Diff: Bot_Auxiliaries.cpp

Revision:

1:6f5b84940d04

Parent:

0:32b17da1ddae

--- a/Bot_Auxiliaries.cpp	Wed Oct 31 14:22:26 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,197 +0,0 @@
-// *****************************************************************
-// 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
-}
-
-
-
-