File content as of revision 22:bf5aa20b9df0:

#include <iostream>
#include <string>

#include "Controlor.h"
#include "HomePosition.h"

Ticker tick;

const float TIMESTEP = 0.005;

//detach may be better to controled from Controlor class

Controlor::Controlor(uint16_t* data) : playing(false), attached(false)
{
    //pwm = new PWM();
    pwm = new Adafruit_PWMServoDriver(p9, p10);
    pwm->begin();
    pwm->setPrescale(64);    //This value is decided for 10ms interval.
    pwm->setI2Cfreq(400000); //400kHz
    
    for (int i = 0; i < 16; ++i) {
        pwm->setDuty(i, HOMEPOS[i]);
    }
    
    //comu = new SCI(p28, p27);
    comu = new Console(USBTX, USBRX);
    
    LocalFileSystem* local = new LocalFileSystem("local");
    
    read("/local/motion.csv", data);
    set(data);
    
    // Motion 0 is Home position
    //setmotion(0);
}

Controlor::~Controlor()
{
    for (int i = 0; i < motion_size; i++) {
        delete[] motions[i];
    }
    delete[] motions;
    
    delete comu;
    delete pwm;
}

void Controlor::read(const string& filename, uint16_t* data)
{
    CSV csv;
    pose_size = new int;//<-This code is suspicious
    csv.read(filename, data, &servo_size, &motion_size, pose_size);
    //readMotion(filename, data, servo_size, motion_size, pose_size); // not so good at speed and has bug in handling float motion value.
}

void Controlor::set(uint16_t* data)
{
    int size_z = motion_size;
    int size_x = servo_size;
    
    motions = new uint16_t**[size_z];
    uint16_t* p = data;
    
    for (int i = 0; i < size_z; ++i) {
        int size_y = pose_size[i];
        motions[i] = new uint16_t*[size_y];
        for (int j = 0; j < size_y; ++j) {
            motions[i][j] = p + size_x * j;
        }
        p += size_x * size_y;
    }
}

bool Controlor::checkid(int id)
{
    if (id >= 0 && id < motion_size) {
        return true;
    } else {
        return false;
    }
}

void Controlor::setmotion(const int id)
{
    // TODO : Make OfflineMotion class array and attach by each id. Newing every time is not good!
    //if (!motion.playing) {
        //motion = new OfflineMotion(motions[id], pose_size[id], servo_size, pwm, &playing);
        //tick.attach(motion, &Motion::step, TIMESTEP);
        attached = true;
        //offline = new OfflineMotion(motions[id], pose_size[id], servo_size, pwm, &playing);
        //tick.attach(offline, &OfflineMotion::step, TIMESTEP);
        online = new OnlineMotion(0.5, TIMESTEP, servo_size, pwm, &playing);
        tick.attach(online, &OnlineMotion::step, TIMESTEP);
    //}
}

void Controlor::control()
{
    /*if (!playing) {
        if (attached) {
            tick.detach();
            delete online;
            attached = false;
        } else {
            setmotion(1);
        }
    }*/
    
    //setmotion(1);
    char head = comu->getheader();
    if (head == 'a') {
        int id = comu->getid();
        if (checkid(id)) {
            //setmotion(id);
        }
    } else if (head == 'b') {
        int id = comu->getid();
        uint16_t val = comu->get_int_cr();
        //wait(1);
        pwm->setDuty(id, val);
    }
    
}