+++ implemented command handler

8 files changed, 132 insertions, 12 deletions

diff --git a/source/Concept/Framework/Concept.vcproj b/source/Concept/Framework/Concept.vcproj
index b06f1f4..cff37ad 100644
--- a/source/Concept/Framework/Concept.vcproj
+++ b/source/Concept/Framework/Concept.vcproj
@@ -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"

diff --git a/source/Concept/Framework/defines.h b/source/Concept/Framework/defines.h
index 9a7c12b..596126d 100644
--- a/source/Concept/Framework/defines.h
+++ b/source/Concept/Framework/defines.h
@@ -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,

 

diff --git a/source/Concept/Framework/main.c b/source/Concept/Framework/main.c
index ffc4cc9..8f9c7a2 100755
--- a/source/Concept/Framework/main.c
+++ b/source/Concept/Framework/main.c
@@ -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();

 

@@ -215,13 +223,8 @@ int main()
 			ourDisplay->Print(value);

 			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))

diff --git a/source/Concept/Framework/modules/executor/navigator.c b/source/Concept/Framework/modules/executor/navigator.c
index 023bf79..7c4618a 100755
--- a/source/Concept/Framework/modules/executor/navigator.c
+++ b/source/Concept/Framework/modules/executor/navigator.c
@@ -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);

diff --git a/source/Concept/Framework/modules/interpreter/command_handler.c b/source/Concept/Framework/modules/interpreter/command_handler.c
new file mode 100644
index 0000000..dcd97b2
--- /dev/null
+++ b/source/Concept/Framework/modules/interpreter/command_handler.c
@@ -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;

+	}

+}

diff --git a/source/Concept/Framework/modules/interpreter/command_handler.h b/source/Concept/Framework/modules/interpreter/command_handler.h
new file mode 100644
index 0000000..102797a
--- /dev/null
+++ b/source/Concept/Framework/modules/interpreter/command_handler.h
@@ -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
diff --git a/source/Concept/Framework/robot.c b/source/Concept/Framework/robot.c
index a630d4a..7653c61 100755
--- a/source/Concept/Framework/robot.c
+++ b/source/Concept/Framework/robot.c
@@ -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();

diff --git a/source/Concept/Framework/stdafx.h b/source/Concept/Framework/stdafx.h
index a4054e3..88d8c85 100644
--- a/source/Concept/Framework/stdafx.h
+++ b/source/Concept/Framework/stdafx.h
@@ -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"