James Hilder / PsiSwarmV9-Fork

Psi Swarm robot library version 0.9

Fork of PsiSwarmV9 by Psi Swarm Robot

serial.h@20:1bc6c6dc477b, 2018-05-14 (annotated)

Committer:
jah128
Date:
Mon May 14 15:35:38 2018 +0000
Revision:
20:1bc6c6dc477b
Parent:
16:50686c07ad07 
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Who changed what in which revision?

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jah128 0:d6269d17c8cf 1 /* University of York Robotics Laboratory PsiSwarm Library: Serial Control Header File
jah128 0:d6269d17c8cf 2 *
jah128 16:50686c07ad07 3 * Copyright 2017 University of York
jah128 6:b340a527add9 4 *
jah128 6:b340a527add9 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
jah128 6:b340a527add9 6 * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
jah128 6:b340a527add9 7 * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
jah128 6:b340a527add9 8 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
jah128 6:b340a527add9 9 * See the License for the specific language governing permissions and limitations under the License.
jah128 6:b340a527add9 10 *
jah128 0:d6269d17c8cf 11 * File: serial.h
jah128 0:d6269d17c8cf 12 *
jah128 0:d6269d17c8cf 13 * (C) Dept. Electronics & Computer Science, University of York
jah128 0:d6269d17c8cf 14 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
jah128 0:d6269d17c8cf 15 *
jah128 16:50686c07ad07 16 * PsiSwarm Library Version: 0.9
jah128 0:d6269d17c8cf 17 *
jah128 16:50686c07ad07 18 * June 2017
jah128 0:d6269d17c8cf 19 *
jah128 0:d6269d17c8cf 20 *
jah128 0:d6269d17c8cf 21 */
jah128 0:d6269d17c8cf 22
jah128 0:d6269d17c8cf 23
jah128 0:d6269d17c8cf 24 #ifndef SERIAL_H
jah128 0:d6269d17c8cf 25 #define SERIAL_H
jah128 0:d6269d17c8cf 26
jah128 11:312663037b8c 27 /**
jah128 11:312663037b8c 28 * SerialControl class
jah128 11:312663037b8c 29 * Functions to handle command and user messages sent over the PC or BT serial interfaces. Most of the functions within this class
jah128 11:312663037b8c 30 * are not intended to be called by user applications; once the setup_serial_interfaces() function has been called the enabled
jah128 11:312663037b8c 31 * serial ports are attached to listeners which handle any received messages. A predefined message structure for commands has been
jah128 11:312663037b8c 32 * created which allows most functions on the robot to be externally called, either using a PC-robot or Bluetooth connection.
jah128 11:312663037b8c 33 *
jah128 11:312663037b8c 34 * For user functions, the main.cpp file should include a void handle_user_serial_message(char * message, char length, char interface)
jah128 11:312663037b8c 35 * function to handle user-defined messages.
jah128 11:312663037b8c 36 *
jah128 11:312663037b8c 37 */
jah128 11:312663037b8c 38 class SerialControl
jah128 11:312663037b8c 39 {
jah128 11:312663037b8c 40 public:
jah128 11:312663037b8c 41 //void handle_user_serial_message(char * message, char length, char interface);
jah128 11:312663037b8c 42
jah128 11:312663037b8c 43 /**
jah128 11:312663037b8c 44 * Sets the baud rates and enables the serial interfaces (PC and BT) as defined in the settings.h file
jah128 11:312663037b8c 45 * Attaches listeners to both the serial ports that trigger when a message is received
jah128 11:312663037b8c 46 */
jah128 11:312663037b8c 47 void setup_serial_interfaces(void);
jah128 11:312663037b8c 48
jah128 11:312663037b8c 49 private:
jah128 1:060690a934a9 50 void IF_start_file_transfer_mode(void);
jah128 1:060690a934a9 51 void IF_end_file_transfer_mode(void);
jah128 1:060690a934a9 52 void IF_file_transfer_timeout(void);
jah128 0:d6269d17c8cf 53 void IF_handle_file_transfer_serial_message(char * message, char length, char interface);
jah128 0:d6269d17c8cf 54 void IF_handle_user_serial_message(char * message, char length, char interface);
jah128 0:d6269d17c8cf 55 void IF_handle_command_serial_message(char message [3], char interface);
jah128 11:312663037b8c 56 void IF_invalid_transfer(void);
jah128 0:d6269d17c8cf 57 void IF_pc_rx_callback(void);
jah128 0:d6269d17c8cf 58 void IF_bt_rx_callback(void);
jah128 11:312663037b8c 59 void IF_pc_rx_command_timeout(void);
jah128 11:312663037b8c 60 void IF_bt_rx_command_timeout(void);
jah128 11:312663037b8c 61 void IF_bt_message_timeout(void);
jah128 0:d6269d17c8cf 62 char * IF_nibble_to_binary_char(char in);
jah128 0:d6269d17c8cf 63 char * IF_char_to_binary_char(char in);
jah128 0:d6269d17c8cf 64 float IF_decode_unsigned_float(char byte0, char byte1);
jah128 0:d6269d17c8cf 65 float IF_decode_float(char byte0, char byte1);
jah128 0:d6269d17c8cf 66 float IF_decode_float(char byte0);
jah128 0:d6269d17c8cf 67 float IF_decode_unsigned_float(char byte0);
jah128 2:c6986ee3c7c5 68 void IF_set_filename(char * filename_in);
jah128 2:c6986ee3c7c5 69 unsigned short IF_calculateCRC16(int file_length);
jah128 11:312663037b8c 70 };
jah128 0:d6269d17c8cf 71
jah128 0:d6269d17c8cf 72 #endif