Diff: AndroidADKTerm/android.h

Revision:

12:235e318a414f

Parent:

11:775ebb69d5e1

Child:

14:6a45a9f940a8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AndroidADKTerm/android.h	Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,154 @@
+#ifndef _ANDROID_H_
+#define _ANDROID_H_
+
+#include "mbed.h"
+#include "AndroidAccessory.h"
+#include "defines.h"
+#include <string>
+#include <sstream>
+#include <vector>
+#include <iostream>
+#include <stdlib.h>
+
+/**
+ * @author Arno Galliker
+ *
+ * @subsection LICENSE
+ *
+ * Copyright &copy; 2013 HSLU Pren Team #1 Cruising Crêpe
+ * All rights reserved.
+ *
+ * @subsection DESCRIPTION
+ *
+ * This class implements communication with the android smartphone
+ * For more information see the Android ADK Cookbook:
+ * <a href="http://mbed.org/cookbook/mbed-with-Android-ADK">http://mbed.org/cookbook/mbed-with-Android-ADK</a>
+ *
+ * Originally created by p07gbar from work by Makoto Abe
+ */
+
+#define OUTL 100
+#define INBL 100
+
+class AdkTerm : public AndroidAccessory
+{
+
+private:
+    
+    /** Attaches a tick to send messages over the USB buffer in a certain interval */
+    void AttachTick();
+    
+    /** Method to call when a tick period is over */
+    void onTick();
+    
+    /** Char buffer with a size of OUTL */
+    char buffer[OUTL];
+    
+    /** Buffer count ??? */
+    int bcount;
+    
+    /** Instance of ticker */
+    Ticker tick;
+    
+    //float right,left,rl,ll;
+    //int tl,tr;
+    
+    //Timeout n;
+    
+    /** States if tick is on */
+    bool settick;
+    
+    /** States if something is written to the buffer?? */
+    bool ind;
+    
+    /** Desired position in meters for x-coordinate, given by android */
+    float x;
+    
+    /** Desired position in meters for y-coordinate, given by android */
+    float y;
+    
+    /** Desired position in degrees for theta, given by android */
+    float t;
+
+public:
+
+    /**
+     * Creates a <code>AdkTerm</code> object and initializes all private
+     * state variables. Constructor
+     */
+    AdkTerm();
+
+    /**
+     * Sets initial configurations and clears the buffer 
+     * 
+     */
+    void setupDevice();
+
+    /**
+     * Returns the desired position in meters for x-coordinate, given by android
+     * @return x-coordinate,given in [m]
+     */
+    float getx();
+
+    /**
+     * Returns the desired position in meters for y-coordinate, given by android
+     * @return y-coordinate,given in [m]
+     */
+    float gety();
+
+     /**
+     * Returns the esired position in degrees for theta, given by android
+     * @return y-coordinate,given in degrees [°]
+     */
+    float gett();
+
+private:
+
+    /**
+     *
+     *
+     */
+    //void AttachTick();
+
+    /**
+     *
+     *
+     */
+    // void onTick();
+
+    /**
+     * Clears the buffer and bcount
+     *
+     */
+    void resetDevice();
+
+    /**
+     * Takes an string, a vector of strings for the delimited tokens, and a with the 
+     * @param str
+     * @param tokens
+     * @param delimiters
+     */
+    void Tokenize(const string& str, vector<string>& tokens, const string& delimiters = " ");
+
+    /**
+     *
+     * @param buf
+     * @param len
+     */
+    int callbackRead(u8 *buf, int len);
+
+    /**
+     *
+     *
+     */
+    int callbackWrite();
+
+    /**
+     *
+     *
+     */
+    void serialIRQ();
+
+};
+
+#endif