CtrlBridge.cpp

00001 
00002 #include "CtrlBridge.h"
00003 
00004 CtrlBridge *CtrlBridge::uniqueInstance;
00005 
00006 /**
00007  * @brief Constructeur priver appler par la fonction getInstance()
00008  */
00009 CtrlBridge::CtrlBridge()
00010     : m_Memory(), ssc32(PA_9, PA_10),
00011       spiLowSpeed (SPI_LOW_MOSI, SPI_LOW_MISO, SPI_LOW_SCK, SPI_LOW_DEMUXA, SPI_LOW_DEMUXB, SPI_LOW_DEMUXC, SPI_LOW_DEMUXD, SPI_LOW_CS),
00012       spiHighSpeed(SPI_HIGH_MOSI, SPI_HIGH_MISO, SPI_HIGH_SCK, SPI_HIGH_DEMUXA, SPI_HIGH_DEMUXB, SPI_HIGH_DEMUXC, SPI_HIGH_DEMUXD, SPI_HIGH_CS),
00013       pc(SERIAL_TX, SERIAL_RX)
00014 {
00015     //faire en sorte d'init SPI speed ici
00016     m_regPortUse=0;
00017     m_regPortLost=0;
00018     spiLowSpeed.format(8,0);
00019     spiLowSpeed.frequency(/*10000*/10000);
00020 }
00021 
00022 CtrlBridge::~CtrlBridge()
00023 {
00024 }
00025 
00026 /**
00027  * @brief Methode permetant une seul instance de la classe
00028  * @return Retourne l'unique instance de la classe
00029  */
00030 CtrlBridge *CtrlBridge::getInstance()
00031 {
00032     if(!uniqueInstance) {
00033         uniqueInstance = new CtrlBridge();
00034     }
00035     return uniqueInstance;
00036 }
00037 
00038 bool CtrlBridge::initCom(void)
00039 {
00040     //char positionInitial;
00041     bool portUse;
00042     unsigned char adresse;
00043     string flag;
00044     string data;
00045     Module* templateModule ;
00046     templateModule= new Module;
00047 
00048     debug(DEBUG_INITMODULE, "\n\rInit::debut");
00049     //flag.clear();
00050     //flag.append(1,Request_Init_Info);
00051     //positionInitial = spiLowSpeed.next_demux();
00052     for(char i=0; i != 15; i++) {
00053         debug(DEBUG_INITMODULE, "\n\r  -Debut de boucle :%d ", i);
00054         //flag = Request_Init_Info;
00055         //portUse = spiLowSpeed.send(i,0,&flag,&data);
00056         //if( portUse ) {
00057         //  m_regPortUse|=(1<< i);
00058 
00059         do {
00060              debug(DEBUG_INITMODULE," IN");
00061             flag = Request_Init_Info;
00062             adresse = m_Memory.getAdressDispo(0x80);//80 parce que cest le conecteur droit
00063             debug(DEBUG_INITMODULE, "\n\r    -addresse use :%d", adresse);
00064             data.clear();
00065             data.append(4,1);
00066             portUse = spiLowSpeed.send(i,adresse,&flag,&data);
00067             debug(DEBUG_INITMODULE, "\n\r    -Port use result :%d", portUse);
00068             
00069             if((flag.empty()) && (data.empty()))// data vide
00070                 portUse=false;
00071             
00072             if( portUse ) {
00073                  debug(DEBUG_INITMODULE,         "\n\r         -flag get: ");
00074                  for (unsigned j=0; j<flag.length(); j++) debug(DEBUG_INITMODULE, "%02X,",flag.at(j));
00075                  debug(DEBUG_INITMODULE,         "\n\r         -data get: ");
00076                  for (unsigned j=0; j<data.length(); j++) debug(DEBUG_INITMODULE, "%02X,",data.at(j));
00077                 
00078                 
00079                 m_regPortUse|=(1<< i);
00080                 debug(DEBUG_INITMODULE, "\n\r      -Port use :%d", m_regPortUse);
00081                 
00082                 templateModule->regA = adresse;
00083                 debug(DEBUG_INITMODULE, "\n\r      -Adrr use :%d", adresse);
00084                 
00085                 templateModule->regB = (spiLowSpeed.get_demux()<<4)+(data[0]&0x0F);
00086                 templateModule->regB |=  data[0];
00087                 debug(DEBUG_INITMODULE, "\n\r      -regB use :%02X", templateModule->regB);
00088                 
00089                 templateModule->regC = data[1];
00090                 debug(DEBUG_INITMODULE, "\n\r      -regC use :%02X", templateModule->regC);
00091                 
00092                 templateModule->regD = data[2];
00093                 debug(DEBUG_INITMODULE, "\n\r      -regD use :%02X", templateModule->regD);
00094     
00095                 switch(templateModule->regD >>6) {
00096                     case 1://Capteur
00097                         debug(DEBUG_INITMODULE, "\n\r        -Add Capteur");
00098                         m_Memory.addCapteur(*templateModule);
00099                         break;
00100 
00101                     case 2://Actionneur
00102                         debug(DEBUG_INITMODULE, "\n\r        -Add Actionneur");
00103                         m_Memory.addActioneur(*templateModule);
00104                         break;
00105 
00106 
00107                     case 3://Memoire
00108                         debug(DEBUG_INITMODULE, "\n\r        -Add Memoire");
00109                         m_Memory.addMemoire(*templateModule);
00110                         break;
00111 
00112                     default:
00113                         break;
00114                 }
00115 
00116                 if(flag[0] == SLAVE_NO_MORE_EMPTY_ADDR_MODULE)
00117                     portUse=false;
00118 
00119             }
00120              debug(DEBUG_INITMODULE," OUT");
00121         } while(portUse);
00122         debug(DEBUG_INITMODULE, "\n\r  -Fin de boucle :%d", i);
00123     }
00124 
00125     if(templateModule)
00126         delete templateModule;
00127 
00128     debug(DEBUG_INITMODULE, "\n\rInit::Fin");
00129     return true;
00130 }
00131 
00132 bool CtrlBridge::tryComPort(char portID)
00133 {
00134     if(portID <=  (char)-1)portID=0;
00135     if(portID > 15)portID=15;
00136     string flag;
00137     flag.clear();
00138     string data;
00139     data.clear();
00140     return  spiLowSpeed.send(portID,0,&flag,&data);
00141 }
00142 
00143 bool CtrlBridge::send( const unsigned char &adresse,string &flag, string &data)
00144 {
00145     debug(DEBUF_SEND, "\n\rSend::Debut");
00146     bool result = false;
00147     Module moduleRequested;
00148     if(m_Memory.isAdresseValide(adresse,moduleRequested)) {
00149 
00150         if(adresse&0x80)
00151         {
00152             debug(DEBUF_SEND, "\n\rPointeur SPI: %d",&spiLowSpeed);
00153             //debug(DEBUF_SEND, "\n\rPointeur SPI: %p",spiLowSpeed);
00154             result = spiLowSpeed.send(moduleRequested.regB>>4,adresse,&flag,&data);
00155             }
00156         else
00157             result = spiHighSpeed.send(moduleRequested.regB>>4,adresse,&flag,&data);
00158         //result = true;
00159     }
00160     debug(DEBUF_SEND, "\n\rSend::Fin");
00161     return result;
00162 }
00163 
00164 string CtrlBridge::findModule(const char &peripheriqueID, const char &type, const char &sousType, const char &posSpatial)
00165 {
00166     debug(DEBUF_FINDMODULE, "\n\rFindModule::Debut");
00167     string result;
00168     int maxSize;
00169     Module moduleScan;
00170     bool goodModule;
00171     
00172     debug(DEBUF_FINDMODULE, "\n\r  -peripheriqueID: %02X",peripheriqueID);
00173     debug(DEBUF_FINDMODULE, "\n\r  -type:           %02X",type);
00174     debug(DEBUF_FINDMODULE, "\n\r  -sousType:       %02X",sousType);
00175     debug(DEBUF_FINDMODULE, "\n\r  -posSpatial:     %02X",posSpatial);
00176 
00177     debug(DEBUF_FINDMODULE, "\n\r -Debut scan Actioneur");
00178     maxSize = m_Memory.getSizeActioneur();
00179     debug(DEBUF_FINDMODULE, "\n\r  -MaxSize: %02d",maxSize);
00180     goodModule = true;
00181     moduleScan= m_Memory.firstActioneur();
00182 
00183     for(int i=0; i < maxSize; i++) {
00184         if((peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)){
00185              goodModule =false;
00186              debug(DEBUF_FINDMODULE, "\n\r  -peripheriqueID: %02d   == moduleScan.regB>>4: %02d",peripheriqueID,moduleScan.regB>>4);
00187              }
00188         else if((type != 0) && (type != moduleScan.regD>>6)){
00189              goodModule =false;
00190              debug(DEBUF_FINDMODULE, "\n\r  -type: %02d   == moduleScan.regD>>6: %02d",type,moduleScan.regD>>6);
00191              }
00192         else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))){
00193              goodModule =false;
00194              debug(DEBUF_FINDMODULE, "\n\r  -sousType: %02d   == (moduleScan.regD & 0x3F): %02d",sousType,(moduleScan.regD & 0x3F));
00195              }
00196         else if((posSpatial != 0) && (posSpatial != (moduleScan.regC & 0x3F))){
00197              goodModule =false;
00198              debug(DEBUF_FINDMODULE, "\n\r  -posSpatial: %02d   == (moduleScan.regC & 0x3F): %02d",posSpatial,(moduleScan.regC & 0x3F));
00199              }
00200 
00201         if(goodModule){
00202             result.append(1,moduleScan.regA);
00203             debug(DEBUF_FINDMODULE, "\n\r  -Find one!");
00204             }
00205         if((goodModule)&&(peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false;
00206 
00207         moduleScan= m_Memory.nextActioneur();
00208     }
00209     debug(DEBUF_FINDMODULE, "\n\r -Fin scan Actioneur");
00210     //debug(DEBUF_FINDMODULE, "\n\r -Result size: %0i",result.size());
00211     debug(DEBUF_FINDMODULE, "\n\r -Debut scan Capteur");
00212 
00213     maxSize = m_Memory.getSizeCapteur();
00214     debug(DEBUF_FINDMODULE, "\n\r  -MaxSize: %02d",maxSize);
00215     
00216     moduleScan= m_Memory.firstCapteur();
00217 
00218     for(int i=0; i < maxSize; i++) {
00219         goodModule = true;
00220         debug(DEBUF_FINDMODULE, "\n\r  -adresse: %02x",moduleScan.regA);
00221         debug(DEBUF_FINDMODULE, "\n\r  -peripheriqueID: %02d   == moduleScan.regB>>4: %02d",peripheriqueID,moduleScan.regB>>4);
00222         debug(DEBUF_FINDMODULE, "\n\r  -type: %02d   == moduleScan.regD>>6: %02d",type,moduleScan.regD>>6);
00223         debug(DEBUF_FINDMODULE, "\n\r  -sousType: %02d   == (moduleScan.regD & 0x3F): %02d",sousType,(moduleScan.regD & 0x3F));
00224         debug(DEBUF_FINDMODULE, "\n\r  -posSpatial: %02d   == (moduleScan.regC & 0x3F): %02d",posSpatial,(moduleScan.regC & 0x3F));
00225         
00226         if((peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)){
00227              goodModule =false;
00228              debug(DEBUF_FINDMODULE, "\n\r  -false");
00229              }
00230         else if((type != 0) && (type != moduleScan.regD>>6)){
00231              goodModule =false;
00232              debug(DEBUF_FINDMODULE, "\n\r  -false");
00233              }
00234         else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))){
00235              goodModule =false;
00236              debug(DEBUF_FINDMODULE, "\n\r  -false");
00237              }
00238         else if((posSpatial != 0) && (posSpatial != (moduleScan.regC & 0x3F))){
00239              goodModule =false;
00240              debug(DEBUF_FINDMODULE, "\n\r  -false");
00241              }
00242 
00243         if(goodModule){
00244             result.append(1,moduleScan.regA);
00245             debug(DEBUF_FINDMODULE, "\n\r  -Find one!");
00246             }
00247         if((goodModule)&&(peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false;
00248 
00249         moduleScan= m_Memory.nextCapteur();
00250     }
00251     debug(DEBUF_FINDMODULE, "\n\r -Fin scan Capteur");
00252     //debug(DEBUF_FINDMODULE, "\n\r -Result size: %0i",result.size());
00253     debug(DEBUF_FINDMODULE, "\n\r -Debut scan Memoire");
00254 
00255     maxSize = m_Memory.getSizeMemoire();
00256     debug(DEBUF_FINDMODULE, "\n\r  -MaxSize: %02d",maxSize);
00257     goodModule = true;
00258     moduleScan= m_Memory.firstMemoire();
00259 
00260     for(int i=0; i < maxSize; i++) {
00261         if((peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)){
00262              goodModule =false;
00263              debug(DEBUF_FINDMODULE, "\n\r  -peripheriqueID: %02d   == moduleScan.regB>>4: %02d",peripheriqueID,moduleScan.regB>>4);
00264              }
00265         else if((type != 0) && (type != moduleScan.regD>>6)){
00266              goodModule =false;
00267              debug(DEBUF_FINDMODULE, "\n\r  -type: %02d   == moduleScan.regD>>6: %02d",type,moduleScan.regD>>6);
00268              }
00269         else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))){
00270              goodModule =false;
00271              debug(DEBUF_FINDMODULE, "\n\r  -sousType: %02d   == (moduleScan.regD & 0x3F): %02d",sousType,(moduleScan.regD & 0x3F));
00272              }
00273         else if((posSpatial != 0) && (posSpatial != (moduleScan.regC & 0x3F))){
00274              goodModule =false;
00275              debug(DEBUF_FINDMODULE, "\n\r  -posSpatial: %02d   == (moduleScan.regC & 0x3F): %02d",posSpatial,(moduleScan.regC & 0x3F));
00276              }
00277 
00278         if(goodModule){
00279             result.append(1,moduleScan.regA);
00280             debug(DEBUF_FINDMODULE, "\n\r  -Find one!");
00281             }
00282         if((goodModule)&&(peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false;
00283 
00284         moduleScan= m_Memory.nextMemoire();
00285     }
00286     debug(DEBUF_FINDMODULE, "\n\r -Fin scan Memoire");
00287    // debug(DEBUF_FINDMODULE, "\n\r -Result size: %0i",result.size());
00288     debug(DEBUF_FINDMODULE, "\n\rFindModule::Fin");
00289     return result;
00290 }
00291 
00292 int CtrlBridge::size(const char &peripheriqueID, const char &type, const char &sousType, const char &posSpatial)
00293 {
00294     int result;
00295     string templateString;
00296 
00297     templateString = findModule(peripheriqueID,type,sousType,posSpatial);
00298     result = templateString.size()-1;//pas sure si on met -1
00299     return result;
00300 }