File content as of revision 0:32b17da1ddae:

// *****************************************************************
// Handle all the LEDs with some general function wrappers functions
// *****************************************************************
#include "Bot_Auxiliaries.h"

// Added a lookup function from a color number to a color, used by Creabot
int LED_CAR::ColNr2Color( char ColNr)
{  switch (ColNr) {
    case 0: return BLACK;
    case 1: return WHITE;
    case 2: return RED;
    case 3: return GREEN;
    case 4: return BLUE;
    case 5: return PURPLE;
    default: return BLACK;
    }
}

void LED_CAR::LEDsOff( void ) {
    StopRotation();
    StopBlink() ;
    for (int lNr=0; lNr<NumLEDs; lNr++) 
        { SetColor(BLACK,lNr); } 
}

void LED_CAR::LEDsRainbow( void )
{ for (int Nr=0; Nr<NumLEDs; Nr++) 
    { SetColor(ColNr2Color(Nr + 1),Nr); }   
}

void LED_CAR::LEDNrCol(LED_Nr aNr, int parameter) 
{   
  SetColor( ColNr2Color( aNr ), aNr);
}

void LED_CAR::LEDsRainbowMove( double speed )
{   LEDsRainbow( );
    StartRotation(0.3);
}

void LED_CAR::LEDClignote(LED_Nr aNr, int OnOff) {
    if (OnOff == 1) {
        SetColor( ORANGE, aNr);
        StartBlink(0.5) ;} 
    else { LEDsOff(); }
}

// *****************************************************************
// Handle all the LEDs specifically with the LED Position definitions
// *****************************************************************

void LED_CAR::LEDFront(int ColNr) 
{   
  SetColor( ColNr2Color( ColNr ), ledAvD);
  SetColor( ColNr2Color( ColNr ), ledAvG);
}
  
void LED_CAR::LEDRear(int ColNr) 
{   
  SetColor( ColNr2Color( ColNr ), ledArD);
  SetColor( ColNr2Color( ColNr ), ledArG);
}
  
void LED_CAR::LEDCligR(int speed) {
    if ( (speed>0) && (speed<4) ) {
       SetColor(ORANGE, ledAvD) ;
       SetColor(ORANGE, ledArD) ;
       StartBlink(float(speed)/4) ;} 
    else { LEDsOff(); }
 }

void LED_CAR::LEDCligL(int speed) {
    if ( (speed>0) && (speed<4) ) {
       SetColor(ORANGE, ledAvG) ;
       SetColor(ORANGE, ledArG) ;
       StartBlink(float(speed)/4) ;} 
    else { LEDsOff(); }
}

void LED_CAR::LEDAnim(int speed) {
    if ( (speed>0) && (speed<4) ) 
        { LEDsRainbowMove(float(speed)/4); }
      else {  LEDsOff();  }
}


//************************************
// Interpreter Class Creation 
//************************************
// Strategy: the interpreter accumulates characters in its input buffer
// it flags the presence of complete lines
// it also flags Overflow of the buffer in which case all subsequent characters 
//       are lost until the queue is emptied, and a CR-LF is received
// Defined States of the interpreter: 
//     MyState = isStartNew, isLineFilling, isOverflow, isWaitNewLine};


Interpreter::Interpreter() 
{ Reinit( );
  MyState = isStartNew;
}

void Interpreter::Reinit( void ) {
    MyState = isWaitNewLine; // indicates no buffer overflow
    WriteIndex = 0;  // points to next index to write to
    LinesComplete = 0; // indicates that no complete line is currently available 
    // Start Scanning at the start
    ScanIndex = 0;
    BufAvail = BuffLen;// the full buffer size is available 
 }

// Barebone function, assumes that checks havee been performed by writeBuf!
void Interpreter::AddChar( char aChar ) {
    if (WriteIndex == BuffLen) {WriteIndex=0;}
       else {WriteIndex++;}
    RingBuf[WriteIndex]=aChar; // all right, buffer it!
    BufAvail--; // Buffer is shrinking
    if (BufAvail==0) { MyState = isOverflow; }
}                 

// High level method to add a Char to the buffer,
// Separates at Chars 10, 13, 0; replaced by a single 0 char
// Blocking write when buffer has overflowed
void Interpreter::writeBuf(char aChar) {
  bool LineEnds = aChar==10 || aChar==13 || aChar==0;
  switch (MyState) {
    case isOverflow: break;
    case isStartNew: 
        // avoid that consecutive CR LF are counted as multiple lines 
        if (!LineEnds) {AddChar(aChar ); MyState = isLineFilling; } 
        break;
    case isLineFilling:
        if (!LineEnds)  {AddChar(aChar);} 
          else 
            {MyState = isStartNew; // ready for the next line
             // Between consecutive commands, the endstring=NULL character is inserted
             // this is to indicate that line was already counted as completed
             AddChar(0 ); // append a line end char, will detect bufferFull!
             LinesComplete++; } // count completed lines        
        break;
    case isWaitNewLine: // waiting for a new line end to arrive after an overflow
        if (LineEnds) { MyState = isStartNew; }
        break;
    default: MyState = isOverflow; // goes into error state, should never happen though
    }   
} // writeBuf

// Barebone function, that performs the checks to be performed!
// Passes back the actC, and reads already the nextChar into actC
char Interpreter::GetAChar( void ) {
char oldC = actC;
    if (BufAvail==BuffLen) { actC = 0; } // buffer is empty
    else // something is in the buffer 
      { if (ScanIndex == BuffLen) {ScanIndex=0;}
           else {ScanIndex++;}
        actC=RingBuf[ScanIndex]; // all right, get it
        BufAvail++; // Buffer is increasing
      } // something is in the buffer 
    return oldC;
}                 

// skip true blank, but also Tab characters
void Interpreter::SkipBlanks( void ) {
    while(BufAvail<BuffLen && (actC==' ' || actC==9|| actC==0)) { GetAChar(); }
} // SkipBlanks

int Interpreter::ReadAnInt( void ) {
bool Negative = false;
int  Result = 0;
    if (actC=='-') {Negative = true; GetAChar(); }
    else if (actC=='+') {Negative = false; GetAChar(); }
    while(BufAvail<BuffLen  && actC>='0' && actC<='9') 
        { Result = Result * 10 + (GetAChar()-'0') ; }
    return Negative? -Result : Result;
} // ReadAnInt


RD_CMD_TYPE Interpreter::ParseCommand( void ) {
  RD_CMD_TYPE cmd; // locally built command
    actC=RingBuf[ScanIndex]; 
    SkipBlanks();
    // Next Character is the command
    cmd.Command = GetAChar();
    // Next Blanks are to be omitted, but are not even mandatory
    SkipBlanks();
    if ((actC>='0' && actC<='9') || actC=='-' || actC=='+' )
           { cmd.Parameter= ReadAnInt(); cmd.NumParam = 1; }
      else { cmd.Parameter= 0;           cmd.NumParam = 0; }
    SkipBlanks( ); // There should be at least a trailing NUL character to be removed
    LinesComplete--; // one line less in the storage
    
    return cmd; // return the built command
}