File content as of revision 1:5731f31f96be:

/*#include "mbed.h"
#include "LocalPinNames.h"
#include "TextLCD.h"
#include "BridgeDriver.h"
*/
#include "Device.hpp"


/**********************************************************************************************************************************/
/**********************************************************************************************************************************/
/***************************                        <CLASS: Voltage_Driver>                            ****************************/
/**********************************************************************************************************************************/
/**********************************************************************************************************************************/

class Voltage_Driver{
    
    public :
        //uint8_t ch123; //Channel value this device is set to  
        int ch; 
        int test;
        
        int interpret();
        int forceBrake();
        //int forceFloat();
        float drive();  
         
        //Voltage_Driver();          
        void setChannel(int channel){
            Voltage_Driver::ch = channel;
        }
            
        int getChannel(){     
            return Voltage_Driver::ch;
        }
};

//Voltage_Driver::Voltage_Driver(void){
//}

//A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
int Voltage_Driver::interpret(){
    /*
    lcd.cls(); //clear the display
    lcd.setAddress(0,3);
    lcd.printf("Test2    ");
    lcd.setAddress(0,1);
    lcd.printf("wrd1: %s", lineData.word[0]);
    lcd.setAddress(0,2);
    lcd.printf("wrd2: %s", lineData.word[1]);
    wait(3);
*/
    
            
    char *firstWord = lineData.word[0]; //get the first word in the line
/*
    lcd.setAddress(0,2);
    lcd.printf("fW: %s", firstWord);
    lcd.setAddress(0,3);
    lcd.printf("ch: %d", ch);
    wait(3);*/
    
    //Initialize the class and device
    if (strncmp(firstWord,"device", 6) == 0){
        //Order of Line: Command, Local_Name, VOLTAGE_DRIVER, Channel(1,2,3,4,5,6,7,8)
        
        test = 10;
        
        if (lineData.numWords != 4){
             //Error Check, incorrect number of parameter, error out
            return 0;
        }
            
        char *channel = lineData.word[3]; //Parameter is a number
        int channelValue = atoi(channel);
        
        //Channel Value between 1 to 8
        if (channelValue >= 1 && channelValue <= 8){
            
            setChannel(channelValue);
            //ch = channelValue;
            
            lcd.setAddress(0,2);
            lcd.printf("fW: %s", firstWord);
            //lcd.setAddress(0,3);
            //lcd.printf("ch: %d", getChannel());
            lcd.setAddress(0,3);
            lcd.printf("test: %d", test);
            //lcd.setAddress(0,3);
            //lcd.printf("chString: %s", chString);
            wait(2);
    
            switch (channelValue){
                case 1:
                case 2:
                    bridges.enablePwm(BridgeDriver::MOTOR_A, 0);
                    break;
                case 3:
                case 4:
                    bridges.enablePwm(BridgeDriver::MOTOR_B, 0);
                    break;
                case 5:
                case 6:
                    bridges.enablePwm(BridgeDriver::MOTOR_C, 0);
                    break;
                case 7:
                case 8:
                    bridges.enablePwm(BridgeDriver::MOTOR_D, 0);
                    break;
            }
           /* lcd.setAddress(0,2);
            lcd.printf("AchannelVal: %d", channelValue);
            lcd.setAddress(0,3);
            lcd.printf("Ach: %d", ch);
            wait(3);*/
    
        }
        else{
            //ERROR Out
            //Unacceptable channel, or conversion function failed when converting string to int
        }
    }
    
    //if the first word is not "device" it means that it's trying to perform a function to a specific Motor
    else{
        

            
        //Order of Line: Local_Name, Function_Name, Param1, Param2, Param3,.......
        char *localname = lineData.word[0]; //just for the sake of following the variable easily and understanding 
        char *func = lineData.word[1];
                   
        /******************************************************************************/
        /***                       <Func: forceBrake>                               ***/
        /******************************************************************************/
        if (strncmp(func,"forceBrake", 10) == 0){
            
            if (lineData.numWords != 3){
                 //Error Check, incorrect number of parameter, error out
                return 0;
            }
            
            bridges.forceBrake(ch);
        }
        
        
        /******************************************************************************/
        /***                           <Func: drive>                                ***/
        /******************************************************************************/
        else if (strncmp(func,"drive", 5) == 0){
            //Order of Line: Local_Name, drive
            
            lcd.setAddress(0,0);
            lcd.printf("lclN: %s ", localname); 
            lcd.setAddress(0,2);
            lcd.printf("func: %s ", func);
            //lcd.setAddress(0,3);
            //lcd.printf("3ch: %d  ", getChannel());
            lcd.setAddress(0,3);
            lcd.printf("test: %d", test);
            //lcd.setAddress(0,3);
            //lcd.printf("chString: %s   ", chString);
            wait(3);
        
            if (lineData.numWords != 2){
                 //Error Check, incorrect number of parameter, error out
                return 0;
            }
             /*           
            int State = 2;
            int channelValue = atoi(chString);
            State = bridges.drive(channelValue, 1); //Turn channel on
            lcd.setAddress(0,2);
            lcd.printf("TEST ch: %d, State: %d", channelValue, State);
            wait(3);*/
            
        }
        
        
        /******************************************************************************/
        /****                           <Func: off>                                ****/
        /******************************************************************************/
        else if (strncmp(func,"drive", 5) == 0){
            //Order of Line: Local_Name, drive, duration
            
            if (lineData.numWords != 2){
                 //Error Check, incorrect number of parameter, error out
                return 0;
            }
            
            bridges.drive(getChannel(), 0); //Turn channel off
        }
        
        else {
            return 0;
            
        }  
    }  
    /*
    lcd.setAddress(0,3);
    lcd.printf("ENDch: %d  ", getChannel());
    wait(3);*/
            
    return 1;
}



/**********************************************************************************************************************************/
/**********************************************************************************************************************************/
/********************************                        <CLASS: Motor>                            ********************************/
/**********************************************************************************************************************************/
/**********************************************************************************************************************************/

class Motor{
    
    enum BridgeDriver::Motors motor; 

    public :
        int interpret();
        void enableBrake();
        int forceBrake();
        //int forceFloat();
        float drive();  
        
        
        void setMotor(BridgeDriver::Motors selectedMotor){
            motor = selectedMotor;
        }
            
        enum BridgeDriver::Motors getMotor(){     
            return motor;
        }
    
};

//A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
int Motor::interpret(){
    /*
    lcd.cls(); //clear the display
    lcd.setAddress(0,3);
    lcd.printf("Test2    ");
    lcd.setAddress(0,1);
    lcd.printf("wrd1: %s", lineData.word[0]);
    lcd.setAddress(0,2);
    lcd.printf("wrd2: %s", lineData.word[1]);
    wait(3);
*/
    
    lcd.setAddress(0,2);
    lcd.printf("wrd1: %s", lineData.word[0]);
    lcd.setAddress(0,3);
    lcd.printf("TEST1  ");
    wait(1);
    
    char *firstWord = lineData.word[0]; //splits the str based on a space delimeter 

    if (strncmp(firstWord,"device", 6) == 0){
        //Order of Line: Command, Local_Name, VOLTAGE_DRIVER, Channel(1,2,3,4,5,6,7,8)

        if (lineData.numWords != 4){
             //Error Check, incorrect number of parameter, error out
            return 0;
        }
        
        char channel = *lineData.word[3]; //Parameter is a single character, so dereference the point to the word
    
        switch (channel){
            case 'A':
            case 'a':
                setMotor(BridgeDriver::MOTOR_A);
                break;
            case 'B':
            case 'b':
                setMotor(BridgeDriver::MOTOR_B);
                break;
            case 'C':
            case 'c':
                setMotor(BridgeDriver::MOTOR_C);
                break;
            case 'D':
            case 'd':
                setMotor(BridgeDriver::MOTOR_D);
                break;
        }
    }
    
    //if the first word is not "device" it means that it's trying to perform a function to a specific Motor
    else{
        //Order of Line: Local_Name, Function_Name, Param1, Param2, Param3,.......
        char *localname = lineData.word[0]; //just for the sake of following the variable easily and understanding 
        char *func = lineData.word[1];
            
        /******************************************************************************/
        /***                       <Func: enableBrake>                              ***/
        /******************************************************************************/
        if (strncmp(func,"enableBrake", 11) == 0){
            
            if (lineData.numWords != 4){
                 //Error Check, incorrect number of parameter, error out
                return 0;
            }
            
            //Initialize and Convert Parameters
            char *enable = lineData.word[2];
            int enableValue = atoi(enable);
            
            bridges.enableBraking(getMotor(), enableValue);
        }
            
        /******************************************************************************/
        /***                       <Func: forceBrake>                               ***/
        /******************************************************************************/
        else if (strncmp(func,"forceBrake", 10) == 0){
            
            if (lineData.numWords != 3){
                 //Error Check, incorrect number of parameter, error out
                return 0;
            }
            
            bridges.forceBrake(getMotor());
        }
        
        
        /******************************************************************************/
        /***                           <Func: drive>                                ***/
        /******************************************************************************/
        else if (strncmp(func,"drive", 5) == 0){
            
            lcd.setAddress(0,2);
            lcd.printf("wrd2: %s", lineData.word[1]);
            lcd.setAddress(0,3);
            lcd.printf("TEST2  ");
            wait(1);
    
            if (lineData.numWords != 4){
                 //Error Check, incorrect number of parameter, error out
                return 0;
            }
                        
            //Initialize Parameters
            char *speed = lineData.word[2];
            char *dir = lineData.word[3];
            
            lcd.setAddress(0,3);
            lcd.printf("TEST3  ");
            
            //Initialize Convertion Variables if needed
            float speedValue;
            int dirValue = 0;
    
            lcd.setAddress(0,3);
            lcd.printf("TEST4  ");
            
            //Convert string to usable values
            //NOTE both atof and atoi functions return 0 if no valid conversion could be performed
            speedValue = atof(speed) / 100;
            
            lcd.setAddress(0,3);
            lcd.printf("TEST5  ");
            
            if (speedValue <= 0)
                return 0; //Error Out because a value gives no functionality or is wrong
            
            lcd.setAddress(0,3);
            lcd.printf("TEST6  ");
            
            if (strncmp(dir,"CC", 2) == 0 || strncmp(dir,"cc", 2) == 0)
                dirValue = -1; //Turn Clockwise
            else if (strncmp(dir,"C", 1) == 0 || strncmp(dir,"c", 1) == 0)
                dirValue = 1; //Turn CounterClockwise
            else
                return 0; //Error Out since the parameter is incorrect
                
            lcd.setAddress(0,3);
            lcd.printf("TEST7  ");
            
            bridges.drive(getMotor(), dirValue, speedValue); //Turn on the Motor
            
            lcd.setAddress(0,3);
            lcd.printf("TEST8  ");
            
        }
        /******************************************************************************/
        /****                           <Func: off>                                ****/
        /******************************************************************************/
        else if (strncmp(func,"off", 3) == 0){
            
            lcd.setAddress(0,2);
            lcd.printf("wrd2: %s", lineData.word[1]);
            lcd.setAddress(0,3);
            lcd.printf("TEST2  ");
            wait(1);
            
            if (lineData.numWords != 2){
                 //Error Check, incorrect number of parameter, error out
                return 0;
            }
                 
            bridges.drive(getMotor(), 0, 0); //Turn off the Motor
        }
        
        else {
            return 0;
            
        }  
    }  
    
    return 1;
}