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@Neopibox
Neopibox committed Sep 13, 2018
1 parent 91573b7 commit 99bb7af
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Showing 7 changed files with 222 additions and 48 deletions.
Binary file modified code/ViveBeacons/ViveBeacons.cydsn/HardwareDesign/HardwareDesign.cysch
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87 changes: 69 additions & 18 deletions code/ViveBeacons/ViveBeacons.cydsn/USB_commands_manager.c
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Original file line number Diff line number Diff line change
Expand Up @@ -11,18 +11,14 @@
*/

#include <stdlib.h>
#include <stdbool.h>
#include "project.h"
#include "USB_commands_manager.h"

/*
---------------------------------------------------------------------------
This file should be a PSoC version of an Arduino library. It would have
been trans-coded from https://github.com/kroimon/Arduino-SerialCommand
Unfortunately, because of 2018's project evolution (moving from a main
robot with a lattepanda to the summberbot using a teensy), this library is
not finished. The idea is to copy the already working UART_command_manager
here and replaced UART by USB everywhere in the firmware.
This file is a PSoC version of an Arduino library. It was trans-coded from
https://github.com/kroimon/Arduino-SerialCommand
---------------------------------------------------------------------------
*/

Expand All @@ -35,29 +31,84 @@
USB_commands_manager* USB_commands_manager_create() {
USB_commands_manager* usb_commands_manager = (USB_commands_manager*) malloc(1*sizeof(USB_commands_manager));

usb_commands_manager->callbacks = NULL;
usb_commands_manager->last_token = NULL;
usb_commands_manager->command_count = 0;

strcpy(usb_commands_manager->delimiter, " ");

// Clear buffer
usb_commands_manager->buffer[0] = '\0';
usb_commands_manager->buffer_pos = 0;

return usb_commands_manager;
}

void USB_commands_manager_init(USB_commands_manager *usb_commands_manager) {
USB_Serial_Start(0, USB_Serial_3V_OPERATION);
while(!USB_Serial_GetConfiguration());
USB_Serial_CDC_Init();
}

void USB_commands_manager_register_command(USB_commands_manager *usb_commands_manager, const char *command, void (*callback_function)()) {
usb_commands_manager->callbacks = (USB_commands_manager_callback *) realloc(usb_commands_manager->callbacks, (usb_commands_manager->command_count + 1)*sizeof(USB_commands_manager_callback));
strncpy((usb_commands_manager->callbacks[usb_commands_manager->command_count]).command, command, USB_COMMAND_MANAGER_MAX_COMMAND_LENGTH);
(usb_commands_manager->callbacks[usb_commands_manager->command_count]).callback_function = callback_function;
usb_commands_manager->command_count++;
}

void USB_commands_manager_check_commands(USB_commands_manager *usb_commands_manager) {
char nb_char = 0;

USB_Serial_PutString("START\n");
while(USB_Serial_CDCIsReady() == 0u);
CyDelay(1);

CyDelay(3000);
// If we received some packets from the PC
if(USB_Serial_GetCount() != 0) {
nb_char = USB_Serial_GetCount();

if((usb_commands_manager->buffer_pos + nb_char) < USB_COMMAND_MANAGER_MAX_BUFFER_SIZE) {
nb_char = USB_Serial_GetData((uint8 *) (usb_commands_manager->buffer + usb_commands_manager->buffer_pos), nb_char); // Copy the received data into the buffer and update the nb of char read.
usb_commands_manager->buffer_pos += nb_char + 1;
usb_commands_manager->buffer[usb_commands_manager->buffer_pos] = '\0';
}
}

USB_Serial_PutString("INIT\n");
while(USB_Serial_CDCIsReady() == 0u);
CyDelay(1);
// Processing the data
for(int i = usb_commands_manager->buffer_pos - nb_char; i < usb_commands_manager->buffer_pos; i++)
{
char character = USB_Serial_GetChar();
if(character == 0)
return;

if(character == '\n') {
char *command = strtok_r(usb_commands_manager->buffer, usb_commands_manager->delimiter, &(usb_commands_manager->last_token));

if(command != NULL) {
bool matched = false;

for(int i = 0; i < usb_commands_manager->command_count; i++) { // For each command in registered commands
if (strncmp(command, (usb_commands_manager->callbacks[i]).command, USB_COMMAND_MANAGER_MAX_COMMAND_LENGTH) == 0) {
(*((usb_commands_manager->callbacks[i]).callback_function))();
matched = true;
break;
}
}
}

// Clear buffer
usb_commands_manager->buffer[0] = '\0';
usb_commands_manager->buffer_pos = 0;
}
}
}

char* USB_commands_manager_get_next_token(USB_commands_manager *usb_commands_manager) {
return strtok_r(NULL, usb_commands_manager->delimiter, &(usb_commands_manager->last_token));
}

void USB_commands_manager_send_command(USB_commands_manager *usb_commands_manager, char command[USB_COMMAND_MANAGER_MAX_COMMAND_LENGTH + 1]) {


void USB_commands_manager_send_command(USB_commands_manager *usb_commands_manager, char command[USB_COMMAND_MANAGER_MAX_COMMAND_LENGTH + 1], char args[USB_COMMAND_MANAGER_MAX_BUFFER_SIZE - (USB_COMMAND_MANAGER_MAX_COMMAND_LENGTH + 1) + 1]) {
USB_Serial_PutString(command);
USB_Serial_PutString(usb_commands_manager->delimiter);
USB_Serial_PutString(args);
USB_Serial_PutString("\n");
}

/* [] END OF FILE */
20 changes: 17 additions & 3 deletions code/ViveBeacons/ViveBeacons.cydsn/USB_commands_manager.h
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Original file line number Diff line number Diff line change
Expand Up @@ -17,17 +17,31 @@
#define USB_COMMAND_MANAGER_MAX_COMMAND_LENGTH 8
#define USB_COMMAND_MANAGER_MAX_BUFFER_SIZE 8

// Data structure
typedef struct USB_commands_manager_callback USB_commands_manager_callback;
struct USB_commands_manager_callback {
char command[USB_COMMAND_MANAGER_MAX_COMMAND_LENGTH + 1];
void (*callback_function)();
};

// Attributes
typedef struct USB_commands_manager USB_commands_manager;
struct USB_commands_manager {

USB_commands_manager_callback *callbacks;
char buffer[USB_COMMAND_MANAGER_MAX_BUFFER_SIZE];
int command_count;
int buffer_pos;
char *last_token;
char delimiter[2];
};

// Public methods
USB_commands_manager* USB_commands_manager_create();
void USB_commands_manager_init(USB_commands_manager *usb_commands_manager);
void USB_commands_manager_send_command(USB_commands_manager *usb_commands_manager, char command[USB_COMMAND_MANAGER_MAX_COMMAND_LENGTH + 1]);
//void USB_commands_manager_
void USB_commands_manager_register_command(USB_commands_manager *usb_commands_manager, const char *command, void (*callback_function)());
void USB_commands_manager_check_commands(USB_commands_manager *usb_commands_manager);
char* USB_commands_manager_get_next_token(USB_commands_manager *usb_commands_manager);
void USB_commands_manager_send_command(USB_commands_manager *usb_commands_manager, char command[USB_COMMAND_MANAGER_MAX_COMMAND_LENGTH + 1], char args[USB_COMMAND_MANAGER_MAX_BUFFER_SIZE - (USB_COMMAND_MANAGER_MAX_COMMAND_LENGTH + 1) + 1]);

#endif

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35 changes: 29 additions & 6 deletions code/ViveBeacons/ViveBeacons.cydsn/ViveBeacons.cydwr
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Expand Up @@ -363,6 +363,7 @@
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Expand Down Expand Up @@ -3545,10 +3546,31 @@
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Expand Down Expand Up @@ -3596,11 +3618,6 @@
<Data key="Port Format" value="15,6" />
</Group>
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<Data key="Port Format" value="6,7" />
Expand All @@ -3624,6 +3641,12 @@
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<Data key="0" value="131597212263501034" />
</Group>
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33 changes: 33 additions & 0 deletions code/ViveBeacons/ViveBeacons.cydsn/ViveBeacons.cyprj
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Expand Up @@ -3026,6 +3026,39 @@
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