Initialization.cpp

00001 #include "Initialization.hpp"
00002 #include "Motor.hpp"
00003 #include "VoltageDriver.hpp"
00004 #include "PinIN.hpp"
00005 #include "TimerDevice.hpp"
00006 
00007 
00008 /**********************************************************************************************************************************/
00009 /**********************************************************************************************************************************/
00010 /**************************                              <MUST MODIFY>                                    *************************/
00011 /**********************************************************************************************************************************/
00012 /**********************************************************************************************************************************/
00013 
00014 // ADD YOUR DEVICE NAME THE \\EXACT SAME WAY\\ AS THE ENUM NAME YOU DECLARED IN THE.hpp
00015 // Must Declare names in reverse order for some reason...., it's the way they're indexed I believe
00016 const string DeviceNames[] = {"MOTOR", "VOLTAGE_DRIVER", "PIN_IN", "TIMER_DEVICE", "CAN_DEVICE"}; 
00017 
00018 // ADD YOUR DEVICE TO THE LIST BELOW, CALLING YOUR DEVICE CLASS AS SHOWN
00019 Device* Device::newDevice(int deviceFound, string _name, LineData lineData){
00020     
00021     switch (Device_Map[deviceFound]){
00022         case MOTOR:           return new Motor(lineData);          break;
00023         case VOLTAGE_DRIVER:  return new VoltageDriver(lineData);  break;
00024         case PIN_IN:          return new PinIN(lineData);          break;
00025         case TIMER_DEVICE:    return new TimerDevice(lineData);    break;
00026         
00027         //**********  ADD NEXT DEVICE ABOVE  **************//
00028         default:  break;
00029     }
00030 }
00031 
00032 /**************************                              <MUST MODIFY>                                    *************************/
00033 /**********************************************************************************************************************************/
00034 /**********************************************************************************************************************************/
00035 
00036 
00037 
00038 /******************************************************************************/
00039 /***                       <Global Initializations>                         ***/
00040 /******************************************************************************/
00041 
00042 //Initializations
00043 Timer timer;    // general purpose timer
00044 I2C i2c( P0_10, P0_11 ); // I2C bus (SDA, SCL)
00045 BridgeDriver bridges(&i2c, 1); // Bridge
00046 TextLCD_I2C lcd( &i2c, MCP23008_SA0, TextLCD::LCD20x4 ); // LCD
00047 SDFileSystem sd(P0_18, P0_17, P0_15, P0_16, "sd"); // the pinout on the mbed LPC1768
00048 
00049 DigitalIn killSw(KILL, PullUp);
00050 
00051 //Ticker errorWatcher;
00052 
00053 const int MAX_LINE_LENGTH = 100;
00054 int DummyMode = 0; // run through the code without performing actions
00055 FILE *selectedFile;
00056 int errorFLAG = 0;
00057 
00058 vector<GoToLabel> GoToLabels; //Initialize vector of struct for GoTo Labels
00059 
00060 /******************************************************************************/
00061 /***                     <Function Initializations>                         ***/
00062 /******************************************************************************/
00063 
00064 void fullInit() {
00065     
00066     killSw.mode(PullUp);
00067     initLCD();     
00068     
00069     //Initialize the Error Watcher Interrupt / Ticker
00070     //errorWatcher.attach(&ErrorMonitor, 0.5);
00071     
00072 }
00073  
00074 void initLCD(void) {
00075     
00076     i2c.frequency(1000000);
00077     lcd.setBacklight(TextLCD::LightOn);
00078     wait(.6);
00079     lcd.cls(); //clear the display
00080     lcd.setAddress(0,0);
00081     lcd.printf("Initializing...");
00082 }
00083 
00084 void ErrorOut(string message, int lineNumber){
00085  
00086     lcd.cls(); //clear the display
00087     
00088     lcd.setAddress(0,0);
00089     lcd.printf("Error: %s", message);
00090     
00091     lcd.setAddress(0,3);
00092     lcd.printf("Line Number: %d", lineNumber);
00093 }
00094 
00095 /******************************************************************************/
00096 /***              <Parent Device Class Initializations>                     ***/
00097 /******************************************************************************/
00098 
00099 int numDevices = sizeof(DeviceNames)/sizeof(DeviceNames[0]);
00100 int currNumDevices = 0;
00101 
00102 vector<Device*> devices; //create a vector to hold all of the devices
00103 
00104 
00105 /******************************************************************************/
00106 /***                   <Error Monitor Initializations>                      ***/
00107 /******************************************************************************/
00108 
00109 //vector<ErrorCondition> errorMonitors; //Initialize vector of errors to monitor
00110 //ErrorCondition errorMonitors[15];
00111 //int numErrorMonitors = 0;
00112 /*
00113 //Monitors the conditions to watch for erroring, and pauses system if any of the conditions turn out to be true
00114 void ErrorMonitor(){ 
00115     
00116     int i = 0, error = -1, numError = 0;
00117     for(i = 0; i < errorMonitors.size(); i++){
00118         int checkCondition = 0;
00119         checkCondition = interpretCommand(errorMonitors[i].errorToWatch);
00120         
00121         //if Condition is true, that means the error occurred
00122         if (checkCondition == 1){
00123             numError++;
00124             
00125             //if the error has a Fix / Reset command, do it
00126             if (errorMonitors[i].hasFix){
00127                 int returnValue;
00128                 interpretCommand(errorMonitors[i].errorFix); //Fix / Reset the error based on how the user justified to do so
00129             }
00130                 
00131             error = i; //Record index of error, will display only one error, but error will be last error that was true in the list
00132         }
00133     }
00134     
00135     if (numError){
00136         char errorMsg[100] = "Error Occurred!!!   Item: ";
00137         strcat(errorMsg, errorMonitors[error].errorToWatch.word[0].c_str()); //Send the first word of the error condition to help find out what the error was
00138         ErrorOut(errorMsg, numError);
00139         errorFLAG = 1; //set error flag equal to 1 if error occurred
00140     }
00141     else
00142         errorFLAG = 0; //set error flag equal to 0 if no errors occurred
00143         
00144 }
00145 */
00146