Diff: AndroidADKTerm/android.cpp

Revision:

18:306d362d692b

Parent:

16:b5d949136a21

Child:

19:b2f76b0fe4c8

--- a/AndroidADKTerm/android.cpp	Fri Apr 26 06:36:57 2013 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,154 +0,0 @@
-#include "android.h"
-//#define PI                    3.141592654f
-using namespace std;
-
-AdkTerm::AdkTerm(RobotControl* robotControl,
-                 state_t* s,
-                 float period)
-    : AndroidAccessory(INBL,
-                       OUTL,
-                       "ARM",
-                       "mbed",
-                       "mbed Terminal",
-                       "0.1",
-                       "http://www.mbed.org",
-                       "0000000012345678"),
-    Task(period)
-{
-    this->robotControl = robotControl;
-    this->period = period;
-    this->s = s;
-};
-
-void AdkTerm::setupDevice()
-{
-    for (int i = 0; i<OUTL; i++) {
-        buffer[i] = 0;
-    }
-    bcount = 0;
-}
-
-float AdkTerm::getDesiredX()
-{
-    return desiredX/1000;
-}
-
-float AdkTerm::getDesiredY()
-{
-    return desiredY/1000;
-}
-
-float AdkTerm::getDesiredTheta()
-{
-    return desiredTheta * PI / 180;
-}
-
-
-void AdkTerm::run()
-{
-
-    u8* wbuf = _writebuff;
-
-    // floats to string
-    char str[100];
-    
-    //send to android
-    sprintf( str, "%f;%f;%f;%i;%i;%i;%f;;", robotControl->getxActualPosition(),
-             robotControl->getyActualPosition(),
-             robotControl->getActualTheta() * 180 / PI,
-             s->state&STATE_UNDER == 0 ? 0 : 1,
-             s->state&STATE_LEFT == 0 ? 0 : 1,
-             s->state&STATE_RIGHT == 0 ? 0 : 1,
-             s->voltageBattery);
-
-    //copy to wbuf
-    strcpy( (char*) wbuf, str );
-
-    this->write(wbuf,100);
-
-}
-
-void AdkTerm::resetDevice()
-{
-    for (int i = 0; i<OUTL; i++) {
-        buffer[i] = 0;
-    }
-    bcount = 0;
-}
-
-void AdkTerm::Tokenize(const string& str,
-                       vector<string>& tokens,
-                       const string& delimiters /*= " "*/)
-{
-    // Skip delimiters at beginning.
-    string::size_type lastPos = str.find_first_not_of(delimiters, 0);
-    // Find first "non-delimiter".
-    string::size_type pos     = str.find_first_of(delimiters, lastPos);
-
-    while (string::npos != pos || string::npos != lastPos) {
-        // Found a token, add it to the vector.
-        tokens.push_back(str.substr(lastPos, pos - lastPos));
-        // Skip delimiters.  Note the "not_of"
-        lastPos = str.find_first_not_of(delimiters, pos);
-        // Find next "non-delimiter"
-        pos = str.find_first_of(delimiters, lastPos);
-    }
-}
-
-int AdkTerm::callbackRead(u8 *buf, int len)
-{
-    // convert buffer (unsigned char) to string
-    std::string str(reinterpret_cast<char*>(buf), len);
-
-    // new vector of strings
-    vector<string> tokens;
-
-    // tokenize the string with the semicolon separator
-    Tokenize(str, tokens, ";");
-    copy(tokens.begin(), tokens.end(), ostream_iterator<string>(cout, ", "));
-
-
-    if(tokens.size() > 2) {
-
-        //string to float
-        desiredX = ::atof(tokens.at(0).c_str());
-        desiredY = ::atof(tokens.at(1).c_str());
-        desiredTheta = ::atof(tokens.at(2).c_str());
-    }
-
-    return 0;
-}
-
-int AdkTerm::callbackWrite()
-{
-    ind = false;
-    return 0;
-}
-
-void AdkTerm::serialIRQ()
-{
-    //buffer[bcount] = pc.getc();
-
-
-    if (buffer[bcount] == '\n' || buffer[bcount] == '\r') {
-        u8* wbuf = _writebuff;
-        for (int i = 0; i<OUTL; i++) {
-            wbuf[i] = buffer[i];
-            buffer[i] = 0;
-        }
-        //pc.printf("Sending: %s\n\r",wbuf);
-        ind = true;
-        this->write(wbuf,bcount);
-        bcount = 0;
-    } else {
-        if (buffer[bcount] != 0x08 && buffer[bcount] != 0x7F ) {
-            bcount++;
-            if (bcount == OUTL) {
-                bcount = 0;
-            }
-        } else {
-            bcount--;
-        }
-    }
-
-}
\ No newline at end of file