Nathaniel Honka / UI

User interface library for databed on HEL medical exo.

Fork of UI by Michael Ling

UserInterface.cpp@6:e4bd0fd5befb, 2015-03-25 (annotated)

Committer:
nathanhonka
Date:
Wed Mar 25 03:27:37 2015 +0000
Revision:
6:e4bd0fd5befb
Parent:
1:7795fb7ee3f3 
1) Add UI command type-checking.; 2) Create common.h, a common location for shared defintions between;   Motion-Control and Data-Management projects (including recently defined;   UI command type & members).

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mzling 0:6b5a3a0138ad 1 #include "mbed.h"
mzling 0:6b5a3a0138ad 2 #include "MODSERIAL.h"
mzling 0:6b5a3a0138ad 3 #include "initDatabed.h"
mzling 0:6b5a3a0138ad 4 #include "UserInterface.h"
nathanhonka 6:e4bd0fd5befb 5 #include "common.h"
mzling 0:6b5a3a0138ad 6
mzling 0:6b5a3a0138ad 7 // UI button variables
mzling 0:6b5a3a0138ad 8 //int buttonA = 1; // state of remote button
mzling 0:6b5a3a0138ad 9 //int buttonA_prev = 1;
mzling 0:6b5a3a0138ad 10
mzling 0:6b5a3a0138ad 11 // push hold vars
mzling 0:6b5a3a0138ad 12 //float tHold = .6; // hold time for sit/stand
mzling 0:6b5a3a0138ad 13 //float tIdle = 2; // time out to confirm sit or stance (s)
mzling 0:6b5a3a0138ad 14 //int SSconfirm = 0; // sit/stand variable for confirmation process
mzling 0:6b5a3a0138ad 15 //float tRelease = .3; // time since last transmission to determine button release
mzling 0:6b5a3a0138ad 16
mzling 0:6b5a3a0138ad 17
mzling 0:6b5a3a0138ad 18 // various timers
mzling 0:6b5a3a0138ad 19 //Timer time_StateChange;
mzling 0:6b5a3a0138ad 20 //Timer time_pressA;
mzling 0:6b5a3a0138ad 21 //Timer time_pressB;
mzling 0:6b5a3a0138ad 22
mzling 0:6b5a3a0138ad 23 //int buttonB = 1; // state of remote button
mzling 0:6b5a3a0138ad 24 //int buttonB_prev = 1;
mzling 0:6b5a3a0138ad 25 //char __xbeeBuffer[250];
mzling 0:6b5a3a0138ad 26 //int _dataCnt=0;
nathanhonka 6:e4bd0fd5befb 27 UI_t UI = BUTTON_NONE;
mzling 0:6b5a3a0138ad 28
mzling 0:6b5a3a0138ad 29 //float _time_sinceA, _time_sinceB; //time since the button was first pressed
mzling 0:6b5a3a0138ad 30
mzling 0:6b5a3a0138ad 31 UserInterface::UserInterface(void): _buttonA(1), _buttonA_prev(1), _tHold(.6), _tIdle(2), _SSconfirm(0), _tRelease(.3), _buttonB(1), _buttonB_prev(1), _dataCnt(0) {
mzling 0:6b5a3a0138ad 32 }
mzling 0:6b5a3a0138ad 33
mzling 0:6b5a3a0138ad 34 void UserInterface::readBuffer()
mzling 0:6b5a3a0138ad 35 {
mzling 0:6b5a3a0138ad 36 while (xbeeUI.readable() && _dataCnt<250) {
mzling 0:6b5a3a0138ad 37 _xbeeBuffer[_dataCnt] = xbeeUI.getc();
mzling 0:6b5a3a0138ad 38 _dataCnt++;
mzling 0:6b5a3a0138ad 39 }
mzling 0:6b5a3a0138ad 40 }
mzling 0:6b5a3a0138ad 41
mzling 0:6b5a3a0138ad 42 /**
mzling 0:6b5a3a0138ad 43 * This function returns an array of information about the received characters. count[0] is # of data bytes, count[1] is expected length of the message, given the data length bytes and presence
mzling 0:6b5a3a0138ad 44 * of escape characters. count[2] is position of the first data byte.
mzling 0:6b5a3a0138ad 45 * @param idx char array containing received data, beginning with the start byte 0x7e
mzling 0:6b5a3a0138ad 46 * @param count array that will contain the returned values
mzling 0:6b5a3a0138ad 47 * @author Michael Ling
mzling 0:6b5a3a0138ad 48 * @date 2/2/2015
mzling 0:6b5a3a0138ad 49 */
mzling 0:6b5a3a0138ad 50 void UserInterface::find_length(char *idx, int *count)
mzling 0:6b5a3a0138ad 51 {
mzling 0:6b5a3a0138ad 52 int pos = 0;
mzling 0:6b5a3a0138ad 53 short length;
mzling 0:6b5a3a0138ad 54 //This segment reads the length bytes (bytes 2-3 of the message)
mzling 0:6b5a3a0138ad 55 if (*(idx+1) == 0x7d) {
mzling 0:6b5a3a0138ad 56 length = (*(idx+2) ^ 0x20) << 8;
mzling 0:6b5a3a0138ad 57 pos = 3;
mzling 0:6b5a3a0138ad 58 } else {
mzling 0:6b5a3a0138ad 59 length = *(idx+1) << 8;
mzling 0:6b5a3a0138ad 60 pos = 2;
mzling 0:6b5a3a0138ad 61 }
mzling 0:6b5a3a0138ad 62 if (*(idx+pos) == 0x7d) {
mzling 0:6b5a3a0138ad 63 length = length | (*(idx+pos+1)^0x20);
mzling 0:6b5a3a0138ad 64 pos += 2;
mzling 0:6b5a3a0138ad 65 } else {
mzling 0:6b5a3a0138ad 66 length = length | *(idx+pos);
mzling 0:6b5a3a0138ad 67 pos += 1;
mzling 0:6b5a3a0138ad 68 }
mzling 0:6b5a3a0138ad 69 count[0] = (int)length;
mzling 0:6b5a3a0138ad 70 //Length incremented by 1--we treat the checksum as a data byte, since it can also be escaped
mzling 0:6b5a3a0138ad 71 length += 1;
mzling 0:6b5a3a0138ad 72 //Checks for escape characters--for every escape char found, the data section gets 1 byte longer
mzling 0:6b5a3a0138ad 73 for (short i = 0; i < length; i += 1) {
mzling 0:6b5a3a0138ad 74 if (*(idx+i) == 0x7d) {
mzling 0:6b5a3a0138ad 75 length += 1;
mzling 0:6b5a3a0138ad 76 }
mzling 0:6b5a3a0138ad 77 }
mzling 0:6b5a3a0138ad 78 count[1] = (int) length + 3;
mzling 0:6b5a3a0138ad 79 count[2] = pos;
mzling 0:6b5a3a0138ad 80 }
mzling 0:6b5a3a0138ad 81
mzling 0:6b5a3a0138ad 82 /**
mzling 0:6b5a3a0138ad 83 * This function returns true if calculated checksum matches the checksum at the end of the message.
mzling 0:6b5a3a0138ad 84 * @param idx char array containing received data, starting with start byte 0x7e
mzling 0:6b5a3a0138ad 85 * @param length number of data bytes in the message
mzling 0:6b5a3a0138ad 86 * @author Michael Ling
mzling 0:6b5a3a0138ad 87 * @date 2/2/2015
mzling 0:6b5a3a0138ad 88 */
mzling 0:6b5a3a0138ad 89 bool UserInterface::checksum_check(char *idx, int length)
mzling 0:6b5a3a0138ad 90 {
mzling 0:6b5a3a0138ad 91 int pos = 0;
mzling 0:6b5a3a0138ad 92 int sum = 0;
mzling 0:6b5a3a0138ad 93 for(int i = 0; i < length; i++) {
mzling 0:6b5a3a0138ad 94 //In case of an escape character, the true value of the byte is the following byte XOR with 0x20
mzling 0:6b5a3a0138ad 95 if (*(idx+pos) == 0x7d) {
mzling 0:6b5a3a0138ad 96 sum += (*(idx+pos+1) ^ 0x20);
mzling 0:6b5a3a0138ad 97 pos += 2;
mzling 0:6b5a3a0138ad 98 } else {
mzling 0:6b5a3a0138ad 99 sum += *(idx+pos);
mzling 0:6b5a3a0138ad 100 pos += 1;
mzling 0:6b5a3a0138ad 101 }
mzling 0:6b5a3a0138ad 102 }
mzling 0:6b5a3a0138ad 103 //XBEE checksum: sum all data bytes, truncate the sum to the rightmost 8 bytes, and subtract that from 0xff
mzling 0:6b5a3a0138ad 104 sum = sum & 0x0ff;
mzling 0:6b5a3a0138ad 105 char calcsum = (char)(0xff - sum);
mzling 0:6b5a3a0138ad 106 char checksum;
mzling 0:6b5a3a0138ad 107 if (*(idx+pos) == 0x7d) {
mzling 0:6b5a3a0138ad 108 checksum = *(idx+pos)^0x20;
mzling 0:6b5a3a0138ad 109 } else {
mzling 0:6b5a3a0138ad 110 checksum = *(idx+pos);
mzling 0:6b5a3a0138ad 111 }
mzling 0:6b5a3a0138ad 112 if (checksum != calcsum) {
mzling 0:6b5a3a0138ad 113 return false;
mzling 0:6b5a3a0138ad 114 }
mzling 0:6b5a3a0138ad 115 return true;
mzling 0:6b5a3a0138ad 116 }
mzling 0:6b5a3a0138ad 117
mzling 0:6b5a3a0138ad 118 void UserInterface::checkUI_XBee()
mzling 0:6b5a3a0138ad 119 {
mzling 0:6b5a3a0138ad 120 int sum = 0;
mzling 0:6b5a3a0138ad 121 _buttonA_prev = _buttonA;
mzling 0:6b5a3a0138ad 122 _buttonB_prev = _buttonB;
mzling 0:6b5a3a0138ad 123 char * idx = strchr(_xbeeBuffer,0x7e);
mzling 0:6b5a3a0138ad 124 if (idx != NULL) {
mzling 0:6b5a3a0138ad 125 int size[3];
mzling 0:6b5a3a0138ad 126 find_length(idx, size);
mzling 1:7795fb7ee3f3 127 printf("Size: %d, Datacount: %d\r\n", size[1], _dataCnt);
mzling 0:6b5a3a0138ad 128 if(_dataCnt >= size[1]) {
mzling 0:6b5a3a0138ad 129
mzling 0:6b5a3a0138ad 130 _buttonA = (_xbeeBuffer[idx-_xbeeBuffer+21]>>1) & 1; // on DIO1
mzling 0:6b5a3a0138ad 131 _buttonB = (_xbeeBuffer[idx-_xbeeBuffer+21]>>2) & 1; // on DIO2
mzling 0:6b5a3a0138ad 132
mzling 0:6b5a3a0138ad 133 if (checksum_check(idx+size[2], size[0])) {
mzling 1:7795fb7ee3f3 134 printf("Checksums match\r\n");
mzling 0:6b5a3a0138ad 135 } else {
mzling 1:7795fb7ee3f3 136 printf("Checksums don't match\r\n");
mzling 0:6b5a3a0138ad 137 }
mzling 0:6b5a3a0138ad 138 _dataCnt = 0;
mzling 0:6b5a3a0138ad 139 }
mzling 0:6b5a3a0138ad 140 if(sum == 0x79c) {
mzling 0:6b5a3a0138ad 141 if (_buttonA == 0 && _buttonA_prev == 1) {//buton was just pressed
mzling 0:6b5a3a0138ad 142 _time_pressA.reset();
mzling 0:6b5a3a0138ad 143 _time_pressA.start();
mzling 0:6b5a3a0138ad 144 _time_sinceA = 0;
mzling 0:6b5a3a0138ad 145 }
mzling 0:6b5a3a0138ad 146
mzling 0:6b5a3a0138ad 147 else if(_buttonA == 0) {
mzling 0:6b5a3a0138ad 148 _time_sinceA = _time_pressA; //button is still pressed
mzling 0:6b5a3a0138ad 149 }
mzling 0:6b5a3a0138ad 150
mzling 0:6b5a3a0138ad 151 if (_buttonB == 0 && _buttonB_prev == 1) {//button was just pressed
mzling 0:6b5a3a0138ad 152 _time_pressB.reset();
mzling 0:6b5a3a0138ad 153 _time_pressB.start();
mzling 0:6b5a3a0138ad 154 _time_sinceB = 0;
mzling 0:6b5a3a0138ad 155 } else if(_buttonB == 0) {
mzling 0:6b5a3a0138ad 156 _time_sinceB = _time_pressB; //button is still pressed
mzling 0:6b5a3a0138ad 157 }
mzling 0:6b5a3a0138ad 158 }
mzling 0:6b5a3a0138ad 159
mzling 0:6b5a3a0138ad 160 if((_time_pressA-_time_sinceA) >= _tRelease) { //button was released
mzling 0:6b5a3a0138ad 161 if(_time_pressA-_tRelease >= _tHold) { //if the button was held before released
nathanhonka 6:e4bd0fd5befb 162 UI = BUTTON_A_HOLD; //UI command is a held A button
mzling 0:6b5a3a0138ad 163 } else {
nathanhonka 6:e4bd0fd5befb 164 UI = BUTTON_A_PRESS; //UI command is a pressed A button
mzling 0:6b5a3a0138ad 165 }
mzling 0:6b5a3a0138ad 166 _buttonA = 1; //button A is released
mzling 0:6b5a3a0138ad 167 _time_pressA.stop(); //reset the button A timer
mzling 0:6b5a3a0138ad 168 _time_pressA.reset();
mzling 0:6b5a3a0138ad 169 }
mzling 0:6b5a3a0138ad 170 if(_time_pressB-_time_sinceB >= _tRelease) { //button was released
mzling 0:6b5a3a0138ad 171 if(_time_pressB-_tRelease >= _tHold) { //if the button was held before released
nathanhonka 6:e4bd0fd5befb 172 UI = BUTTON_B_HOLD; //UI command is a held B button
mzling 0:6b5a3a0138ad 173 } else {
nathanhonka 6:e4bd0fd5befb 174 UI = BUTTON_B_PRESS; //UI command is a pressed B button
mzling 0:6b5a3a0138ad 175 }
mzling 0:6b5a3a0138ad 176 _buttonB = 1; //button B is released
mzling 0:6b5a3a0138ad 177 _time_pressB.stop(); //reset the button B timer
mzling 0:6b5a3a0138ad 178 _time_pressB.reset();
mzling 0:6b5a3a0138ad 179 }
mzling 0:6b5a3a0138ad 180 }
mzling 0:6b5a3a0138ad 181 memset(_xbeeBuffer,0xFF,250);
mzling 0:6b5a3a0138ad 182 _dataCnt = 0;
mzling 0:6b5a3a0138ad 183 }
mzling 0:6b5a3a0138ad 184
mzling 0:6b5a3a0138ad 185 /*void checkUI_XBee()
mzling 0:6b5a3a0138ad 186 {
mzling 0:6b5a3a0138ad 187
mzling 0:6b5a3a0138ad 188 _buttonA_prev = _buttonA;
mzling 0:6b5a3a0138ad 189 buttonB_prev = buttonB;
mzling 0:6b5a3a0138ad 190 while (xbeeUI.readable() && _dataCnt<250) {
mzling 0:6b5a3a0138ad 191 __xbeeBuffer[_dataCnt] = xbeeUI.getc();
mzling 0:6b5a3a0138ad 192 _dataCnt++;
mzling 0:6b5a3a0138ad 193 if (__xbeeBuffer[_dataCnt]==0x7e) {
mzling 0:6b5a3a0138ad 194 for(int i=0; i<22; i++) {
mzling 0:6b5a3a0138ad 195 if(xbeeUI.readable() {
mzling 0:6b5a3a0138ad 196 __xbeeBuffer[_dataCnt] = xbeeUI.getc();
mzling 0:6b5a3a0138ad 197 _dataCnt++;
mzling 0:6b5a3a0138ad 198 }
mzling 0:6b5a3a0138ad 199 }
mzling 0:6b5a3a0138ad 200 }
mzling 0:6b5a3a0138ad 201 char * idx=strchr(__xbeeBuffer,0x7e);
mzling 0:6b5a3a0138ad 202 _buttonA = (_xbeeBuffer[idx-_xbeeBuffer+21]>>1) & 1; // on DIO1
mzling 0:6b5a3a0138ad 203 buttonB = (_xbeeBuffer[idx-_xbeeBuffer+21]>>2) & 1; // on DIO2
mzling 0:6b5a3a0138ad 204 pc.printf("%x\r\n", *(idx+2));
mzling 0:6b5a3a0138ad 205 _dataCnt=0;
mzling 0:6b5a3a0138ad 206 if (buttonA == 0 && buttonA_prev==1) {//buton was just pressed
mzling 0:6b5a3a0138ad 207 time_pressA.reset();
mzling 0:6b5a3a0138ad 208 time_pressA.start();
mzling 0:6b5a3a0138ad 209 _time_sinceA=0;
mzling 0:6b5a3a0138ad 210 }
mzling 0:6b5a3a0138ad 211
mzling 0:6b5a3a0138ad 212 else if(buttonA==0) {
mzling 0:6b5a3a0138ad 213 _time_sinceA=time_pressA; //button is still pressed
mzling 0:6b5a3a0138ad 214 }
mzling 0:6b5a3a0138ad 215
mzling 0:6b5a3a0138ad 216 if (buttonB == 0 && buttonB_prev==1) {//button was just pressed
mzling 0:6b5a3a0138ad 217 time_pressB.reset();
mzling 0:6b5a3a0138ad 218 time_pressB.start();
mzling 0:6b5a3a0138ad 219 _time_sinceB=0;
mzling 0:6b5a3a0138ad 220 } else if(buttonB==0) {
mzling 0:6b5a3a0138ad 221 _time_sinceB=time_pressB; //button is still pressed
mzling 0:6b5a3a0138ad 222 }
mzling 0:6b5a3a0138ad 223 }
mzling 0:6b5a3a0138ad 224 if((time_pressA-_time_sinceA)>=tRelease) { //button was released
mzling 0:6b5a3a0138ad 225 if(time_pressA-tRelease>=tHold) { //if the button was held before released
nathanhonka 6:e4bd0fd5befb 226 UI=BUTTON_A_HOLD; //UI command is a held A button
mzling 0:6b5a3a0138ad 227 } else {
nathanhonka 6:e4bd0fd5befb 228 UI=BUTTON_A_PRESS; //UI command is a pressed A button
mzling 0:6b5a3a0138ad 229 }
mzling 0:6b5a3a0138ad 230 buttonA=1; //button A is released
mzling 0:6b5a3a0138ad 231 time_pressA.stop(); //reset the button A timer
mzling 0:6b5a3a0138ad 232 time_pressA.reset();
mzling 0:6b5a3a0138ad 233 }
mzling 0:6b5a3a0138ad 234 if(time_pressB-_time_sinceB>=tRelease) { //button was released
mzling 0:6b5a3a0138ad 235 if(time_pressB-tRelease>=tHold) { //if the button was held before released
nathanhonka 6:e4bd0fd5befb 236 UI=BUTTON_B_HOLD; //UI command is a held B button
mzling 0:6b5a3a0138ad 237 } else {
nathanhonka 6:e4bd0fd5befb 238 UI=BUTTON_B_PRESS; //UI command is a pressed B button
mzling 0:6b5a3a0138ad 239 }
mzling 0:6b5a3a0138ad 240 buttonB=1; //button B is released
mzling 0:6b5a3a0138ad 241 time_pressB.stop(); //reset the button B timer
mzling 0:6b5a3a0138ad 242 time_pressB.reset();
mzling 0:6b5a3a0138ad 243 }
mzling 0:6b5a3a0138ad 244
mzling 0:6b5a3a0138ad 245 _dataCnt=0;
mzling 0:6b5a3a0138ad 246 memset(__xbeeBuffer,0xF,250);
mzling 0:6b5a3a0138ad 247 }*/
mzling 0:6b5a3a0138ad 248
mzling 0:6b5a3a0138ad 249 void UserInterface::initializeUI()
mzling 0:6b5a3a0138ad 250 {
mzling 0:6b5a3a0138ad 251 xbeeUI.baud(115200);
mzling 0:6b5a3a0138ad 252 mainPower = 0;
mzling 0:6b5a3a0138ad 253
mzling 0:6b5a3a0138ad 254 }