Diff: model.cpp

Revision:

13:e3089b058fab

Parent:

12:1c7b59097090

Child:

14:19e36b53e76a

--- a/model.cpp	Mon Dec 19 17:47:06 2016 +0000
+++ b/model.cpp	Mon Dec 19 18:54:01 2016 +0000
@@ -1,13 +1,9 @@
 #include "model.h"
-int pom=0;
-DigitalOut cervena(LED1);
-DigitalOut zelena(LED2);
+
 Model::Model(Serial *pci):communication(pci)
 {
-        sendDataOk=false;
+   
     cmd= new Commands();
-    pc=pci;
-//    pc->baud(57600);
     cmd->MotorDown[0]=0x2;
     cmd->MotorDown[1]=0xff;
     cmd->MotorDown[2]=0xff;
@@ -20,133 +16,19 @@
     cmd->MotorUp[4]=0x14;
     cmd->MotorStop[0]=0x1;
     cmd->Lock[0]=0x00;
-//    watchDog[0]=0x01;
-//    pc->attach(this,&Model::SerialCallBack,Serial::RxIrq);
-//    tc.attach(this,&Model::TickerCallBack,1);
-    //odosle packet na reset watchDogu-u vzdy pri vytvoreni objektu
-//    sendPacket(0xa0,0xfe,0x0, watchDog,1);
-//    watchDog[0]=0x02;
-//    DataIn= new char[6]();
     cmd->LedOn[0]=0x01;
     cmd->LedOff[0]=0x00;
     cmd->ArrowDown[0]=0x02;
     cmd->ArrowUp[0]=0x01;
-//    mapPoschodie.insert(pair<string, bool>("p1",false));
-//    mapPoschodie.insert(pair<string, bool>("p2",false));
-//    mapPoschodie.insert(pair<string, bool>("p3",false));
-//    mapPoschodie.insert(pair<string, bool>("p4",false));
-//    mapPoschodie.insert(pair<string, bool>("p0",false));
-//    poschodie=4;
     direction=0;
-    p4=1;
-    p3=1;
-    p2=1;
-    p1=1;
-    p0=1;
-
+    p4=1;    p3=1;    p2=1;    p1=1;    p0=1;
 
 NVIC_SetPriority(LPTimer_IRQn, 255);
 }
-//
-//void Model::SerialCallBack()
-//{
-//
-//    startByteIn=pc->getc();
-//    targetAdd=pc->getc();
-//    sourceAdd=pc->getc();
-//    DataLength=pc->getc();
-//    for (unsigned int i=0; i< DataLength; i++) {
-//        DataIn[i]=pc->getc();
-//    }
-//    CrcIn=pc->getc();
-//
-//    switch( sourceAdd) {
-//        case 0xc4:
-//        case 0xb4:
-//            if(poschodie!=4)
-//                mapPoschodie.find("p4")->second=true;
-//            break;
-//        case 0xb3:
-//        case 0xc3:
-//            if(poschodie!=3)
-//                mapPoschodie.find("p3")->second=true;
-//            break;
-//        case 0xb2:
-//        case 0xc2:
-//            if(poschodie!=2)
-//                mapPoschodie.find("p2")->second=true;
-//            break;
-//        case 0xb1:
-//        case 0xc1:
-//            if(poschodie!=1)
-//                mapPoschodie.find("p1")->second=true;
-//            break;
-//        case 0xb0:
-//        case 0xc0:
-//            if(poschodie!=0)
-//                mapPoschodie.find("p0")->second=true;
-//            break;
-//        default:
-//            ;
-//    }
-//    //osetrenie ACK
-//    if(sourceAdd==0x00)
-//        sendDataOk=false;
-//////        zelena=0;
-//////        cervena=0;
-////    }
-//}
-//void Model::TickerCallBack()
-//{
-//    sendPacket(0xa0,0xfe,0x00, watchDog,1);
-//    pom++;
-//    if (pom==1) {
-//        zelena =0;
-//        cervena=1;
-//    } else {
-//        zelena=1;
-//        cervena=0;
-//        pom=0;
-//    }
-//
-//}
-//
-//char Model::crcCalc(char targetAddr, char senderAddr, char *data,int DataSize)
-//{
-//    int dataLenght = DataSize;
-//    char crc = 0x00;
-//    crc = crcArray[crc^targetAddr];
-//    crc = crcArray[crc^senderAddr];
-//    for(int i = 0 ; i < dataLenght ; i++) {
-//        crc = crcArray[crc^data[i]];
-//    }
-//    return crc;
-//}
-//void Model::sendPacket(char startByte,char target,char source,char *data,int DataSize)
-//{
-//    sendDataOk=true;
-//    int cnt=0;
-//    while(sendDataOk){
-//        cnt++;
-//        if(cnt==5){sendDataOk=false;cnt=0;}
-//    //packet format : || start byte: a0 | reciever adress - 1B | sender adress - 1B | data lenght - 1B | data - 0-265B | crc8 - 1B ||
-//    int dataLenght = DataSize;
-//    char crc8 = crcCalc(target, source, data,dataLenght);
-//    pc->putc(startByte);
-//    pc->putc(target);
-//    pc->putc(source);
-//    pc->putc(dataLenght);
-//    for (int i = 0 ; i < dataLenght ; i++) {
-//        pc->putc(data[i]);
-//    }
-//    pc->putc(crc8);
-//    wait(0.003);
-//    }
-//}
-void Model::doSomething(char data)
+
+void Model::doSomething()
 {
-data=getSourceAdd();
-    switch(data) {
+    switch(getSourceAdd()) {
         case 0xe4:
             p4=1;
             poschodie=4;
@@ -390,27 +272,9 @@
                 upMotor();
             }
             break;
-
         default:
             ;
     }
 
 }
-unsigned char Model::crcArray[]= {
-    0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65,
-    157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220,
-    35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98,
-    190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255,
-    70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7,
-    219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154,
-    101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36,
-    248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185,
-    140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205,
-    17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80,
-    175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238,
-    50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115,
-    202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139,
-    87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22,
-    233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
-    116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53
-};
+