File content as of revision 7:9521d6ae3747:

#include "model.h"
Model::Model(Serial *pci):cmd(new Commands)
{
    pc=pci;
    pc->baud(57600);
    init();
    char data[1];
    data[0]=0x43;
//        for(int i =0;i<2;i++){
//        sendPacket(0xa0,0xd0,0x00,data,1);}
//          data[0]=0x44;
//        for(int i =0;i<15;i++){
//        sendPacket(0xa0,0xd0,0x00,data,1);}
}
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)
{
    //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);
}
void Model::doSomething(char data)
{
    if( mapPoschodie.find("p4")->second==true&&p4==true) {
        p4=false;
        sendPacket(0xa0,0x14,0x00,cmd->LedOn,1);
        sendPacket(0xa0,0x24,0x00,cmd->LedOn,1);
        if(direction==0) { //chod nahor
            if(poschodie<4){
                upMotor();}
        }
    }
    if( mapPoschodie.find("p3")->second==true&&p3==true) {
        p3=false;
        sendPacket(0xa0,0x13,0x00,cmd->LedOn,1);
        sendPacket(0xa0,0x23,0x00,cmd->LedOn,1);
        if(direction==0) {
            if(poschodie<3) {
                upMotor();
            } else {
                downMotor();
            }
        }
    }

    if( mapPoschodie.find("p2")->second==true&&p2==true) {
        p2=false;
        sendPacket(0xa0,0x12,0x00,cmd->LedOn,1);
        sendPacket(0xa0,0x22,0x00,cmd->LedOn,1);
        if(direction==0) {
            if(poschodie<2) {
                upMotor();
            } else {
                downMotor();
            }
        }
    }


    if( mapPoschodie.find("p1")->second==true&&p1==true) {
        p1=false;
        sendPacket(0xa0,0x11,0x00,cmd->LedOn,1);
        sendPacket(0xa0,0x21,0x00,cmd->LedOn,1);
        if(direction==0) {
            if(poschodie<1) {
                upMotor();
            } else {
                downMotor();
            }
        }
    }

    if( mapPoschodie.find("p0")->second==true&&p0==1) {
        p0=0;
        sendPacket(0xa0,0x10,0x00,cmd->LedOn,1);
        sendPacket(0xa0,0x20,0x00,cmd->LedOn,1);
        if(mapPoschodie.find("p4")->second==false || mapPoschodie.find("p3")->second==false || mapPoschodie.find("p2")->second==false|| mapPoschodie.find("p1")->second==false  ) {
            if(direction==0)
                downMotor();
        }
    }

    switch(data) {
        case 0xe4:
            p4=1;
            poschodie=4;
            cmd->ArrowDown[1]=0x34;
            cmd->ArrowUp[1]=0x34;
            if(direction==-1) {
                sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
            } else {
                sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
            }
            if( mapPoschodie.find("p4")->second==true) {
                mapPoschodie.find("p4")->second=false;
                sendPacket(0xa0,0x24,0x00,cmd->LedOff,1);
                sendPacket(0xa0,0x14,0x00,cmd->LedOff,1);
                stopMotor();
                wait(3);
                if(mapPoschodie.find("p3")->second==true||mapPoschodie.find("p2")->second==true||mapPoschodie.find("p1")->second==true||mapPoschodie.find("p0")->second==true) {
                    downMotor();
                }
            }
            break;
        case 0xe3:
            p3=1;
            poschodie=3;
            cmd->ArrowDown[1]=0x33;
            cmd->ArrowUp[1]=0x33;
            if(direction==-1) {
                sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
            } else {
                sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
            }
            if( mapPoschodie.find("p3")->second==true) {
                mapPoschodie.find("p3")->second=false;
                sendPacket(0xa0,0x13,0x00,cmd->LedOff,1);
                sendPacket(0xa0,0x23,0x00,cmd->LedOff,1);
                stopMotor();
                wait(3);
                if(mapPoschodie.find("p2")->second==true||mapPoschodie.find("p1")->second==true||mapPoschodie.find("p0")->second==true) {
                    downMotor();
                } else if(mapPoschodie.find("p4")->second==true) {
                    upMotor();
                }
            }
            break;
        case 0xe2:
            poschodie=2;
            p2=1;
            cmd->ArrowDown[1]=0x32;
            cmd->ArrowUp[1]=0x32;
            if(direction==-1) {
                sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
            } else {
                sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
            }
            if( mapPoschodie.find("p2")->second==true) {
                mapPoschodie.find("p2")->second=false;
                sendPacket(0xa0,0x12,0x00,cmd->LedOff,1);
                sendPacket(0xa0,0x22,0x00,cmd->LedOff,1);
                sendPacket(0xa0,0xf1,0x00,cmd->MotorStop,1);
                wait(3);
                if(mapPoschodie.find("p1")->second==true||mapPoschodie.find("p0")->second==true) {
                    downMotor();
                } else if(mapPoschodie.find("p3")->second==true||mapPoschodie.find("p4")->second==true) {
                    upMotor();
                }
            }

            break;
        case 0xe1:
            poschodie=1;
            cmd->ArrowDown[1]=0x31;
            cmd->ArrowUp[1]=0x31;
            p1=1;

            if(direction==-1) {
                sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
            } else {
                sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
            }
            if( mapPoschodie.find("p1")->second==true) {
                mapPoschodie.find("p1")->second=false;
                sendPacket(0xa0,0x11,0x00,cmd->LedOff,1);
                sendPacket(0xa0,0x21,0x00,cmd->LedOff,1);
                stopMotor();
                wait(3);
                if(mapPoschodie.find("p0")->second==true) {
                    downMotor();
                } else if(mapPoschodie.find("p2")->second==true||mapPoschodie.find("p3")->second==true||mapPoschodie.find("p4")->second==true) {
                    upMotor();
                }
            }
            break;
        case 0xe0:
            poschodie=0;
            p0=1;
            cmd->ArrowDown[1]=0x50;
            cmd->ArrowUp[1]=0x50;
            if(direction==-1) {
                sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
            } else {
                sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
            }
            if( mapPoschodie.find("p0")->second==true) {
                mapPoschodie.find("p0")->second=false;
                sendPacket(0xa0,0x10,0x00,cmd->LedOff,1);
                sendPacket(0xa0,0x20,0x00,cmd->LedOff,1);
                stopMotor();
                wait(3);
                if(mapPoschodie.find("p1")->second==true||mapPoschodie.find("p2")->second==true||mapPoschodie.find("p3")->second==true||mapPoschodie.find("p4")->second==true) {
                    upMotor();
                }
            }

            break;
        default:
            break;


    }

}

void Model::setDoorStatus(bool mValue)
{
    if(mValue==true) {
        cmd->Lock[1]=0x01;//Lock door
    } else {
        cmd->Lock[1]=0x00;//;Unlock door
    }
    sendPacket(0xa0,0xf0,0x0, cmd->Lock,1);
}
void Model::stopMotor()
{
    direction=0;
    sendPacket(0xa0,0xf1,0x00,cmd->MotorStop,1);
};
void Model::downMotor()
{
    direction=-1;
    sendPacket(0xa0,0xf1,0x00,cmd->MotorDown,5);
};
void Model::upMotor()
{
    direction=1;
    sendPacket(0xa0,0xf1,0x00,cmd->MotorUp,5);
};
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
};