diff options
Diffstat (limited to 'source/Concept/Framework/modules/interpreter/command_handler.c')
| -rw-r--r-- | source/Concept/Framework/modules/interpreter/command_handler.c | 170 |
1 files changed, 168 insertions, 2 deletions
diff --git a/source/Concept/Framework/modules/interpreter/command_handler.c b/source/Concept/Framework/modules/interpreter/command_handler.c index 7d8937b..e2a9ba2 100644 --- a/source/Concept/Framework/modules/interpreter/command_handler.c +++ b/source/Concept/Framework/modules/interpreter/command_handler.c @@ -3,6 +3,7 @@ //-----------------------------------------------------------------------------
void Command_Handler::Update()
{
+ Display* ourDisplay = parent->GetModule<Display>(IO_DISPLAY_MAIN);
Keyboard* ourKeyboard = parent->GetModule<Keyboard>(IO_KEYBOARD_MAIN);
uint8 curInput = ourKeyboard->GetInput();
@@ -13,11 +14,20 @@ void Command_Handler::Update() if(curInput == 10)
{
ExecuteCommand();
+
+ for(uint8 i = 0; i < this->currentCommandLength; i++)
+ {
+ this->buffer[i] = NULL;
+ ourDisplay->Print(" ", i + 1, 1);
+ }
+
+ this->currentCommandLength = 0;
}
else if(curInput == 11)
{
if(this->currentCommandLength > 0)
{
+ ourDisplay->Print(" ", this->currentCommandLength, 1);
this->currentCommandLength--;
this->buffer[currentCommandLength] = NULL;
}
@@ -28,6 +38,7 @@ void Command_Handler::Update() {
this->buffer[this->currentCommandLength] = curInput;
this->currentCommandLength++;
+ ourDisplay->Print(curInput, this->currentCommandLength, 1);
}
}
@@ -38,8 +49,163 @@ void Command_Handler::Update() //-----------------------------------------------------------------------------
void Command_Handler::ExecuteCommand()
{
- if(this->buffer[0] == 5)
+ if(this->buffer[0] == 1)
+ {
+ if(this->buffer[1] == 1)
+ {
+ this->displayDistanceSensors = true;
+ this->displayPositionTracker = false;
+ this->displayBallTracker = false;
+ this->displayMouseSensors = false;
+ }
+ else if(this->buffer[1] == 2)
+ {
+ this->displayDistanceSensors = false;
+ this->displayPositionTracker = true;
+ this->displayBallTracker = false;
+ this->displayMouseSensors = false;
+ }
+ else if(this->buffer[1] == 3)
+ {
+ this->displayDistanceSensors = false;
+ this->displayPositionTracker = false;
+ this->displayBallTracker = true;
+ this->displayMouseSensors = false;
+ }
+ else if(this->buffer[1] == 4)
+ {
+ this->displayDistanceSensors = false;
+ this->displayPositionTracker = false;
+ this->displayBallTracker = false;
+ this->displayMouseSensors = true;
+ }
+ else if(this->buffer[1] == 0)
+ {
+ this->displayDistanceSensors = false;
+ this->displayPositionTracker = false;
+ this->displayBallTracker = false;
+ this->displayMouseSensors = false;
+ }
+ }
+ else if(this->buffer[0] == 2)
+ {
+ Logic* ourLogic = parent->GetModule<Logic>(IO_LOGIC_MAIN);
+ if(this->buffer[1] == 1)
+ {
+ ourLogic->SetKeeper(true);
+ }
+ else if(this->buffer[1] == 2)
+ {
+ ourLogic->SetKeeper(false);
+ }
+ }
+ else if(this->buffer[0] == 3)
+ {
+ if(this->buffer[1] == 1)
+ {
+ Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+ ourNavigator->RotateTo(180, 200);
+ }
+ else if(this->buffer[1] == 2)
+ {
+ Aktuator* ourAktuator = parent->GetModule<Aktuator>(IO_AKTUATOR_MAIN);
+ ourAktuator->Kick();
+ }
+ else if(this->buffer[1] == 3)
+ {
+ Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+ ourNavigator->RotateTo(float(buffer[2]) * 100.0f + float(buffer[3]) * 10.0f + float(buffer[4]), 200);
+ }
+ else if(this->buffer[1] == 4)
+ {
+ Mouse_Sensor* ourLeftMouse = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
+ Mouse_Sensor* ourRightMouse = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);
+
+ this->ticksPerCmOffset += 2.5f;
+ ourLeftMouse->AdjustPositionX(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));
+ ourLeftMouse->AdjustPositionY(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));
+ ourRightMouse->AdjustPositionX(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));
+ ourRightMouse->AdjustPositionY(3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));
+ }
+ else if(this->buffer[1] == 5)
+ {
+ Mouse_Sensor* ourLeftMouse = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
+ Mouse_Sensor* ourRightMouse = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);
+
+ this->ticksPerCmOffset -= 2.5f;
+ ourLeftMouse->AdjustPositionX(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));
+ ourLeftMouse->AdjustPositionY(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));
+ ourRightMouse->AdjustPositionX(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));
+ ourRightMouse->AdjustPositionY(3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));
+ }
+ }
+ else if(this->buffer[0] == 4)
+ {
+ Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+ int16 speed = 200;
+ switch(this->buffer[1])
+ {
+ case 1:
+ ourNavigator->Drive(225, 0, speed, 0);
+ break;
+ case 2:
+ ourNavigator->Drive(180, 0, speed, 0);
+ break;
+ case 3:
+ ourNavigator->Drive(135, 0, speed, 0);
+ break;
+ case 4:
+ ourNavigator->Drive(270, 0, speed, 0);
+ break;
+ case 5:
+ ourNavigator->Rotate(DEFAULT_ROTATION_SPEED);
+ break;
+ case 6:
+ ourNavigator->Drive(90, 0, speed, 0);
+ break;
+ case 7:
+ ourNavigator->Drive(315, 0, speed, 0);
+ break;
+ case 8:
+ ourNavigator->Drive(0, 0, speed, 0);
+ break;
+ case 9:
+ ourNavigator->Drive(45, 0, speed, 0);
+ break;
+ case 0:
+ ourNavigator->Stop();
+ break;
+ }
+ }
+ else if(this->buffer[0] == 5)
+ {
+ Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+ if(this->buffer[1] == 1)
+ {
+ ourPositionTracker->SetPosition(float(), ourPositionTracker->GetPositionY(), ourPositionTracker->GetOrientation());
+ }
+ else if(this->buffer[1] == 0)
+ {
+ ourPositionTracker->SetPosition(0, 0, 0);
+ }
+ }
+ else if(this->buffer[0] == 6)
+ {
+ if(this->buffer[1] == 1)
+ {
+ Wireless* ourWireless = parent->GetModule<Wireless>(IO_WIRELESS_MAIN);
+ ourWireless->Send("Heyho!");
+ }
+ }
+}
+
+//-----------------------------------------------------------------------------
+void Command_Handler::PrintCommand()
+{
+ Display* ourDisplay = parent->GetModule<Display>(IO_DISPLAY_MAIN);
+
+ for(uint8 i = 0; i < currentCommandLength; i++)
{
- this->displayDistanceSensors = true;
+ ourDisplay->Print(this->buffer[i], i + 1, 1);
}
}
|