Diff: main.cpp

Revision:

0:864f6ee5169b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Apr 09 18:06:27 2011 +0000
@@ -0,0 +1,79 @@
+/*
+ * Main program, looks for LOGO file on robot and executes the commands
+ * within it.
+ */
+ 
+#include "mbed.h"
+#include "m3pi.h"
+
+#include "commands.h"
+
+m3pi m3pi(p23,p9,p10);
+LocalFileSystem local("local");
+
+FILE* open_last_lgo_file() {
+    char* fn = NULL;
+    
+    DIR *d = opendir("/local");
+    for (struct dirent *p = readdir(d); p != NULL; p = readdir(d)) {
+        const char* dot = strchr(p->d_name, '.');
+        if (dot != NULL) {
+            const char* ext = dot+1; // skip '.'
+            if (strcmp(ext, "LGO") == 0) {
+                m3pi.cls();
+                m3pi.printf("Found");
+                m3pi.locate(0,1);
+                m3pi.printf("%.*s", 8, p->d_name);
+                
+                // Save reference to the file. Treat the last file as the 
+                // most recent. This may or may not be correct!
+                size_t fn_len = strlen("/local/") + strlen(p->d_name) + 0;
+                fn = (char*)((fn != NULL) ? realloc(fn, fn_len) : malloc(fn_len));
+                sprintf(fn, "/local/%s", p->d_name);
+            }
+        }
+    }
+    closedir(d);
+    
+    FILE* f = NULL;
+    if (fn != NULL) {
+        f = fopen(fn, "r");
+        free(fn);
+        fn = NULL;
+        wait(2.0);
+    }
+    return f;
+}
+
+int main() {
+    FILE* f = open_last_lgo_file();
+    if (f != NULL) {
+        int line = 1;
+        char buf[256];
+        while (!feof(f)) {
+            const char* str = fgets(buf, sizeof(buf), f);
+            if (str == NULL) {
+                break;
+            }
+            int pos = 0;
+            while (true) {
+                Command* cmd =  build_command(line, str, &pos);
+                if (cmd != NULL) {
+                    m3pi.cls();
+                    m3pi.printf("%s", cmd->string());
+                    wait(2.0);
+                    cmd->go();
+                    destroy_command(cmd);
+                } else
+                    break;
+            }
+            ++line;
+        }
+        fclose(f);
+        m3pi.cls();
+        m3pi.printf("Success");
+    } else {
+        m3pi.cls();
+        m3pi.printf("NotFound");
+    }
+}