[1]);
jah128 0:8a5497a2e366 672 sprintf(ret_message,"%d",get_background_base_ir_value(message[1]));
jah128 0:8a5497a2e366 673 send_message = 1;
jah128 0:8a5497a2e366 674 break;
jah128 0:8a5497a2e366 675 case 95:
jah128 0:8a5497a2e366 676 sprintf(command,"%s %d","GET IL BASE IR VALUE",message[1]);
jah128 0:8a5497a2e366 677 sprintf(ret_message,"%d",get_illuminated_base_ir_value(message[1]));
jah128 0:8a5497a2e366 678 send_message = 1;
jah128 0:8a5497a2e366 679 break;
jah128 0:8a5497a2e366 680 case 96:
jah128 0:8a5497a2e366 681 strcpy(command,"GET BG BASE IR VALUES");
jah128 0:8a5497a2e366 682 sprintf(ret_message,"%03X%03X%03X%03X%03X",get_background_base_ir_value(0),get_background_base_ir_value(1),get_background_base_ir_value(2),get_background_base_ir_value(3),get_background_base_ir_value(4));
jah128 0:8a5497a2e366 683 send_message = 1;
jah128 0:8a5497a2e366 684 break;
jah128 0:8a5497a2e366 685 case 97:
jah128 0:8a5497a2e366 686 strcpy(command,"GET IL BASE IR VALUES");
jah128 0:8a5497a2e366 687 sprintf(ret_message,"%03X%03X%03X%03X%03X",get_illuminated_base_ir_value(0),get_illuminated_base_ir_value(1),get_illuminated_base_ir_value(2),get_illuminated_base_ir_value(3),get_illuminated_base_ir_value(4));
jah128 0:8a5497a2e366 688 send_message = 1;
jah128 0:8a5497a2e366 689 break;
jah128 0:8a5497a2e366 690 }
jah128 0:8a5497a2e366 691
jah128 0:8a5497a2e366 692
jah128 0:8a5497a2e366 693 if(send_message) {
jah128 0:8a5497a2e366 694 char message_length = strlen(ret_message);
jah128 0:8a5497a2e366 695 switch(interface) {
jah128 0:8a5497a2e366 696 case 0:
jah128 0:8a5497a2e366 697 pc.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,message_length,ret_message);
jah128 0:8a5497a2e366 698 break;
jah128 0:8a5497a2e366 699 case 1:
jah128 0:8a5497a2e366 700 bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,message_length,ret_message);
jah128 0:8a5497a2e366 701 break;
jah128 0:8a5497a2e366 702 }
jah128 0:8a5497a2e366 703 debug("Received %s request message: %s %s [%02x%02x%02x]\nReply: %s [%d ch]\n",iface, command, subcommand,message[0],message[1],message[2],ret_message,message_length);
jah128 0:8a5497a2e366 704 } else {
jah128 0:8a5497a2e366 705 switch(interface) {
jah128 0:8a5497a2e366 706 case 0:
jah128 0:8a5497a2e366 707 pc.printf("%c%c",ACKNOWLEDGE_MESSAGE_BYTE,command_status);
jah128 0:8a5497a2e366 708 break;
jah128 0:8a5497a2e366 709 case 1:
jah128 0:8a5497a2e366 710 bt.printf("%c%c",ACKNOWLEDGE_MESSAGE_BYTE,command_status);
jah128 0:8a5497a2e366 711 break;
jah128 0:8a5497a2e366 712 }
jah128 0:8a5497a2e366 713 switch(command_status) {
jah128 0:8a5497a2e366 714 case 0:
jah128 0:8a5497a2e366 715 debug("Unrecognised %s command message [%02x%02x%02x]\n",iface,message[0],message[1],message[2]);
jah128 0:8a5497a2e366 716 break;
jah128 0:8a5497a2e366 717 case 1:
jah128 0:8a5497a2e366 718 debug("Actioned %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]);
jah128 0:8a5497a2e366 719 break;
jah128 0:8a5497a2e366 720 case 2:
jah128 0:8a5497a2e366 721 debug("Blocked %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]);
jah128 0:8a5497a2e366 722 break;
jah128 0:8a5497a2e366 723 case 3:
jah128 0:8a5497a2e366 724 debug("Invalid %s command message:%s %s [%02x%02x%02x]\n",iface, command, subcommand,message[0],message[1],message[2]);
jah128 0:8a5497a2e366 725 break;
jah128 0:8a5497a2e366 726 }
jah128 0:8a5497a2e366 727 }
jah128 0:8a5497a2e366 728 }
jah128 0:8a5497a2e366 729
jah128 0:8a5497a2e366 730 char * IF_nibble_to_binary_char(char in)
jah128 0:8a5497a2e366 731 {
jah128 0:8a5497a2e366 732 char * ret = (char*)malloc(sizeof(char)*5);
jah128 0:8a5497a2e366 733 for(int i=0; i<4; i++) {
jah128 0:8a5497a2e366 734 if(in & (128 >> i)) ret[i]='1';
jah128 0:8a5497a2e366 735 else ret[i]='0';
jah128 0:8a5497a2e366 736 }
jah128 0:8a5497a2e366 737 ret[4]=0;
jah128 0:8a5497a2e366 738 return ret;
jah128 0:8a5497a2e366 739 }
jah128 0:8a5497a2e366 740
jah128 0:8a5497a2e366 741 char * IF_char_to_binary_char(char in)
jah128 0:8a5497a2e366 742 {
jah128 0:8a5497a2e366 743 char * ret = (char*)malloc(sizeof(char)*9);
jah128 0:8a5497a2e366 744 for(int i=0; i<8; i++) {
jah128 0:8a5497a2e366 745 if(in & (128 >> i)) ret[i]='1';
jah128 0:8a5497a2e366 746 else ret[i]='0';
jah128 0:8a5497a2e366 747 }
jah128 0:8a5497a2e366 748 ret[8]=0;
jah128 0:8a5497a2e366 749 return ret;
jah128 0:8a5497a2e366 750 }
jah128 0:8a5497a2e366 751
jah128 0:8a5497a2e366 752 float IF_decode_unsigned_float(char byte0, char byte1)
jah128 0:8a5497a2e366 753 {
jah128 0:8a5497a2e366 754 unsigned short sval = (byte0) << 8;
jah128 0:8a5497a2e366 755 sval += byte1;
jah128 0:8a5497a2e366 756 float scaled = sval / 65535.0f;
jah128 0:8a5497a2e366 757 return scaled;
jah128 0:8a5497a2e366 758 }
jah128 0:8a5497a2e366 759
jah128 0:8a5497a2e366 760 float IF_decode_float(char byte0, char byte1)
jah128 0:8a5497a2e366 761 {
jah128 0:8a5497a2e366 762 // MSB is byte 0 is sign, rest is linear spread between 0 and 1
jah128 0:8a5497a2e366 763 char sign = byte0 / 128;
jah128 0:8a5497a2e366 764 short sval = (byte0 % 128) << 8;
jah128 0:8a5497a2e366 765 sval += byte1;
jah128 0:8a5497a2e366 766 float scaled = sval / 32767.0f;
jah128 0:8a5497a2e366 767 if(sign == 0) scaled = 0-scaled;
jah128 0:8a5497a2e366 768 return scaled;
jah128 0:8a5497a2e366 769 }
jah128 0:8a5497a2e366 770
jah128 0:8a5497a2e366 771 float IF_decode_unsigned_float(char byte0)
jah128 0:8a5497a2e366 772 {
jah128 0:8a5497a2e366 773 unsigned short sval = (byte0);
jah128 0:8a5497a2e366 774 float scaled = sval / 255.0f;
jah128 0:8a5497a2e366 775 return scaled;
jah128 0:8a5497a2e366 776 }
jah128 0:8a5497a2e366 777
jah128 0:8a5497a2e366 778 float IF_decode_float(char byte0)
jah128 0:8a5497a2e366 779 {
jah128 0:8a5497a2e366 780 // MSB is byte 0 is sign, rest is linear spread between 0 and 1
jah128 0:8a5497a2e366 781 char sign = byte0 / 128;
jah128 0:8a5497a2e366 782 short sval = (byte0 % 128);
jah128 0:8a5497a2e366 783 float scaled = sval / 127.0f;
jah128 0:8a5497a2e366 784 if(sign == 0) scaled = 0-scaled;
jah128 0:8a5497a2e366 785 return scaled;
jah128 0:8a5497a2e366 786 }
jah128 0:8a5497a2e366 787
jah128 0:8a5497a2e366 788 void IF_setup_serial_interfaces()
jah128 0:8a5497a2e366 789 {
jah128 0:8a5497a2e366 790 if(ENABLE_PC_SERIAL) {
jah128 0:8a5497a2e366 791 pc.baud(PC_BAUD);
jah128 0:8a5497a2e366 792 pc.attach(&IF_pc_rx_callback, Serial::RxIrq);
jah128 0:8a5497a2e366 793 }
jah128 0:8a5497a2e366 794 if(ENABLE_BLUETOOTH) {
jah128 0:8a5497a2e366 795 bt.baud(BLUETOOTH_BAUD);
jah128 0:8a5497a2e366 796 bt.attach(&IF_bt_rx_callback, Serial::RxIrq);
jah128 0:8a5497a2e366 797 }
jah128 0:8a5497a2e366 798 }
jah128 0:8a5497a2e366 799
jah128 0:8a5497a2e366 800 void IF_pc_rx_command_timeout()
jah128 0:8a5497a2e366 801 {
jah128 0:8a5497a2e366 802 char message_array[6];
jah128 0:8a5497a2e366 803 char length = 1 + pc_command_message_byte;
jah128 0:8a5497a2e366 804 pc_command_message_started = 0;
jah128 0:8a5497a2e366 805 message_array[0] = COMMAND_MESSAGE_BYTE;
jah128 0:8a5497a2e366 806 for(int k=0; k<pc_command_message_byte; k++) {
jah128 0:8a5497a2e366 807 message_array[k+1] = pc_command_message[k];
jah128 0:8a5497a2e366 808 }
jah128 0:8a5497a2e366 809 IF_handle_user_serial_message(message_array, length, 0);
jah128 0:8a5497a2e366 810 }
jah128 0:8a5497a2e366 811
jah128 0:8a5497a2e366 812 void IF_bt_rx_command_timeout()
jah128 0:8a5497a2e366 813 {
jah128 0:8a5497a2e366 814 char message_array[6];
jah128 0:8a5497a2e366 815 char length = 1 + bt_command_message_byte;
jah128 0:8a5497a2e366 816 bt_command_message_started = 0;
jah128 0:8a5497a2e366 817 message_array[0] = COMMAND_MESSAGE_BYTE;
jah128 0:8a5497a2e366 818 for(int k=0; k<bt_command_message_byte; k++) {
jah128 0:8a5497a2e366 819 message_array[k+1] = bt_command_message[k];
jah128 0:8a5497a2e366 820 }
jah128 0:8a5497a2e366 821 IF_handle_user_serial_message(message_array, length, 1);
jah128 0:8a5497a2e366 822 }
jah128 0:8a5497a2e366 823
jah128 0:8a5497a2e366 824 void IF_pc_rx_callback()
jah128 0:8a5497a2e366 825 {
jah128 0:8a5497a2e366 826 int count = 0;
jah128 0:8a5497a2e366 827 char message_array[255];
jah128 0:8a5497a2e366 828
jah128 0:8a5497a2e366 829 while(pc.readable()) {
jah128 0:8a5497a2e366 830 char tc = pc.getc();
jah128 0:8a5497a2e366 831 message_array[count] = tc;
jah128 0:8a5497a2e366 832 count ++;
jah128 0:8a5497a2e366 833 if(pc_command_message_started == 1) {
jah128 0:8a5497a2e366 834 if(pc_command_message_byte == 3) {
jah128 0:8a5497a2e366 835 pc_command_timeout.detach();
jah128 0:8a5497a2e366 836 if(tc == COMMAND_MESSAGE_BYTE) {
jah128 0:8a5497a2e366 837 // A complete command message succesfully received, call handler
jah128 0:8a5497a2e366 838 pc_command_message_started = 0;
jah128 0:8a5497a2e366 839 count = 0;
jah128 0:8a5497a2e366 840 IF_handle_command_serial_message(pc_command_message , 0);
jah128 0:8a5497a2e366 841 } else {
jah128 0:8a5497a2e366 842 // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message
jah128 0:8a5497a2e366 843 pc_command_message_started = 0;
jah128 0:8a5497a2e366 844 message_array[0] = COMMAND_MESSAGE_BYTE;
jah128 0:8a5497a2e366 845 message_array[1] = pc_command_message[0];
jah128 0:8a5497a2e366 846 message_array[2] = pc_command_message[1];
jah128 0:8a5497a2e366 847 message_array[3] = pc_command_message[2];
jah128 0:8a5497a2e366 848 message_array[4] = tc;
jah128 0:8a5497a2e366 849 count = 5;
jah128 0:8a5497a2e366 850 }
jah128 0:8a5497a2e366 851 } else {
jah128 0:8a5497a2e366 852 pc_command_message[pc_command_message_byte] = tc;
jah128 0:8a5497a2e366 853 pc_command_message_byte ++;
jah128 0:8a5497a2e366 854 }
jah128 0:8a5497a2e366 855 } else {
jah128 0:8a5497a2e366 856 if(count == 1) {
jah128 0:8a5497a2e366 857 if(tc == COMMAND_MESSAGE_BYTE) {
jah128 0:8a5497a2e366 858 pc_command_timeout.attach(&IF_pc_rx_command_timeout,command_timeout_period);
jah128 0:8a5497a2e366 859 pc_command_message_started = 1;
jah128 0:8a5497a2e366 860 pc_command_message_byte = 0;
jah128 0:8a5497a2e366 861
jah128 0:8a5497a2e366 862 }
jah128 0:8a5497a2e366 863 }
jah128 0:8a5497a2e366 864 }
jah128 0:8a5497a2e366 865 }
jah128 0:8a5497a2e366 866 if(!pc_command_message_started && count>0) IF_handle_user_serial_message(message_array, count, 0);
jah128 0:8a5497a2e366 867 }
jah128 0:8a5497a2e366 868
jah128 0:8a5497a2e366 869 void IF_bt_rx_callback()
jah128 0:8a5497a2e366 870 {
jah128 0:8a5497a2e366 871 int count = 0;
jah128 0:8a5497a2e366 872 char message_array[255];
jah128 0:8a5497a2e366 873
jah128 0:8a5497a2e366 874 while(bt.readable()) {
jah128 0:8a5497a2e366 875 char tc = bt.getc();
jah128 0:8a5497a2e366 876 message_array[count] = tc;
jah128 0:8a5497a2e366 877 count ++;
jah128 0:8a5497a2e366 878 if(bt_command_message_started == 1) {
jah128 0:8a5497a2e366 879 if(bt_command_message_byte == 3) {
jah128 0:8a5497a2e366 880 bt_command_timeout.detach();
jah128 0:8a5497a2e366 881 if(tc == COMMAND_MESSAGE_BYTE) {
jah128 0:8a5497a2e366 882 // A complete command message succesfully received, call handler
jah128 0:8a5497a2e366 883 bt_command_message_started = 0;
jah128 0:8a5497a2e366 884 count = 0;
jah128 0:8a5497a2e366 885 IF_handle_command_serial_message(bt_command_message , 1);
jah128 0:8a5497a2e366 886 } else {
jah128 0:8a5497a2e366 887 // Message is not a valid command message as 5th byte is not correct; treat whole message as a user message
jah128 0:8a5497a2e366 888 bt_command_message_started = 0;
jah128 0:8a5497a2e366 889 message_array[0] = COMMAND_MESSAGE_BYTE;
jah128 0:8a5497a2e366 890 message_array[1] = bt_command_message[0];
jah128 0:8a5497a2e366 891 message_array[2] = bt_command_message[1];
jah128 0:8a5497a2e366 892 message_array[3] = bt_command_message[2];
jah128 0:8a5497a2e366 893 message_array[4] = tc;
jah128 0:8a5497a2e366 894 count = 5;
jah128 0:8a5497a2e366 895 }
jah128 0:8a5497a2e366 896 } else {
jah128 0:8a5497a2e366 897 bt_command_timeout.attach(&IF_bt_rx_command_timeout,command_timeout_period);
jah128 0:8a5497a2e366 898 bt_command_message[bt_command_message_byte] = tc;
jah128 0:8a5497a2e366 899 bt_command_message_byte ++;
jah128 0:8a5497a2e366 900 }
jah128 0:8a5497a2e366 901 } else {
jah128 0:8a5497a2e366 902 if(count == 1) {
jah128 0:8a5497a2e366 903 if(tc == COMMAND_MESSAGE_BYTE) {
jah128 0:8a5497a2e366 904 bt_command_message_started = 1;
jah128 0:8a5497a2e366 905 bt_command_message_byte = 0;
jah128 0:8a5497a2e366 906
jah128 0:8a5497a2e366 907 }
jah128 0:8a5497a2e366 908 }
jah128 0:8a5497a2e366 909 }
jah128 0:8a5497a2e366 910 }
jah128 0:8a5497a2e366 911 if(!bt_command_message_started && count>0) IF_handle_user_serial_message(message_array, count, 1);
jah128 0:8a5497a2e366 912 }