Diff: communication.h

Revision:

0:3417ca0a36c0

Child:

1:cbec1283a16a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/communication.h	Tue Jul 01 10:59:33 2014 +0000
@@ -0,0 +1,96 @@
+/******************************************************
+
+****┏┓          ┏┓
+**┏┛┻━━━━━━┛┻┓
+**┃                 ┃
+**┃      ━━━      ┃
+**┃  ┳┛       ┗┳ ┃
+**┃                 ┃
+**┃ '''    ┻   ''' ┃
+**┃                 ┃
+**┗━━┓       ┏━━┛
+*******┃       ┃
+*******┃       ┃
+*******┃       ┃
+*******┃       ┗━━━━━━━━┓
+*******┃                      ┃━┓
+*******┃      NO BUG          ┏━┛
+*******┃                      ┃
+*******┗━┓  ┓  ┏━┏━┓  ━┛
+***********┃  ┛  ┛    ┃  ┛  ┛
+***********┃  ┃  ┃    ┃  ┃  ┃
+***********┗━┛━┛     ┗━┛━┛
+
+This part is added by project ESDC2014 of CUHK team.
+All the code with this header are under GPL open source license.
+This program is running on Mbed Platform 'mbed LPC1768' avaliable in 'http://mbed.org'.
+**********************************************************/
+
+/*
+The communication protocol is inside source/intel_board/lib/message.h
+*/
+#include "lifter.h"
+#include "camera_platform.h"
+#include "mbed.h"
+#include "compass.h"
+#include "buzzer.h"
+
+#ifndef _COMMUNICATION_H
+#define _COMMUNICATION_H
+
+#define BUFFER_SIZE 1024
+#define STARTER 0x7e
+#define COMPASS_STARTER 0x7d
+
+#define DEBUG_ON 1
+
+class Communication
+{
+public:
+    Communication(MySerial* _DEBUG, MySerial *_IntelToMbed, MySerial *_MbedToArduino);
+    ~Communication();
+
+    void putToBuffer(uint8_t _x, uint8_t communication_type); //0 is IntelToMbed, 1 is MbedTOArduino
+    uint8_t getByte(uint8_t communication_type); //0 is IntelToMbed, 1 is MbedTOArduino
+    uint16_t get2Bytes(uint8_t communication_type); //0 is IntelToMbed, 1 is MbedTOArduino
+    void putByte(uint8_t _x, uint8_t _i); //_i = 0 is _DEBUG, _i = 1 is _IntelToMbed, _i = 2 is _MbedToArduino
+    void put2Bytes(uint16_t _x, uint8_t _i);
+    void parseMessage();
+    void forwardMessage(); //forward the message to the Arduino
+    void ACK(Lifter* lifter, Camera_platform* camera_platform); //send ACK back to the intel board
+
+    uint8_t getInfoOK(uint8_t communication_type); //0 is IntelToMbed, 1 is MbedTOArduino
+    void resetInfoOK(uint8_t communication_type); //0 is IntelToMbed, 1 is MbedTOArduino
+    uint16_t getMoveDis();
+    uint16_t getRotateDis();
+    uint8_t getMoveDir();
+    uint8_t getRotateDir();
+
+    unsigned short campass_degree;
+    HMC5883L compass;
+private:
+    void init();
+    uint8_t* buffer_IntelToMbed;
+    uint8_t* buffer_MbedToArduino;
+    uint16_t in_IntelToMbed;
+    uint16_t out_IntelToMbed;
+    uint16_t in_MbedToArduino;
+    uint16_t out_MbedToArduino;
+    uint8_t state_IntelToMbed;
+    uint8_t state_MbedToArduino;
+    uint8_t check_sum;
+    uint8_t info_ok_IntelToMbed; //0 is not ok, 1 is car, 2 is lifter and 3 is camera platform
+    uint8_t info_ok_MbedToArduino; //0 is not ok, 1 is ok
+    
+    uint8_t action_type;
+    uint16_t move_dis;
+    uint8_t move_dir;
+    uint16_t rotate_dis;
+    uint8_t rotate_dir;
+    
+    MySerial *_DEBUG;
+    MySerial *_IntelToMbed;
+    MySerial *_MbedToArduino;
+};
+
+#endif
\ No newline at end of file