Component Test's Software to work with "Universal Controller Box" - Software is an interpreter or "compiler" for programs to be done with a .txt file and read off of the SD Card
Dependencies: BridgeDriver FrontPanelButtons MCP23017 SDFileSystem TextLCD mbed
main.cpp
- Committer:
- mehatfie
- Date:
- 2014-09-19
- Revision:
- 4:86d0d04cc055
- Parent:
- 3:078e9a1e8be3
- Child:
- 5:e36e0538a903
File content as of revision 4:86d0d04cc055:
#include "mbed.h" #include "LocalPinNames.h" #include "BridgeDriver.h" #include "FrontPanelButtons.h" #include "TextLCD.h" #include "SDFileSystem.h" #include "Initialization.hpp" //#include "DeviceClasses.h" //#include "Device.hpp" #include "Motor.hpp" #include "VoltageDriver.hpp" #include "PinIN.hpp" #include "TextFile.h" #include <stdio.h> #include <string> #include <stdlib.h> #include <fstream> #include <vector> using std::string; //const int MAX_LINE_LENGTH = 100; //struct Line lineData; //DeviceData devices[15]; FrontPanelButtons buttons(&i2c); //extern "C" void mbed_reset(); //enable software reset of code /* http://stackoverflow.com/questions/3081289/how-to-read-a-line-from-a-text-file-in-c-c http://stackoverflow.com/questions/12475915/rewind-stream-pointer-to-the-line-back recurrsive */ int interpretCommand(FILE *, Line &); int loopCommand(FILE *, Line &); /**********************************************************************************************************************************/ /**********************************************************************************************************************************/ /*************************** <FUNCTION: resetLineData> **************************/ /**********************************************************************************************************************************/ /**********************************************************************************************************************************/ void resetLineData(Line &lineData){ //lineData.fullLine.clear(); lineData.lineNumber = 0; lineData.numWords = 0; lineData.lineAddress = 0; } /**********************************************************************************************************************************/ /**********************************************************************************************************************************/ /************************ <FUNCTION: cyclePrograms> *****************************/ /**********************************************************************************************************************************/ /**********************************************************************************************************************************/ int cyclePrograms(vector<string> files, int SIZE, int currIndex, int direction){ int nextIndex = 0; switch(direction){ case 0: //Cycle Back one File if ((currIndex - 1) < 0) nextIndex = SIZE - 1; else nextIndex = currIndex - 1; break; case 1: //Cycle Forward one File if ((currIndex + 1) >= SIZE) nextIndex = 0; else nextIndex = currIndex + 1; break; case -1: //set the selectedFile to the currIndex (used for initialization) nextIndex = currIndex; break; } //Output file on Display lcd.setAddress(0,3); lcd.printf(" "); // Clear the Line using Spaces (Emptyness) - Note one line is 20 Characters wait(.2); lcd.setAddress(0,3); lcd.printf("%s", files[nextIndex]); return nextIndex; // Return the file index in the Array } /**********************************************************************************************************************************/ /**********************************************************************************************************************************/ /************************** <FUNCTION: loopCommand> *****************************/ /**********************************************************************************************************************************/ /**********************************************************************************************************************************/ int loopCommand(FILE *selectedFile, Line &lineData){ //Get the Condition value for number of times to loop string loopCondition = lineData.word[1]; int loopConditionValue = 0; sscanf(loopCondition.c_str(), "%d", &loopConditionValue); int loopStartAddress = 0, loopLineNumber = 0, firstLineOfLoop = 1; int counter = 0, checkEnd = 0; while (counter < loopConditionValue){ getNextLine(selectedFile, lineData); checkEnd = interpretCommand(selectedFile, lineData); if (firstLineOfLoop){ loopStartAddress = lineData.lineAddress; //Save the Line Address loopLineNumber = lineData.lineNumber; //Save the Line Number firstLineOfLoop = 0; } //Increase the loop counter and go back to the beginning of the loop if (checkEnd == 1){ counter++; lcd.setAddress(0,2); lcd.printf("Loop Cycle %d of %d", counter, loopConditionValue); fseek(selectedFile, loopStartAddress, SEEK_SET); lineData.lineNumber = loopLineNumber - 2; } } return 1; } /**********************************************************************************************************************************/ /**********************************************************************************************************************************/ /************************* <FUNCTION: interpretCommand> *************************/ /**********************************************************************************************************************************/ /**********************************************************************************************************************************/ int interpretCommand(FILE *selectedFile, Line &lineData){ if (lineData.word[0].compare("device") == 0){ int i = 0, deviceFound = -1; for (i = 0; i < numDevices; i++){ if (lineData.word[2].compare(DeviceNames[i]) == 0){ deviceFound = i; } } //if the device type does not match any known type, error out if (deviceFound == -1){ //Error Out since the device Name was not matched with anything ************************* } //Add device to the array of devices and initialize it else{ devices.push_back(Device::newDevice(deviceFound, lineData.word[1], lineData)); devices.back()->name = lineData.word[1]; } } else if (lineData.word[0].compare("delay") == 0){ string duration = lineData.word[1]; int durationValue = 0; sscanf(duration.c_str(), "%d", &durationValue); if (durationValue){ timer.reset(); timer.start(); while (timer.read_ms() < durationValue); //Do Nothing while the timer has not reached the duration timer.stop(); //Stop the Timer } else{ //Error Out return -1; } } else if (lineData.word[0].compare("loop") == 0){ int checkLoopEnd = loopCommand(selectedFile, lineData); if (checkLoopEnd == 1) return 1; } else if (lineData.word[0].compare("end") == 0){ if (lineData.word[1].compare("program") == 0){ return 0; } else if (lineData.word[1].compare("loop") == 0){ return 1; } } //not a keyword so check if it's a localName for a device else{ int i = 0, deviceFound = -1; for (i = 0; i < devices.size(); i++){ if (lineData.word[0].compare(devices[i]->name) == 0) deviceFound = i; } //no device was found that matched the local name, and this is also the last error check, meaning it can match no other potential keywords if (deviceFound == -1){ lcd.setAddress(0,3); lcd.printf("Final ERROR!"); wait(10); } //Local Name matches a device, send line to that device in order to process the functionality else{ //addDevice(deviceFound); devices[deviceFound]->interpret(lineData); } } return -1; } /**********************************************************************************************************************************/ /**********************************************************************************************************************************/ /****************************** <FUNCTION: main> ********************************/ /**********************************************************************************************************************************/ /**********************************************************************************************************************************/ int main() { fullInit(); //Initialize anything that's required to run the code (LCD) struct Line lineData; resetLineData(lineData); /******************************************************************************/ /*** <Get all the Potential Programs> ***/ /******************************************************************************/ int numTextFiles = 0; vector<string> textFiles; //Assuming Maximum of 25 txt files will be on the SD Card vector<string> filenames = readFileNames("/sd"); numTextFiles = getFileNamesWithoutExt(textFiles, filenames); /******************************************************************************/ /*** <Select the Program txt File> ***/ /******************************************************************************/ int fileSelected = 0, selectedFileIndex = 0; lcd.cls(); //clear the display lcd.setAddress(0,1); lcd.printf("Select Your Program"); lcd.setAddress(0,2); lcd.printf("Num Programs = %d", numTextFiles); uint8_t lastButState; lcd.setCursor(TextLCD::CurOn_BlkOn); //turn blinking cursor on selectedFileIndex = cyclePrograms(textFiles, numTextFiles, selectedFileIndex, -1); //Initialize the first file to the screen while(!fileSelected) { uint8_t curButState = buttons.readBus(); if(curButState != lastButState){ lastButState = curButState; if(buttons.readRight()) selectedFileIndex = cyclePrograms(textFiles, numTextFiles, selectedFileIndex, 1); else if(buttons.readLeft()) selectedFileIndex = cyclePrograms(textFiles, numTextFiles, selectedFileIndex, 0); else if(buttons.readSel()) fileSelected = 1; } } char selectedFileName[50]; strcpy(selectedFileName, textFiles[selectedFileIndex].c_str()); /******************************************************************************/ /*** <Open the Program txt File> ***/ /******************************************************************************/ //Create the string of the full directory and path to the program txt file char selectedFileFullName[100] = "/sd/"; //Assuming that no directory and file name will be longer than 100 characters strcat(selectedFileFullName, selectedFileName); strcat(selectedFileFullName, ".txt"); FILE *selectedFile = fopen(selectedFileFullName, "r"); lcd.cls(); //clear the display if(selectedFile == NULL) { lcd.setAddress(0,0); lcd.printf("Invalid"); wait(10); } while(1){ resetLineData(lineData); lcd.cls(); //clear the display lcd.setAddress(0,0); lcd.printf("Program: %s", selectedFileName); /******************************************************************************/ /*** <Start Running through the Program txt File Lines> ***/ /******************************************************************************/ int endOfFile = 0; while (!endOfFile){ getNextLine(selectedFile, lineData); int checkEnd = interpretCommand(selectedFile, lineData); if (checkEnd == 0) endOfFile = 1; } lcd.cls(); //clear the display lcd.setAddress(0,0); lcd.printf("END OF PROGRAM"); lcd.setAddress(0,2); lcd.printf("To Restart..."); lcd.setAddress(0,3); lcd.printf("Press BACK"); while(!buttons.readBack()); lcd.setAddress(0,1); //rewind(selectedFile); } } /***** Cycle through txt lines and remember last lines ******/ /* int running = 0, selectedFile = 0; int locCount = 0, tempSpot = 0; int loc[4]; char line[32]; uint8_t lastButState; while(1){ lcd.setCursor(TextLCD::CurOn_BlkOn); //turn blinking cursor on while(!running) { uint8_t curButState = buttons.readBus(); if(curButState != lastButState){ switch(lastButState = curButState){ case 0x1F: //right loc[locCount] = ftell(fp); if (locCount >= 3) locCount = 0; else locCount++; //tempSpot = ftell(fp); fgets(line, 32, fp); lcd.setAddress(0,1); lcd.printf("L: %s", line); wait(0.2); break; case 0x2F: //left if (locCount == 0) { locCount = 3; fseek(fp, loc[locCount], SEEK_SET); } else { fseek(fp, loc[locCount - 1], SEEK_SET); locCount--; } fgets(line, 32, fp); lcd.setAddress(0,1); lcd.printf("L: %s", line); wait(0.2); break; } } } } */ /******* Select the Program txt File ***********/ /* int numTextFiles = 0; string tempTextFiles[25]; //Assuming Maximum of 25 txt files will be on the SD Card lcd.cls(); //clear the display readFileNames("/sd"); numTextFiles = getFileNamesWithoutExt(tempTextFiles); string *textFiles = resize_StringArr(tempTextFiles, numTextFiles); //Resize Array //delete [] tempTextFiles; //free previous array int running = 0, selectedFile = 0; lcd.cls(); //clear the display lcd.setAddress(0,1); lcd.printf("Select Your Program"); lcd.setAddress(0,2); lcd.printf("Num Programs = %d", numTextFiles); uint8_t lastButState; while(1){ lcd.setCursor(TextLCD::CurOn_BlkOn); //turn blinking cursor on while(!running) { uint8_t curButState = buttons.readBus(); if(curButState != lastButState){ switch(lastButState = curButState){ case 0x1F: //right selectedFile = cyclePrograms(textFiles, numTextFiles, selectedFile, 1); break; case 0x2F: //left selectedFile = cyclePrograms(textFiles, numTextFiles, selectedFile, 0); break; } } } } */ /*float speed = 0.5; while(1){ bridges.drive(1, -1*speed); wait(2); bridges.drive(1, speed); wait(2); }*/ //BridgeDriver::MOTOR_A