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+++ implemented command handler

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This commit is contained in:
masterm 2007-02-22 23:37:00 +00:00
parent e51f1c2038
commit b18e19bee5
8 changed files with 132 additions and 12 deletions
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18
source/Concept/Framework/Concept.vcproj
View file

@ -453,6 +453,24 @@
</File>
</Filter>
</Filter>
<Filter
Name="Command_Handler"
Filter="">
<Filter
Name="Source Files"
Filter="">
<File
RelativePath=".\modules\interpreter\command_handler.c">
</File>
</Filter>
<Filter
Name="Header Files"
Filter="">
<File
RelativePath=".\modules\interpreter\command_handler.h">
</File>
</Filter>
</Filter>
</Filter>
<Filter
Name="Hardware Interface"

12
source/Concept/Framework/defines.h
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@ -67,6 +67,8 @@
#define BALL_HELD_INTENSITY 900
#define COMMAND_BUFFER_SIZE 20
#define WIRELESS_CODE "SPASS!"
enum WirelessCommands
{
@ -165,9 +167,17 @@ enum IOModuleNames
IO_KEYBOARD_END,
//Command Handler
IO_COMMAND_HANDLER_START = IO_KEYBOARD_END,
IO_COMMAND_HANDLER_MAIN = IO_COMMAND_HANDLER_START,
IO_COMMAND_HANDLER_END,
//Position Tracker
IO_POSITION_TRACKER_START = IO_KEYBOARD_END,
IO_POSITION_TRACKER_START = IO_COMMAND_HANDLER_END,
IO_POSITION_TRACKER_MAIN,

21
source/Concept/Framework/main.c
View file

@ -122,6 +122,14 @@ int main()
newKeyboard = NULL;
}
//Init Command Handler
for(uint8 i = IO_COMMAND_HANDLER_START; i < IO_COMMAND_HANDLER_END; i++)
{
Command_Handler* newCommandHandler = new Command_Handler(i);
localRobot->AddModule(newCommandHandler);
newCommandHandler = NULL;
}
//Init Position Tracker
for(uint8 i = IO_POSITION_TRACKER_START; i < IO_POSITION_TRACKER_END; i++)
{
@ -168,7 +176,7 @@ int main()
uint16 value = 0;
int8 value2 = 0;
Keyboard* ourKeyboard = localRobot->GetModule<Keyboard>(IO_KEYBOARD_MAIN);
Command_Handler* ourCommandHandler = localRobot->GetModule<Command_Handler>(IO_COMMAND_HANDLER_MAIN);
uint32 i = 1;
Navigator* ourNavigator = localRobot->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
Position_Tracker* ourPosition_Tracker = localRobot->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
@ -194,7 +202,7 @@ int main()
//msleep(50);
if(!(i % 20))
if(ourCommandHandler->displayDistanceSensors && !(i % 20))
{
ourDisplay->Clear();
@ -216,12 +224,7 @@ int main()
ourDisplay->Print(";");
}
if(!(i % 20))
{
//ourAktuator->Kick();
}
uint8 someInput = ourKeyboard->GetInput();
/*uint8 someInput = ourKeyboard->GetInput();
//ourDisplay->Print("Ready to accept...", 1, 2);
switch(someInput)
{
@ -262,7 +265,7 @@ int main()
case 12:
ourLogic->SetKeeper(true); // Reset Position_Tracker
break;
}
}*/
//ourDisplay->Clear();
if(!(i % 20))

2
source/Concept/Framework/modules/executor/navigator.c
View file

@ -234,8 +234,6 @@ void Navigator::CalculateEngines()
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vBack,10,3);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vRight,10,4);
// Transfer the values to the engines
Engine* curEngine = parent->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT);
curEngine->SetSpeed(vLeft);

45
source/Concept/Framework/modules/interpreter/command_handler.c Normal file
View file

@ -0,0 +1,45 @@
#include "command_handler.h"
//-----------------------------------------------------------------------------
void Command_Handler::Update()
{
Keyboard* ourKeyboard = parent->GetModule<Keyboard>(IO_KEYBOARD_MAIN);
uint8 curInput = ourKeyboard->GetInput();
while(curInput != 0xEE && curInput != 0xFF)
{
if(curInput == 10)
{
ExecuteCommand();
}
else if(curInput == 11)
{
if(this->currentCommandLength > 0)
{
this->currentCommandLength--;
this->buffer[currentCommandLength] = NULL;
}
}
else if(curInput >= 0 && curInput <= 9)
{
if(this->currentCommandLength < COMMAND_BUFFER_SIZE)
{
this->buffer[this->currentCommandLength] = '0' + curInput;
this->currentCommandLength++;
}
}
curInput = ourKeyboard->GetInput();
}
}
//-----------------------------------------------------------------------------
void Command_Handler::ExecuteCommand()
{
if(this->buffer[0] == '5')
{
this->displayDistanceSensors = true;
}
}

43
source/Concept/Framework/modules/interpreter/command_handler.h Normal file
View file

@ -0,0 +1,43 @@
#ifndef _COMMAND_HANDLER_H
#define _COMMAND_HANDLER_H
#include "../../stdafx.h"
class Command_Handler : public IO_Module
{
public:
Command_Handler()
{
this->parent = NULL;
this->moduleId = 0;
this->currentCommandLength = 0;
this->displayDistanceSensors = false;
}
Command_Handler(uint32 commandHandlerId)
{
this->parent = NULL;
this->moduleId = commandHandlerId;
this->currentCommandLength = 0;
this->displayDistanceSensors = false;
for(uint8 i = 0; i < COMMAND_BUFFER_SIZE; i++)
{
buffer[i] = NULL;
}
}
protected:
uint8 currentCommandLength;
char* buffer[COMMAND_BUFFER_SIZE];
void ExecuteCommand();
public:
void Update();
//Command variables
bool displayDistanceSensors;
};
#endif

2
source/Concept/Framework/robot.c
View file

@ -88,6 +88,8 @@ bool Robot::RemoveModule(IO_Module* oldModule)
//-----------------------------------------------------------------------------
void Robot::Update()
{
GetModule<Command_Handler>(IO_COMMAND_HANDLER_MAIN)->Update();
GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN)->Update();
GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN)->Update();

1
source/Concept/Framework/stdafx.h
View file

@ -20,6 +20,7 @@
#include "distance_sensor.h"
#include "ir_sensor.h"
#include "mouse_sensor.h"
#include "command_handler.h"
#include "position_tracker.h"
#include "ball_tracker.h"
#include "navigator.h"