Initialization.hpp

00001 #ifndef INITIALIZATION_HPP
00002 #define INITIALIZATION_HPP
00003 
00004 #include "mbed.h"
00005 #include "LocalPinNames.h"
00006 #include "BridgeDriver.h"
00007 #include "FrontPanelButtons.h"
00008 #include "TextLCD.h"
00009 #include "SDFileSystem.h"
00010 #include <string>
00011 #include <vector>
00012 
00013 
00014 /**********************************************************************************************************************************/
00015 /**********************************************************************************************************************************/
00016 /**************************                              <MUST MODIFY>                                    *************************/
00017 /**********************************************************************************************************************************/
00018 /**********************************************************************************************************************************/
00019 
00020 enum  DeviceType{MOTOR, VOLTAGE_DRIVER, PIN_IN, TIMER_DEVICE, CAN_DEVICE};                                //ADD DEVICE NAME
00021 static const enum DeviceType Device_Map[] = {MOTOR, VOLTAGE_DRIVER, PIN_IN, TIMER_DEVICE, CAN_DEVICE};    //AND HERE ***NOTE TO KEEP SAME ORDER
00022 
00023 /**************************                              <MUST MODIFY>                                    *************************/
00024 /**********************************************************************************************************************************/
00025 /**********************************************************************************************************************************/
00026 
00027 
00028 
00029 /******************************************************************************/
00030 /***                       <Global Initializations>                         ***/
00031 /******************************************************************************/
00032 
00033 //Initializations
00034 extern Timer timer;    // general purpose timer
00035 extern I2C i2c; // I2C bus (SDA, SCL)
00036 extern BridgeDriver bridges; // Bridge
00037 extern TextLCD_I2C lcd; // LCD
00038 extern SDFileSystem sd; // the pinout on the mbed LPC1768
00039 
00040 extern DigitalIn killSw;
00041 
00042 //extern Ticker errorWatcher;
00043 
00044 extern const int MAX_LINE_LENGTH;
00045 extern int DummyMode;
00046 extern FILE *selectedFile;
00047 extern int errorFLAG;
00048 
00049 /******************************************************************************/
00050 /***                 <Line Data Struct Initializations>                     ***/
00051 /******************************************************************************/
00052 
00053 struct LineData{
00054     
00055     int lineNumber;     //current line number in the program txt file that is running
00056     string word[50];    //array of words from the line of text, assuming no more than 50 words will be in any given line
00057                         //in this initialization there are 15 string (pointers) of size MAX_LINE_LENGTH each
00058     int numWords;       //Number of words in the given line
00059     int lineAddress;    //current line address in the SD Card
00060 };
00061 
00062 /******************************************************************************/
00063 /***                     <Function Initializations>                         ***/
00064 /******************************************************************************/
00065 
00066 void fullInit(); //Perform and call any needed initializations
00067  
00068 void initLCD(void); //Initialize the LCD
00069 
00070 void ErrorOut(string, int); //Outputs error message, line number, and formatting to LCD
00071 
00072 int cyclePrograms(vector<string>, int, int, int);
00073 
00074 void resetLineData(LineData &); //reset and all variables of the Line Data Struct
00075 
00076 int interpretCommand(LineData &);
00077 
00078 int loopCommand(LineData &);
00079 
00080 /******************************************************************************/
00081 /***                     <GoTo Label Initializations>                       ***/
00082 /******************************************************************************/
00083 
00084 struct GoToLabel{
00085 
00086     string name;        //name of the GoTo Label
00087     int lineNumber;     //line number of the GoTo Label
00088     int lineAddress;    //line address of the GoTo Label
00089 };
00090 
00091 extern vector<GoToLabel> GoToLabels;
00092 
00093 
00094 /******************************************************************************/
00095 /***                   <Cycle Struct Initializations>                       ***/
00096 /******************************************************************************/
00097 
00098 struct CycleWatch{
00099 
00100     int numCycles;          //number of cycles to go to
00101     int counter;            //number the tracks the current cycle count
00102     float totalCycleTime;   //tracks the total amount of time for the cycle, in order to calculate the average cycle time
00103     int startAddress;       //starting address to seek back to on loop
00104     int startLineNumber;    //starting line number to reset to
00105 };
00106 
00107 /******************************************************************************/
00108 /***              <Parent Device Class Initializations>                     ***/
00109 /******************************************************************************/
00110 
00111 extern const string DeviceNames[];
00112 extern int numDevices;
00113 extern int currNumDevices;
00114 
00115 
00116 class Device{
00117     
00118     public:
00119         string name;
00120         int errorFlag;
00121         enum DeviceType type;
00122         static Device* newDevice(int, string, LineData);
00123         virtual int interpret(LineData&) = 0;
00124         virtual int off() = 0;
00125         virtual int pause() = 0;
00126         virtual int resume() = 0;
00127 };
00128 
00129 extern vector<Device*> devices; //Initialize vector of devices
00130 
00131 
00132 /******************************************************************************/
00133 /***                   <Error Monitor Initializations>                      ***/
00134 /******************************************************************************/
00135 /*
00136 struct ErrorCondition{
00137     
00138     LineData errorToWatch;
00139     LineData errorFix;    
00140     int hasFix;
00141 };
00142 
00143 //extern vector<ErrorCondition> errorMonitors; //Initialize vector of errors to monitor
00144 extern ErrorCondition errorMonitors[15];
00145 extern int numErrorMonitors;*/
00146 //void ErrorMonitor(); //Monitors the conditions to watch for erroring, and pauses system if any of the conditions turn out to be true
00147 
00148 #endif