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ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
Processes/Printing/Printing.cpp@12:d4b5851742a3, 2013-04-05 (annotated)
- Committer:
- twighk
- Date:
- Fri Apr 05 21:49:23 2013 +0000
- Revision:
- 12:d4b5851742a3
Printing Thread prints stuff
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
twighk | 12:d4b5851742a3 | 1 | #include "Printing.h" |
twighk | 12:d4b5851742a3 | 2 | #ifdef PRINTINGOFF |
twighk | 12:d4b5851742a3 | 3 | void printingThread(void const*){Thread::wait(osWaitForever);} |
twighk | 12:d4b5851742a3 | 4 | bool registerID(char, size_t){return true;} |
twighk | 12:d4b5851742a3 | 5 | bool unregisterID(char) {return true;} |
twighk | 12:d4b5851742a3 | 6 | bool updateval(char, float*, size_t){return true;} |
twighk | 12:d4b5851742a3 | 7 | bool updateval(char id, float value){return true;} |
twighk | 12:d4b5851742a3 | 8 | #else |
twighk | 12:d4b5851742a3 | 9 | #include <iostream> |
twighk | 12:d4b5851742a3 | 10 | using namespace std; |
twighk | 12:d4b5851742a3 | 11 | |
twighk | 12:d4b5851742a3 | 12 | size_t idlist[NUMIDS]; // Stores length of buffer 0 => unassigned |
twighk | 12:d4b5851742a3 | 13 | float* buffarr[NUMIDS]; |
twighk | 12:d4b5851742a3 | 14 | volatile unsigned int newdataflags; |
twighk | 12:d4b5851742a3 | 15 | |
twighk | 12:d4b5851742a3 | 16 | bool registerID(char id, size_t length) { |
twighk | 12:d4b5851742a3 | 17 | if (id < NUMIDS && !idlist[id]) {//check if the id is already taken |
twighk | 12:d4b5851742a3 | 18 | idlist[id] = length; |
twighk | 12:d4b5851742a3 | 19 | buffarr[id] = new float[length]; |
twighk | 12:d4b5851742a3 | 20 | return true; |
twighk | 12:d4b5851742a3 | 21 | } else |
twighk | 12:d4b5851742a3 | 22 | return false; |
twighk | 12:d4b5851742a3 | 23 | } |
twighk | 12:d4b5851742a3 | 24 | bool unregisterID(char id) { |
twighk | 12:d4b5851742a3 | 25 | if (id < NUMIDS) { |
twighk | 12:d4b5851742a3 | 26 | idlist[id] = 0; |
twighk | 12:d4b5851742a3 | 27 | if (buffarr[id]) |
twighk | 12:d4b5851742a3 | 28 | delete buffarr[id]; |
twighk | 12:d4b5851742a3 | 29 | return true; |
twighk | 12:d4b5851742a3 | 30 | } else |
twighk | 12:d4b5851742a3 | 31 | return false; |
twighk | 12:d4b5851742a3 | 32 | } |
twighk | 12:d4b5851742a3 | 33 | |
twighk | 12:d4b5851742a3 | 34 | bool updateval(char id, float* buffer, size_t length) { |
twighk | 12:d4b5851742a3 | 35 | //check if the id is registered, and has buffer of correct length |
twighk | 12:d4b5851742a3 | 36 | if (id < NUMIDS && idlist[id] == length && buffarr[id] && !(newdataflags & (1<<id))) { |
twighk | 12:d4b5851742a3 | 37 | for (size_t i = 0; i < length; i++) |
twighk | 12:d4b5851742a3 | 38 | buffarr[id][i] = buffer[i]; |
twighk | 12:d4b5851742a3 | 39 | newdataflags |= (1<<id); |
twighk | 12:d4b5851742a3 | 40 | return true; |
twighk | 12:d4b5851742a3 | 41 | } else |
twighk | 12:d4b5851742a3 | 42 | return false; |
twighk | 12:d4b5851742a3 | 43 | } |
twighk | 12:d4b5851742a3 | 44 | |
twighk | 12:d4b5851742a3 | 45 | bool updateval(char id, float value){ |
twighk | 12:d4b5851742a3 | 46 | //check if the id is registered, and the old value has been written |
twighk | 12:d4b5851742a3 | 47 | if (id < NUMIDS && idlist[id] == 1 && buffarr[id] && !(newdataflags & (1<<id))) { |
twighk | 12:d4b5851742a3 | 48 | buffarr[id][0] = value; |
twighk | 12:d4b5851742a3 | 49 | newdataflags |= (1<<id); |
twighk | 12:d4b5851742a3 | 50 | return true; |
twighk | 12:d4b5851742a3 | 51 | } else |
twighk | 12:d4b5851742a3 | 52 | return false; |
twighk | 12:d4b5851742a3 | 53 | } |
twighk | 12:d4b5851742a3 | 54 | |
twighk | 12:d4b5851742a3 | 55 | void printingThread(void const*){ |
twighk | 12:d4b5851742a3 | 56 | newdataflags = 0; |
twighk | 12:d4b5851742a3 | 57 | for (int i = 0; i < NUMIDS; i++) { |
twighk | 12:d4b5851742a3 | 58 | idlist[i] = 0; |
twighk | 12:d4b5851742a3 | 59 | buffarr[i] = 0; |
twighk | 12:d4b5851742a3 | 60 | } |
twighk | 12:d4b5851742a3 | 61 | |
twighk | 12:d4b5851742a3 | 62 | |
twighk | 12:d4b5851742a3 | 63 | Thread::wait(3500); |
twighk | 12:d4b5851742a3 | 64 | while(true){ |
twighk | 12:d4b5851742a3 | 65 | // Send number of packets |
twighk | 12:d4b5851742a3 | 66 | char numtosend = 0; |
twighk | 12:d4b5851742a3 | 67 | for (unsigned int v = newdataflags; v; numtosend++){v &= v - 1;} |
twighk | 12:d4b5851742a3 | 68 | cout.put(numtosend); |
twighk | 12:d4b5851742a3 | 69 | |
twighk | 12:d4b5851742a3 | 70 | // Send packets |
twighk | 12:d4b5851742a3 | 71 | for (char id = 0; id < NUMIDS; id++) { |
twighk | 12:d4b5851742a3 | 72 | if (newdataflags & (1<<id)) { |
twighk | 12:d4b5851742a3 | 73 | cout.put(id); |
twighk | 12:d4b5851742a3 | 74 | cout.write((char*)buffarr[id], idlist[id] * sizeof(float)); |
twighk | 12:d4b5851742a3 | 75 | newdataflags &= ~(1<<id); |
twighk | 12:d4b5851742a3 | 76 | } |
twighk | 12:d4b5851742a3 | 77 | } |
twighk | 12:d4b5851742a3 | 78 | cout << endl; |
twighk | 12:d4b5851742a3 | 79 | Thread::wait(200); |
twighk | 12:d4b5851742a3 | 80 | } |
twighk | 12:d4b5851742a3 | 81 | } |
twighk | 12:d4b5851742a3 | 82 | #endif |
twighk | 12:d4b5851742a3 | 83 | |
twighk | 12:d4b5851742a3 | 84 | |
twighk | 12:d4b5851742a3 | 85 |