File content as of revision 15:c944ee3c8a5b:

//#include "CAN_Device.hpp"
//
////Constructor
//CAN_Device::CAN_Device(LineData lineData){
//    
//    //Order of Line: Command, Local_Name, CAN_DEVICE, selectedCAN(1,2), freq
//    //Since we can't return from a constructor, instead we'll flip a flag, and check it after we've added the device in interpretCommand
//    if (lineData.numWords != 5)
//        this->errorFlag = 1;
//        
//    string channelstr = lineData.word[3], freqstr = lineData.word[4]; //Parameters are numbers
//    int tempChannel = -1, tempFreq = -1;
//    int numValuesFound = sscanf(channelstr.c_str(), "%d", &tempChannel);
//    if (numValuesFound < 1)
//        this->errorFlag = 1;
//       
//    numValuesFound = sscanf(freqstr.c_str(), "%d", &tempFreq);
//    if (numValuesFound < 1)
//        this->errorFlag = 1;
//    
//    //channel must be either CAN1 or CAN2
//    if (tempChannel == 1 || tempChannel == 2){
//        if (tempChannel == 1){
//            this->pinRD = p30;
//            this->pinTD = p29;
//        }
//        else if (tempChannel == 2){
//            this->pinRD = p9;
//            this->pinTD = p10;
//        }
//        
//        this->selectedCAN =  tempChannel;
//    }
//    
//    else
//        this->errorFlag = 1;
//         
//    //should have a frequency greater than 0       
//    if (tempFreq > 0)
//        this->freq = tempFreq;
//    else
//        this->errorFlag = 1;
//}
//    
//    
//int CAN_Device::getSelectedCAN(){     
//    return this->selectedCAN;
//}
//
//int CAN_Device::getFreq(){     
//    return this->freq;
//}
//
////A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
//int CAN_Device::CAN_Device(LineData &lineData){
//
//    //Initialize the CAN device
//    CAN canDevice(pinRD, pinTD);
//    canDevice.frequency(125000);
//
//    //Order of Line: Local_Name, Function_Name, Param1, Param2, Param3,.......
//    string func = lineData.word[1];
//        
//    /******************************************************************************/
//    /***                            <Func: write>                               ***/
//    /******************************************************************************/
//    if (func.compare("write") == 0){
//    //line looks like: Local_Name, write, ID_val, length_val, data 
//        if (lineData.numWords < 5){
//            ErrorOut("Incorrect number of parameters", lineData.lineNumber);
//            return -1;
//        }
//        
//        //Initialize and Convert Parameters
//        string _id = lineData.word[2];
//        string _length = lineData.word[3];
//        string _data = lineData.word[4];
//        int _idValue = 0;
//        char _lengthValue = 0;
//        
//        int numValuesFound = sscanf(_id.c_str(), "%d", &_idValue);
//        if (numValuesFound < 1){
//            ErrorOut("Parameter Unknown, id value can't be converted", lineData.lineNumber);
//            return -1;
//        }
//        
//        int numValuesFound = sscanf(_length.c_str(), "%c", &_lengthValue);
//        if (numValuesFound < 1){
//            ErrorOut("Parameter Unknown, length value can't be converted", lineData.lineNumber);
//            return -1;
//        }
//        
//        int numDataVals = numWords - 4; //number of data bytes present in the line
//        const char* dataBytes[numDataVals];
//        int i = 0;
//        for (i = 0; i < numDataVals; i++){
//            string thisDataByte = lineData.word[4 + i];
//            int numValuesFound = sscanf(thisDataByte.c_str(), "%c", &dataBytes[i]);
//            if (numValuesFound < 1){
//                ErrorOut("Parameter Unknown, a data byte %d can't be converted", (i + 1), lineData.lineNumber);
//                return -1;
//            }
//        }
//        
//        //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
//        if (DummyMode)
//            return 0; //Function operated successfully but doesn't return a value
//            
//            
//        canDevice.write(CANMessage(_idValue, &dataBytes, _lengthValue));
//    }
//        
//    /******************************************************************************/
//    /***                       <Func: forceBrake>                               ***/
//    /******************************************************************************/
//    else if (func.compare("forceBrake") == 0){
//        
//        if (lineData.numWords != 2){
//            ErrorOut("Incorrect number of parameters", lineData.lineNumber);
//            return -1;
//        }
//        
//        //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
//        if (DummyMode)
//            return 0; //Function operated successfully but doesn't return a value
//            
//        bridges.forceBrake(getMotor());
//    }
//    
//    
//    /******************************************************************************/
//    /***                           <Func: drive>                                ***/
//    /******************************************************************************/
//    else if (func.compare("drive") == 0){
//        
//        if (lineData.numWords != 4){
//            ErrorOut("Incorrect number of parameters", lineData.lineNumber);
//            return -1;
//        }
//                
//        //Initialize Parameters
//        string speed = lineData.word[2];
//        string dir = lineData.word[3];
//        
//        //Initialize Convertion Variables if needed
//        float speedValue;
//        int dirValue = 0;
//        
//        //Convert string to usable values
//        int numValuesFound = sscanf(speed.c_str(), "%f", &speedValue);
//        if (numValuesFound < 1){
//            ErrorOut("Parameter Unknown, speed value can't be converted", lineData.lineNumber);
//            return -1;
//        }
//        
//        //Speed is given as a percentage of 100, so convert it to the value needed for the bridge.drive function
//        speedValue = speedValue / 100;
//        
//        
//        if (speedValue <= 0 && speedValue > 1.0){
//            ErrorOut("Speed Value must be between 0 - 100", lineData.lineNumber);
//            return -1;
//        }
//        
//        if (dir.compare("CC") == 0 || dir.compare("cc") == 0)
//            dirValue = -1; //Turn Clockwise
//        else if (dir.compare("C") == 0 || dir.compare("c") == 0)
//            dirValue = 1; //Turn CounterClockwise
//            
//        else{
//            ErrorOut("Direction Value must be C or CC", lineData.lineNumber);
//            return -1;
//        }
//        
//        //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
//        if (DummyMode)
//            return 0; //Function operated successfully but doesn't return a value
//            
//        bridges.drive(getMotor(), dirValue, speedValue); //Turn on the Motor
//    }
//    
//    
//    /******************************************************************************/
//    /****                           <Func: off>                                ****/
//    /******************************************************************************/
//    else if (func.compare("off") == 0){
//        
//        if (lineData.numWords != 2){
//            ErrorOut("Incorrect number of parameters", lineData.lineNumber);
//            return -1;
//        }
//        
//        //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
//        if (DummyMode)
//            return 0; //Function operated successfully but doesn't return a value
//            
//        off();
//    }
//    
//    else {
//        ErrorOut("Unknown Command for Motor Class", lineData.lineNumber);
//        return -1;
//    }
//    
//    return 0; //Return success as 0 since no condition had to be met
//}
//
//
//
////For stopping the entire system if an error occurs, can be called from main
//int CAN_Device::off(void){
//    bridges.drive(getMotor(), 0, 0); //Turn off the Motor
//    return 0;
//}