Terminal.c

Revision 244, 9.2 kB (checked in by phil, 4 years ago)
added initial Tail Source Package

Line
1	// File: Terminal.c
2	//------------------------------------------------------------------------------
3	// Author: Giovanni de Sanctis
4	// Email: info@lateral-technologies.com
5	//------------------------------------------------------------------------------
6	// Date: Dec 2018
7	// Implements the serial interface
8	//------------------------------------------------------------------------------
9
10	#include "mcc_generated_files/device_config.h" //For __delay_ms
11	#include "Terminal.h"
12	#include "Definitions.h"
13	#include "Power.h"
14	#include "Servos.h"
15	#include "LEDs.h"
16
17	#include "JDY08.h"
18
19	#include <string.h>
20
21	enum {
22	ST_IDLE,
23	ST_USER_MOVE_INIT,
24	ST_USER_LEDS_INIT,
25	ST_USER_MOVE,
26	ST_USER_LEDS,
27	ST_AUTO
28	} st;
29
30	#define MAX_USER_PRESETS 4u
31	#define MAX_AUTO_G 3u //We need 3 groups max for automode
32	#define LEN_AUTO_T 3u //We need 3 timing parameters for automode
33	#define MIN_AUTO_T 15u //Min time that can be specified (seconds)
34	#define MAX_AUTO_T 240u //Max time that can be specified (seconds)
35
36	#define ERR_NOERR 0u
37	#define ERR_OUTOFRANGE 1u
38	#define ERR_UNKNOWNTYPE 2u
39	#define ERR_UNEXPECTED 3u
40	#define ERR_MISSINGTOKEN 4u
41
42	//Error messages
43	#define ERR_OUTOFRANGE_STR "OUT OF RANGE"
44	#define ERR_UNKNOWN_TYPE_STR "UNKNOWN TYPE"
45	#define ERR_UNEXPECTED_TOKEN_STR "UNEXPECTED TOKEN"
46	#define ERR_MISSING_TOKEN_STR "MISSING PARAMETER"
47	#define ERR_ERROR_STR "ERROR"
48
49	#define MAX_PFX_LEN 6u
50	#define MSG_BEGIN "BEGIN "
51	#define MSG_END "END "
52
53	//Commands
54	char const * const CMD_SHUTDN = "SHUTDOWN";
55	char const * const CMD_PING = "PING";
56	char const * const CMD_BATT = "BATT";
57	char const * const CMD_VER = "VER";
58	char const * const CMD_ULEDS = "USERLEDS";
59	char const * const CMD_UMOVE = "USERMOVE";
60	char const * const CMD_AUTO = "AUTOMODE";
61	char const * const CMD_ABORT = "STOPAUTO";
62
63	//Responses
64	char const * const RES_OK ="OK";
65	char const * const RES_ERR="ERR";
66
67	uint8_t parCycles; //Number of cycles in the parsed move or leds pattern
68	uint8_t parUserMem; //User mem preset to host the specified move
69	uint8_t parNum; //Number of positions to expect
70	uint8_t parPtrA; //Pointer to the servo1 positions (<parNum)
71	uint8_t parPtrB; //Pointer to the servo2 positions (<parNum)
72	uint8_t parPtrG; //Counter for the number of groups specified in a cmd line
73	uint8_t parPtrS; //Pointer to the step values (<parNum)
74	uint8_t parPtrT; //Pointer to the timing values (<LEN_AUTO_T)
75	int8_t error;
76
77	union ParPos //Buffers to contain the parsed move/led pattern positions
78	{
79	struct Leds
80	{
81	int8_t pos[MAX_PATTERNS];
82	}leds;
83	struct Move
84	{
85	int8_t pos1[MAX_MOVES];
86	int8_t pos2[MAX_MOVES];
87	}move;
88	struct AutM
89	{
90	uint8_t t[LEN_AUTO_T];
91	uint8_t grps;
92	}autm;
93	}parPos;
94
95	char currMoveStr[MAX_CMD_LEN+1]="";
96	char currLedsStr[MAX_CMD_LEN+1]="";
97
98	#if (MAX_MOVES>MAX_PATTERNS)
99	int8_t parStep[MAX_MOVES];
100	#else
101	int8_t parStep[MAX_PATTERNS];
102	#endif
103
104	//Send a concatenation of 2 strings to the BT module
105	//This is used to send a BEGIN/END+CmdName message
106	void sendCompMex(const char* str1, char* str2)
107	{
108	char str[MAX_PFX_LEN+MAX_CMD_LEN+1];
109	uint8_t pd,ps;
110	pd=0;
111	for (ps=0; ps<=MAX_PFX_LEN && str1[ps]; ps++)
112	str[pd++]=str1[ps];
113	for (ps=0; ps<MAX_CMD_LEN && str2[ps]; ps++)
114	str[pd++]=str2[ps];
115	str[pd]='\0';
116	btSendStr(str,0);
117	}
118
119	void terminal(AckEnum ack)
120	{
121	//Check for new BT messages
122	char* res=btReadStr();
123	uint8_t i;
124
125	if (res)
126
127	{
128	for (i=0; i<MAX_MOVE_CMDS; i++)
129	{
130	if (btRxStrContains(MOVE_CMDS[i].cmdStr))
131	{
132	//If a move is still running (currMoveStr not empty) then send
133	// end move message
134	if (currMoveStr[0])
135	{
136	sendCompMex(MSG_END,currMoveStr);
137	//__delay_ms(1000);
138	}
139	memcpy(currMoveStr,MOVE_CMDS[i].cmdStr,MAX_CMD_LEN+1);
140	sendCompMex(MSG_BEGIN,currMoveStr);
141	setMove((MoveType*)MOVE_CMDS[i].cmd);
142	return;
143	}
144	}
145
146	for (i=0; i<MAX_LEDS_CMDS; i++)
147	{
148	if (btRxStrContains(LEDS_CMDS[i].cmdStr))
149	{
150	//If leds are still running (currLedsStr not empty) then send
151	// end leds message
152	if (currLedsStr[0]) sendCompMex(MSG_END,currLedsStr);
153	memcpy(currLedsStr,LEDS_CMDS[i].cmdStr,MAX_CMD_LEN+1);
154	sendCompMex(MSG_BEGIN,currLedsStr);
155	setLEDs(LEDS_CMDS[i].cmd);
156	return;
157	}
158	}
159
160	if (btRxStrContains(CMD_SHUTDN))
161	{
162	shutDown();
163	return;
164	}
165
166	if (btRxStrContains(CMD_PING))
167	{
168	btSendStr(RES_OK,0);
169	return;
170	}
171
172	if (btRxStrContains(CMD_VER))
173	{
174	btSendStr(STR_VER,0);
175	return;
176	}
177
178	if (btRxStrContains(CMD_ABORT))
179	{
180	abortAuto();
181	btSendStr(RES_OK,0);
182	return;
183	}
184
185	if (btRxStrContains(CMD_BATT))
186	{
187	char buff[5];
188	buff[0]='B';
189	buff[1]='A';
190	buff[2]='T';
191	buff[3]='0'+getBattBars();
192	buff[4]='\0';
193	btSendStr(buff,0);
194	return;
195	}
196
197	if (btRxStrContains(CMD_UMOVE)) st=ST_USER_MOVE;
198	else if (btRxStrContains(CMD_ULEDS)) st=ST_USER_LEDS;
199	else if (btRxStrContains(CMD_AUTO))
200	{
201	st=ST_AUTO;
202	}
203
204	if (st==ST_USER_MOVE \|\| st==ST_USER_LEDS \|\| st==ST_AUTO)
205	{
206	char type='\0';
207	uint16_t val;
208
209	//Clear the temp buffers and pointers before parsing new move/pattern
210	memset(&parPos,0,sizeof(parPos));
211	memset(parStep,0,sizeof(parStep));
212	parUserMem=0;
213	parNum=0;
214	parCycles=0;
215	parPtrA=0; //Pointer for servo1/leds positions
216	parPtrB=0; //Pointer for servo2 positions
217	parPtrG=0; //Pointer for groups (auto)
218	parPtrS=0; //Pointer for step values
219	parPtrT=0; //Pointer for timing values (auto)
220	error = 0; //No errors so far
221
222	while (btRxValue(&val,&type,9999)==0 && error==0)
223	{
224	switch(type)
225	{
226	case 'U': //User preset number
227	if (parUserMem==0)
228	{
229	if (val<MAX_USER_PRESETS) parUserMem=(uint8_t)val;
230	else error = ERR_OUTOFRANGE;
231	}
232	break;
233	case 'P': //Positions
234	if (parNum==0)
235	{
236	if ((st==ST_USER_MOVE && val<MAX_MOVES)\|\|(st==ST_USER_LEDS && val<MAX_PATTERNS))
237	parNum=(uint8_t)val;
238	else error = ERR_OUTOFRANGE;
239	}
240	break;
241	case 'N': //Number of cycles
242	if (parCycles==0)
243	{
244	if (val<MAX_CYCLES) parCycles=(uint8_t)val;
245	else error = ERR_OUTOFRANGE;
246	}
247	break;
248	case 'A': //Servo 1/LEDs position
249	if (parPtrA<parNum)
250	if (st==ST_USER_MOVE)
251	if (val<MAX_MOVE_POS) parPos.move.pos1[parPtrA++]=(int8_t)val;
252	else error = ERR_OUTOFRANGE;
253	else
254	if (val<MAX_LEDS_POS) parPos.leds.pos[parPtrA++]=(int8_t)val;
255	else error = ERR_OUTOFRANGE;
256	else error = ERR_UNEXPECTED;
257	break;
258
259	case 'B': //Servo 2 position
260	if (st==ST_USER_MOVE && parPtrB<parNum)
261	if (val<MAX_MOVE_POS) parPos.move.pos2[parPtrB++]=(int8_t)val;
262	else error = ERR_OUTOFRANGE;
263	else error = ERR_UNEXPECTED;
264	break;
265
266	case 'G': //Move Group parameter
267	if (st==ST_AUTO)
268	if (val && val<=MAX_AUTO_G) parPos.autm.grps \|= 1u<<(uint8_t)(val-1);
269	else error = ERR_OUTOFRANGE;
270	else error = ERR_UNEXPECTED;
271	break;
272
273	case 'L': //Step parameter with linear variation
274	if (parPtrS<parNum)
275	if (val<=MAX_STEP_VAL)
276	parStep[parPtrS++]=(int8_t)val;
277	else error = ERR_OUTOFRANGE;
278	else error = ERR_UNEXPECTED;
279	break;
280
281	case 'S': //Step parameter with step variation (val is negative)
282	if (parPtrS<parNum)
283	if (val<=MAX_STEP_VAL)
284	parStep[parPtrS++]=(int8_t)-val;
285	else error = ERR_OUTOFRANGE;
286	else error = ERR_UNEXPECTED;
287	break;
288
289	case 'T': //Timing parameter
290	if (st==ST_AUTO && parPtrT<LEN_AUTO_T)
291	if (val>=MIN_AUTO_T && val<=MAX_AUTO_T) parPos.autm.t[parPtrT++]=(uint8_t)val;
292	else error = ERR_OUTOFRANGE;
293	else error = ERR_UNEXPECTED;
294	break;
295
296	default:
297	error = ERR_UNKNOWNTYPE;
298	break;
299	}
300	}
301	if (error==0)
302	{
303	if (st==ST_USER_MOVE)
304	{
305	setUserMove(parUserMem-1u,parNum,parCycles,parPos.move.pos1,parPos.move.pos2,parStep);
306	}
307	else if (st==ST_USER_LEDS)
308	{
309	setUserLeds(parUserMem-1u,parNum,parCycles,parPos.leds.pos,parStep);
310	}
311	else
312	{
313	setAuto(parPos.autm.t[0],parPos.autm.t[1],parPos.autm.t[2],parPos.autm.grps);
314	}
315	}
316	//Check that all the positions and step timings have been received
317	if (error==0 && st!=ST_AUTO)
318	{
319	if (parNum>parPtrA \|\| parNum>parPtrS) error=ERR_MISSINGTOKEN;
320	//If defining a move then check the pointer for the Servo2 as well
321	if (st==ST_USER_MOVE && parNum>parPtrS) error=ERR_MISSINGTOKEN;
322	}
323	switch (error)
324	{
325	case ERR_NOERR: btSendStr(RES_OK,0); break;
326	case ERR_OUTOFRANGE: btSendStr(ERR_OUTOFRANGE_STR,0); break;
327	case ERR_UNKNOWNTYPE: btSendStr(ERR_UNKNOWN_TYPE_STR,0); break;
328	case ERR_UNEXPECTED: btSendStr(ERR_UNEXPECTED_TOKEN_STR,0); break;
329	case ERR_MISSINGTOKEN:btSendStr(ERR_MISSING_TOKEN_STR,0); break;
330	default: btSendStr(ERR_ERROR_STR,0); break;
331	}
332	}
333	}
334
335	//If ack for move end then send out END MOVE message
336	// and clear current move string
337	if (ack==ACK_END_MOVE)
338	{
339	sendCompMex(MSG_END,currMoveStr);
340	currMoveStr[0]=0;
341	}
342
343	//If ack for leds end then send out END LEDS message
344	// and clear current leds string
345	if (ack==ACK_END_LEDS)
346	{
347	sendCompMex(MSG_END,currLedsStr);
348	currLedsStr[0]=0;
349	}
350	}
351
352
353

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