Revision 16:2482d226cf4d, committed 2014-10-03

Comitter:

mehatfie

Date:

Fri Oct 03 21:33:46 2014 +0000

Parent:

15:c944ee3c8a5b

Commit message:

- Updated Errors; - Initializes SD Card to work every time; - Cycle timer starts immediately on first cycle

Changed in this revision

--- a/Devices/CAN_Device.cpp	Fri Oct 03 17:31:04 2014 +0000
+++ b/Devices/CAN_Device.cpp	Fri Oct 03 21:33:46 2014 +0000
@@ -1,48 +1,51 @@
-//#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){
+#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
+    //CAN 1 is on the Back of the Box, CAN2 is on the Front of the Box
+    if (tempChannel == 1 || tempChannel == 2){
+        if (tempChannel == 1){
+            this->canDevice = new CAN (p30, p29);
 //            this->pinRD = p30;
 //            this->pinTD = p29;
-//        }
-//        else if (tempChannel == 2){
+        }
+        else if (tempChannel == 2){
+            this->canDevice = new CAN (p9, p10);
 //            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;
-//}
-//    
-//    
+        }
+        
+        this->selectedCAN =  tempChannel;
+    }
+    
+    else
+        this->errorFlag = 1;
+         
+    //should have a frequency greater than 0       
+    if (tempFreq > 0)
+        this->canDevice->frequency(tempFreq);
+    else
+        this->errorFlag = 1;
+}
+    
+   
 //int CAN_Device::getSelectedCAN(){     
 //    return this->selectedCAN;
 //}
@@ -50,165 +53,165 @@
 //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){
+
+//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;
-//}
+
+    //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: read>                                 ***/
+    /******************************************************************************/
+    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;
+}

--- a/Devices/CAN_Device.hpp	Fri Oct 03 17:31:04 2014 +0000
+++ b/Devices/CAN_Device.hpp	Fri Oct 03 21:33:46 2014 +0000
@@ -6,18 +6,19 @@
 class CAN_Device: public Device{
     
     private:
-        int selectedCAN;
+        CAN * _canDevice;
+        /*int selectedCAN;
         int freq;
         PinName pinRD;
-        PinName pinTD;
+        PinName pinTD;*/
         vector<CANMessage> messages;
         
     public:
         CAN_Device(LineData);
         int interpret(LineData&);
         int off();
-        int getSelectedCAN();
-        int getFreq();
+//        int getSelectedCAN();
+//        int getFreq();
 };
 
 #endif  
\ No newline at end of file