File content as of revision 57:aba1296e51b1:

#include "SERIAL_COMMANDS.hpp"
int NetworkWaitTime;            //Waiting time to update the network
char input[100] = {};           //Character array initialised to NULL
int steps = 0;
int direction = 1;
int Motor_To_Select = 1;
float angle = 0;
bool move_loop = 0;
bool List_move_loop = 0;


//Mutex Locks

void Serial_Commands_Output()                                       //Used for getting input from the user to determine the opperations to perform
{
    if(Log_Value == 4){pc.printf("In Serial_Commands\n");}      //If logging is enabled, print debug statement
        
    for (int x = 0; x < 100; x++){input[x] = ' ';};             //Fill input with spaces
        
    pc.printf("Please type in a command\n");                    //Request command in the terminal
    cin.getline(input,sizeof(input),'\r');                      //Scan into input from the start of the line to the return character       


    //LOGGING
    if(input[0] == 'L' & input[1] == 'O' & input[2] == 'G' & input[3] == 'G' & input[4] == 'I' & input[5] == 'N' & input[6] == 'G' & input[7] == ' ')
    {
        int NumberOfChars = 0; int ArrayAddress = 0; string LoggingNumber; int NumberToLogging;         //Declare required variables
        while(input[ArrayAddress] != '\0'){NumberOfChars++; ArrayAddress++;}                            //Count the number of characters entered into the console
        for(int x=8; x < NumberOfChars; x++){LoggingNumber += input[x];}                                //Concatenate the characters between the space and the end
        stringstream Number(LoggingNumber);                                                             //Convert string to stringstream
        Number >> NumberToLogging;                                                                      //Convert stringstream to integer
        if      (NumberToLogging == 0){pc.printf("NOT LOGGING\n");}                                     //Not Logging
        else if (NumberToLogging == 1){pc.printf("LOGGING SPI\n");}                                     //Logging SPI

        if (NumberToLogging <= 5){Log_Value = NumberToLogging;}                                         //If inputted value is within bounds equate it to the log state
    } 

    //Motor Control
    else if(input[0] == 'M' & input[1] == 'o' & input[2] == 't' & input[3] == 'o' & input[4] == 'r' & input[5] == ' ')
    {
        int NumberOfChars = 0; int ArrayAddress = 0; string MotorNumber; int Motor_Number;         //Declare required variables
        while(input[ArrayAddress] != '\0'){NumberOfChars++; ArrayAddress++;}                            //Count the number of characters entered into the console
        for(int x=6; x < NumberOfChars; x++){MotorNumber += input[x];}                                //Concatenate the characters between the space and the end
        stringstream Number(MotorNumber);                                                             //Convert string to stringstream
        Number >> Motor_Number;                                                                      //Convert stringstream to integer
        if(Motor_Number < 1 || Motor_Number > 6)
        {
            Motor_Number =0;
            pc.printf("Please Select a motor from 1-6\n");
        }
        Motor_To_Select = Motor_Number;
        //Step Control
        pc.printf("Enter the angle to rotate\n");                    //Request command in the terminal
        scanf("%f",&angle);
        //cin.getline(input,sizeof(input),'\r');                      //Scan into input from the start of the line to the return character
           //if(input[0] == 'S' & input[1] == 't' & input[2] == 'e' & input[3] == 'p' & input[4] == 's' & input[5] == ' ')
        {
            //angle = input;
            if(angle < 0)
            {
                direction = 0;//Anti Clockwise   
            }
            else
            {
                direction = 1;//Clockwise   
            }
            float new_angle = abs(angle/1.8);//Converts input to steps                                                     
            steps = new_angle;
            pc.printf("The Motor is: %d\n The Number to step is: %d\n", Motor_Number, steps);
        }
       
    }
    //MOVE
    else if(input[0] == 'M' & input[1] == 'O' & input[2] == 'V' & input[3] == 'E')
    { 
        move_loop  = 1;
        pc.printf("Enter the Move\n");                    //Request command in the terminal
        while(move_loop == 1)
        {            
            cin.getline(input,sizeof(input),'\r');
            
            if(input[0] == 'A' & input[1] == 'F'){STEPPER_MOTOR_1.Rotate_Steps(50 ,1);}
            else if(input[0] == 'C' & input[1] == 'F'){STEPPER_MOTOR_1.Rotate_Steps(50 ,0);}
            else if(input[0] == 'A' & input[1] == 'B'){STEPPER_MOTOR_2.Rotate_Steps(50 ,1);}
            else if(input[0] == 'C' & input[1] == 'B'){STEPPER_MOTOR_2.Rotate_Steps(50 ,0);}
            else if(input[0] == 'A' & input[1] == 'L'){STEPPER_MOTOR_3.Rotate_Steps(50 ,1);}
            else if(input[0] == 'C' & input[1] == 'L'){STEPPER_MOTOR_3.Rotate_Steps(50 ,0);}
            else if(input[0] == 'A' & input[1] == 'R'){STEPPER_MOTOR_4.Rotate_Steps(50 ,1);}
            else if(input[0] == 'C' & input[1] == 'R'){STEPPER_MOTOR_4.Rotate_Steps(50 ,0);}
            else if(input[0] == 'A' & input[1] == 'U'){STEPPER_MOTOR_5.Rotate_Steps(50 ,1);}
            else if(input[0] == 'C' & input[1] == 'U'){STEPPER_MOTOR_5.Rotate_Steps(50 ,0);}
            else if(input[0] == 'A' & input[1] == 'D'){STEPPER_MOTOR_6.Rotate_Steps(50 ,1);}
            else if(input[0] == 'C' & input[1] == 'D'){STEPPER_MOTOR_6.Rotate_Steps(50 ,0);}
            else if(input[0] == 'M' & input[1] == 'O' & input[2] == 'V' & input[3] == 'E')
            {
                move_loop = 0;
                pc.printf("Exiting Move loop\n");
                //Exit moves function   
            }
            else
            {   
                pc.printf("Error please enter a allowed move\n");
                //Error case   
            }
            
        }
    }
    //LIST 
    else if(input[0] == 'L' & input[1] == 'I' & input[2] == 'S' & input[3] == 'T')//This is where the move list shall be added to
    { 
        List_move_loop  = 1;
        pc.printf("Entered the Move_List Section\n");                    //Request command in the terminal
        while(List_move_loop == 1)
        {            
            cin.getline(input,sizeof(input),'\r');
            
            if(input[0] == 'A' & input[1] == 'F'){Move_list[Move_list_pointer] = 1;      Move_list_pointer = Move_list_pointer + 1;}
            else if(input[0] == 'C' & input[1] == 'F'){Move_list[Move_list_pointer] = 2; Move_list_pointer = Move_list_pointer + 1;}
            else if(input[0] == 'A' & input[1] == 'B'){Move_list[Move_list_pointer] = 3; Move_list_pointer = Move_list_pointer + 1;}
            else if(input[0] == 'C' & input[1] == 'B'){Move_list[Move_list_pointer] = 4; Move_list_pointer = Move_list_pointer + 1;}
            else if(input[0] == 'A' & input[1] == 'L'){Move_list[Move_list_pointer] = 5; Move_list_pointer = Move_list_pointer + 1;}
            else if(input[0] == 'C' & input[1] == 'L'){Move_list[Move_list_pointer] = 6; Move_list_pointer = Move_list_pointer + 1;}
            else if(input[0] == 'A' & input[1] == 'R'){Move_list[Move_list_pointer] = 7; Move_list_pointer = Move_list_pointer + 1;}
            else if(input[0] == 'C' & input[1] == 'R'){Move_list[Move_list_pointer] = 8; Move_list_pointer = Move_list_pointer + 1;}
            else if(input[0] == 'A' & input[1] == 'U'){Move_list[Move_list_pointer] = 9; Move_list_pointer = Move_list_pointer + 1;}
            else if(input[0] == 'C' & input[1] == 'U'){Move_list[Move_list_pointer] = 10;Move_list_pointer = Move_list_pointer + 1;}
            else if(input[0] == 'A' & input[1] == 'D'){Move_list[Move_list_pointer] = 11;Move_list_pointer = Move_list_pointer + 1;}
            else if(input[0] == 'C' & input[1] == 'D'){Move_list[Move_list_pointer] = 12;Move_list_pointer = Move_list_pointer + 1;}
            
            
            else if(input[0] == 'D' & input[1] == 'E' & input[2] == 'L' & input[3] == 'E' & input[4] =='T' & input[5] == 'E')
            {   
                pc.printf("Delete Clear Test\n");
                memset(Move_list, 0, sizeof(Move_list));
                Move_list_pointer = 0;
                pc.printf("Move List array and pointer reset\n");
                List_move_loop = 0;
                pc.printf("Exiting Move List loop\n");
            }
            else if(input[0] == 'L' & input[1] == 'I' & input[2] == 'S' & input[3] == 'T')
            {
                List_move_loop = 0;
                pc.printf("Exiting Move List loop\n");
                //Exit moves function   
            }
            else if(input[0] == 'R' & input[1] == 'E' & input[2] == 'A' & input[3] == 'D')
            {
                pc.printf("Printing out the move list\n");
                for(int i=0;i <= Move_list_pointer; i+=1)
                {
                    pc.printf("Value %d is %d\n",i,Move_list[i]);
                }
                pc.printf("Move List test passed\n");
                List_move_loop = 0;
                pc.printf("Exiting Move List loop\n");
                //Exit moves function   
            }
            else if(input[0] == 'R' & input[1] == 'U' & input[2] == 'N')
            {
                List_move_loop = 0;
                {
                pc.printf("Move point value is : %d\n",Move_list_pointer);
                for(int i = 0; i<= Move_list_pointer; i += 1)
                {
                    if(Move_list[i] == 0){pc.printf("Move List Finished\n");}
                    else if (Move_list[i] == 1){STEPPER_MOTOR_1.Rotate_Steps(50 ,1);}
                    else if (Move_list[i] == 2){STEPPER_MOTOR_1.Rotate_Steps(50 ,0);}  
                    else if (Move_list[i] == 3){STEPPER_MOTOR_2.Rotate_Steps(50 ,1);}  
                    else if (Move_list[i] == 4){STEPPER_MOTOR_2.Rotate_Steps(50 ,0);}  
                    else if (Move_list[i] == 5){STEPPER_MOTOR_3.Rotate_Steps(50 ,1);}  
                    else if (Move_list[i] == 6){STEPPER_MOTOR_3.Rotate_Steps(50 ,0);}  
                    else if (Move_list[i] == 7){STEPPER_MOTOR_4.Rotate_Steps(50 ,1);}  
                    else if (Move_list[i] == 8){STEPPER_MOTOR_4.Rotate_Steps(50 ,0);}  
                    else if (Move_list[i] == 9){STEPPER_MOTOR_5.Rotate_Steps(50 ,1);}  
                    else if (Move_list[i] == 10){STEPPER_MOTOR_5.Rotate_Steps(50 ,0);}  
                    else if (Move_list[i] == 11){STEPPER_MOTOR_6.Rotate_Steps(50 ,1);}  
                    else if (Move_list[i] == 12){STEPPER_MOTOR_6.Rotate_Steps(50 ,0);}  
                    else pc.printf("Finished\n");   
                }
                 pc.printf("List Run sucessful\n");
            }
                pc.printf("List execution finished\n");
            }
            //TEST RUN
            else if(input[0] == 'T' & input[1] == 'E' & input[2] == 'S' & input[3] == 'T' & input[4] == '_' & input[5] == 'R' & input[6] == 'U' & input[7] == 'N')//This is the test run code
            {
                memset(Move_list, 0, sizeof(Move_list));
                Move_list_pointer = 0;
                Move_list[Move_list_pointer] = 1 ;Move_list_pointer = Move_list_pointer + 1;
                Move_list[Move_list_pointer] = 2 ;Move_list_pointer = Move_list_pointer + 1;
                Move_list[Move_list_pointer] = 3 ;Move_list_pointer = Move_list_pointer + 1;
                Move_list[Move_list_pointer] = 4 ;Move_list_pointer = Move_list_pointer + 1;
                Move_list[Move_list_pointer] = 5 ;Move_list_pointer = Move_list_pointer + 1;
                Move_list[Move_list_pointer] = 6 ;Move_list_pointer = Move_list_pointer + 1;
                Move_list[Move_list_pointer] = 7 ;Move_list_pointer = Move_list_pointer + 1;
                Move_list[Move_list_pointer] = 8 ;Move_list_pointer = Move_list_pointer + 1;
                Move_list[Move_list_pointer] = 9 ;Move_list_pointer = Move_list_pointer + 1;
                Move_list[Move_list_pointer] = 10 ;Move_list_pointer = Move_list_pointer + 1;
                Move_list[Move_list_pointer] = 11 ;Move_list_pointer = Move_list_pointer + 1;
                Move_list[Move_list_pointer] = 12 ;Move_list_pointer = Move_list_pointer + 1;
                
                pc.printf("Array filled for test\n");
                List_move_loop = 0;
                pc.printf("Exiting Move List loop\n");
            }
            else
            {   
                pc.printf("Error please enter a allowed move\n");
                //Error case   
            }
            
        }
    }
    //Colours
    if(input[0] == 'C' & input[1] == 'O' & input[2] == 'L' & input[3] == 'O' & input[4] == 'U' & input[5] == 'R' & input[6] == 'S' & input[7] == ' ')
    {
        int NumberOfChars = 0; int ArrayAddress = 0; string COLOURSNUBMER; int NUMBERTOCOLOUR;         //Declare required variables
        while(input[ArrayAddress] != '\0'){NumberOfChars++; ArrayAddress++;}                            //Count the number of characters entered into the console
        for(int x=8; x < NumberOfChars; x++){COLOURSNUBMER += input[x];}                                //Concatenate the characters between the space and the end
        stringstream Number(COLOURSNUBMER);                                                             //Convert string to stringstream
        Number >> NUMBERTOCOLOUR;
        int n = NUMBERTOCOLOUR -1 ;                                                                      //Convert stringstream to integer
        pc.printf("Showing side %D\n",NUMBERTOCOLOUR);
        
        
        pc.printf("%c,%c,%c\n%c,%c,%c\n%c,%c,%c\n",
        Value_convert(CubeMap[n][0][0]),Value_convert(CubeMap[n][0][1]),Value_convert(CubeMap[n][0][2])
        ,Value_convert(CubeMap[n][1][0]),Value_convert(CubeMap[n][1][1]),Value_convert(CubeMap[n][1][2])
        ,Value_convert(CubeMap[n][2][0]),Value_convert(CubeMap[n][2][1]),Value_convert(CubeMap[n][2][2]));;//Side n
        

    } 
    //SIDE_ADD
    if(input[0] == 'S' & input[1] == 'I' & input[2] == 'D' & input[3] == 'E' & input[4] == '_' & input[5] == 'A' & input[6] == 'D' & input[7] == 'D' & input[8] == ' ')
    {
        int NumberOfChars = 0; int ArrayAddress = 0; string SIDENUMBER; int NUMBERTOSIDE;         //Declare required variables
        while(input[ArrayAddress] != '\0'){NumberOfChars++; ArrayAddress++;}                            //Count the number of characters entered into the console
        for(int x=9; x < NumberOfChars; x++){SIDENUMBER += input[x];}                                //Concatenate the characters between the space and the end
        stringstream Number(SIDENUMBER);                                                             //Convert string to stringstream
        Number >> NUMBERTOSIDE;
        pc.printf("Please enter in the colour of segment 1:\n");
        int Colour_value;
        cin >>Colour_value;
        NUMBERTOSIDE = NUMBERTOSIDE - 1;
        
        CubeMap[NUMBERTOSIDE][0][0] = convert(Colour_value);
        pc.printf("Please enter in the colour of segment 2:\n");
        cin >>Colour_value;
        CubeMap[NUMBERTOSIDE][0][1] = convert(Colour_value);
        pc.printf("Please enter in the colour of segment 3:\n");
        cin >>Colour_value;
        CubeMap[NUMBERTOSIDE][0][2] = convert(Colour_value);
        pc.printf("Please enter in the colour of segment 4:\n");
        cin >>Colour_value;
        CubeMap[NUMBERTOSIDE][1][0] = convert(Colour_value);
        pc.printf("Please enter in the colour of segment 5:\n");
        cin >>Colour_value;
        CubeMap[NUMBERTOSIDE][1][1] = convert(Colour_value);
        pc.printf("Please enter in the colour of segment 6:\n");
        cin >>Colour_value;
        CubeMap[NUMBERTOSIDE][1][2] = convert(Colour_value);
        pc.printf("Please enter in the colour of segment 7:\n");
        cin >>Colour_value;
        CubeMap[NUMBERTOSIDE][2][0] = convert(Colour_value);
        pc.printf("Please enter in the colour of segment 8:\n");
        cin >>Colour_value;
        CubeMap[NUMBERTOSIDE][2][1] = convert(Colour_value);
        pc.printf("Please enter in the colour of segment 9:\n");
        cin >>Colour_value;
        CubeMap[NUMBERTOSIDE][2][2] = convert(Colour_value);
        pc.printf("Side filled\n");
        cin.getline(input,sizeof(input),'\r');
        }
    //SIDE_CLEAR
    if(input[0] == 'S' & input[1] == 'I' & input[2] == 'D' & input[3] == 'E' & input[4] == '_' & input[5] == 'C' & input[6] == 'L' & input[7] == 'E' & input[8] == 'A' & input[9] == 'R')
    {
    
        for(int i =0; i<=6;i++)
        {
            CubeMap[i][0][0] = convert(0);
            CubeMap[i][0][1] = convert(0);
            CubeMap[i][0][2] = convert(0);
            CubeMap[i][1][0] = convert(0);
            CubeMap[i][1][1] = convert(0);
            CubeMap[i][1][2] = convert(0);
            CubeMap[i][2][0] = convert(0);
            CubeMap[i][2][1] = convert(0);
            CubeMap[i][2][2] = convert(0);
        }
        pc.printf("All sides cleared of data\n");
    }
    //HELP
    else if(input[0] == 'H' & input[1] == 'E' & input[2] == 'L' & input[3] == 'P')
    { 
        pc.printf("Please specify the function you would like help in\nMOTOR , LOGGING , MOVE \n");  //Print introduction line
        cin.getline(input,sizeof(input),'\r');
        if(input[0] == 'M' & input[1] == 'O' & input[2] == 'T' & input[3] == 'O' & input[4] == 'R'){pc.printf("Motor x selects a motor in the range of 1-6\nThen you issue the angle which is a number either positive or negative\n");}
        else if(input[0] == 'L' & input[1] == 'O' & input[2] == 'G' & input[3] == 'G' & input[4] == 'I' & input[5] == 'N' & input[6] == 'G'){pc.printf("Logging enables to user to get more information from the specific area which is logged\n");}
        else if(input[0] == 'M' & input[1] == 'O' & input[2] == 'V' & input[3] == 'E'){pc.printf("Allows the user to enter in a movement\n");} 
        else if(input[0] == 'L' & input[1] == 'I' & input[2] == 'S' & input[3] == 'T'){pc.printf("Allows the user to to view / set a list of movements that can be performed\n");} 
        else if(input[0] == 'C' & input[1] == 'O' & input[2] == 'L' & input[3] == 'O' & input[4] == 'U' &  input[5] == 'R' & input[6] == 'S'){pc.printf("Allows the user to view and set the information upon the cubemap\n");} 
        else{pc.printf("Enter the specific help area for more information\n");}
    }
    else 
    {
        pc.printf("Please enter an acceptable command\n");
    }
}