File content as of revision 11:95e4e04a7dd2:

#include "model.h"
int pom=0;
DigitalOut cervena(LED1);
DigitalOut zelena(LED2);
Model::Model(Serial *pci)
{


    cmd= new Commands();
    pc=pci;
    pc->baud(57600);
    cmd->MotorDown[0]=0x2;
    cmd->MotorDown[1]=0xff;
    cmd->MotorDown[2]=0xff;
    cmd->MotorDown[3]=0xff;
    cmd->MotorDown[4]=0xfb;
    cmd->MotorUp[0]=0x2;
    cmd->MotorUp[1]=0x00;
    cmd->MotorUp[2]=0x00;
    cmd->MotorUp[3]=0x00;
    cmd->MotorUp[4]=0x14;
    cmd->MotorStop[0]=0x1;
    cmd->Lock[0]=0x00;
    watchDog[0]=0x01;
    sendDataOk = true;
//    sendPacket(0xa0,0xfe,0x0, watchDog,1);
//     sendPacket(0xa0,0xf,0x0, cmd->Lock,1);
    watchDog[0]=0x2;
    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;
    pc->attach(this,&Model::SerialCallBack,Serial::RxIrq);
//    tc.attach(this,&Model::TickerCallBack,1);
}

void Model::SerialCallBack()
{
//   pom++;
//    if(pom==1) {
//        zelena=0;
//        cervena=0;
//    } else {
//        zelena=1;
//        cervena=1;
//        pom=0;
//    }
    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:
            ;
    }
//    if(startByteIn==0xa0&&targetAdd==0x00&&sourceAdd==0x00&&DataLength==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;
    //packet format : || start byte: a0 | reciever adress - 1B | sender adress - 1B | data lenght - 1B | data - 0-265B | crc8 - 1B ||
//   do{

//    cervena=1;
    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);

//    } while(sendDataOk);
//    zelena=1;

}
void Model::doSomething(char data)
{

    switch(data) {
        case 0xe4:
            p4=1;
            poschodie=4;
            cmd->ArrowDown[1]=0x34;
            cmd->ArrowUp[1]=0x34;
            switch(direction) {
                case -1:
                    sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
                    break;
                case 1:
                    sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
                    break;
                default:
                    ;
            }
            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();
                tmOut.attach(this,&Model::TimeOutCallBack,4);
                tmOut2.attach(this,&Model::DoorUnlock,3);
            };
            break;
        case 0xe3:
            p3=1;
            poschodie=3;
            cmd->ArrowDown[1]=0x33;
            cmd->ArrowUp[1]=0x33;
            switch(direction) {
                case -1:
                    sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
                    break;
                case 1:
                    sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
                    break;
                default:
                    ;

            }
            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();
                tmOut.attach(this,&Model::TimeOutCallBack,4);
                tmOut2.attach(this,&Model::DoorUnlock,3);
            }
            break;
        case 0xe2:
            poschodie=2;
            p2=1;
            cmd->ArrowDown[1]=0x32;
            cmd->ArrowUp[1]=0x32;
            switch(direction) {
                case -1:
                    sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
                    break;
                case 1:
                    sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
                    break;
                default:
                    ;

            }


            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);
                stopMotor();
                tmOut.attach(this,&Model::TimeOutCallBack,4);
                tmOut2.attach(this,&Model::DoorUnlock,3);

            }
            break;
        case 0xe1:
            poschodie=1;
            cmd->ArrowDown[1]=0x31;
            cmd->ArrowUp[1]=0x31;
            p1=1;
            switch(direction) {
                case -1:
                    sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
                    break;
                case 1:
                    sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
                    break;
                default:
                    ;
            }
            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();
                tmOut.attach(this,&Model::TimeOutCallBack,4);
                tmOut2.attach(this,&Model::DoorUnlock,3);
            }
            break;
        case 0xe0:
            poschodie=0;
            p0=1;
            cmd->ArrowDown[1]=0x50;
            cmd->ArrowUp[1]=0x50;
            switch(direction) {
                case -1:
                    sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
                    break;
                case 1:
                    sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
                    break;
                default:
                    ;
            }
            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();
                tmOut.attach(this,&Model::TimeOutCallBack,4);
                tmOut2.attach(this,&Model::DoorUnlock,3);
            }
            break;
        default:
            ;
    }
    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();
            }
        }
    } else 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();
            }
        }
    } else 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();
            }
        }
    } else 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();
            }

        }
    } else 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();
    }
}
void Model::setDoorStatus(bool mValue)
{
    if(mValue==true) {
        cmd->Lock[0]=0x01;//Lock door
    } else {
        cmd->Lock[0]=0x00;//;Unlock door
    }
    sendPacket(0xa0,0xf0,0x0, cmd->Lock,1);
}
void Model::DoorUnlock()
{
    cmd->Lock[0]=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);
    setDoorStatus(1);
}
void Model::upMotor()
{
    direction=1;
    sendPacket(0xa0,0xf1,0x00,cmd->MotorUp,5);
    setDoorStatus(1);
}
void Model::TimeOutCallBack()
{
    switch(poschodie) {
        case 4:
            if(mapPoschodie.find("p3")->second==true||mapPoschodie.find("p2")->second==true||mapPoschodie.find("p1")->second==true||mapPoschodie.find("p0")->second==true) {
                downMotor();
            }
            break;
        case 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 2:
            //
            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 1:

            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 0:
            if(mapPoschodie.find("p1")->second==true||mapPoschodie.find("p2")->second==true||mapPoschodie.find("p3")->second==true||mapPoschodie.find("p4")->second==true) {
                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
};