コード例 #1
0
int main(void) {
    char c;

    INTCON1bits.NSTDIS = 1;
    openQEI();
    OpenUART();
//    openPWM();
//    InitTMR2();

    Clock_Init();
//    enablePWM;
//    ch1Run;
//    ch2Run;

    initInterpreter();
    initOdometrie();
    initAsservissement();
    initPIDs();

    while(1)
    {
        c = (char)ReadUART1();

        if(buildCommande())
        {
            interpreteCommande();
            clearCommande();
        }
    }

    return 0;
}
コード例 #2
0
ファイル: Interpreter.c プロジェクト: FlyingYeti/ASumoSERV
void interpreteData(char rcv)
{
    float param;

    if(indexCommande >= 100)
    {
        indexCommande = 0;
        
        puts("\n\nBuffer Overflow!\n\n");
    }

    if(rcv != '\n')
        commande[indexCommande++] = rcv;
    else
    {
        commande[indexCommande] = '\0';

        putsUART(&(commande[1]));
        param = atof(&(commande[1]));
        interpreteCommande(commande[0], param);
        indexCommande = 0;
    }
}
コード例 #3
0
bool interpreteCommande(string commande, Dessin **dessin, UndoRedo *pile, map<string,Figure*> *exclu, map<string,Dessin*> *dessinExclu, bool callByUndoRedo) 
{	string nomCommande = getCommande(commande);
	int nParam = getNbParametre(commande);
	if(nomCommande == "HIT" && nParam == 4)
	{	try 
		{	int x = atoi(getParametre(commande,2).c_str());
			int y = atoi(getParametre(commande,3).c_str());
			Vect p(x,y);
			if((*dessin)->IsInFigure(getParametre(commande,1),p))
			{	cout << "YES" << endl;
			}
			else
			{	cout << "NO" << endl;
			}
		}
		catch(std::invalid_argument& e)
		{	cout << "NO" << endl;
			return false;
		}	
	}
	else if(nomCommande == "LIST")
	{	cout << **dessin << endl;
	}
	else if(nomCommande == "DELETE" && nParam >= 1)
	{	string name;
		for(int i=1;i<nParam;i++)
		{	name = getParametre(commande,i);
			Figure *f = (*dessin)->GetFigure(name);
			if(f != NULL)
			{	string t = getCommande(f->Print());
				if(t == "OI" || t == "OR")
				{	if(!callByUndoRedo)
					{	Figure *f1 = f->Copy();
						exclu->insert(pair<string,Figure*>(f1->GetName(),f1));
						Command c(commande,"RECUP " + f->GetName());
						pile->AddUndo(c);
					}
				}
				else
				{	Command c(commande,f->Print());
					if(!callByUndoRedo)
					{	pile->AddUndo(c);
					}
				}
			}
			if((*dessin)->Remove(name))
			{	cout << "OK" << endl;
			}
			else
			{	cout << "ERR" << endl;
			}
		}
	}
	else if(nomCommande == "MOVE" && nParam == 4)
	{	try 
		{	int x = atoi(getParametre(commande,2).c_str());
			int y = atoi(getParametre(commande,3).c_str());
			Vect p(x,y);
			Figure *f = (*dessin)->GetFigure(getParametre(commande,1));
			if(f != NULL)
			{
				Vect p2(-x,-y);
				Command c(commande,"MOVE " + f->GetName() + " " + p2.Print());
				if(!callByUndoRedo)
				{	pile->AddUndo(c);
				}
			}
			if((*dessin)->MoveFigure(getParametre(commande,1),p))
			{	cout << "OK" << endl;
			}
			else
			{	cout << "ERR" << endl;
			}
		}
		catch(std::invalid_argument& e)
		{	cout << "ERR" << endl;
			return false;
		}
	}
	else if(nomCommande == "REDO" && nParam == 1)
	{	string cmd = pile->Redo();
		if(getCommande(cmd) == "RECUPD")
		{	string nom = getParametre(cmd,1);
			Dessin *d = dessinExclu->at(nom);
			if(d == NULL)
			{	cout << "ERR" << endl;
				return true;
			}
			else
			{	dessinExclu->erase(nom);
				delete *dessin;
				*dessin = d;
				cout << "OK" << endl;
				return false;
			}
		}
		else if(getCommande(cmd) == "RECUP")
		{	string nom = getParametre(cmd,1);
			Figure *f = exclu->at(nom);
			if(f == NULL)
			{	cout << "ERR" << endl;
			}
			else
			{	exclu->at(nom) = NULL;
				exclu->erase(nom);
				string type = getCommande(f->Print());
				if((*dessin)->Add(f))
					cout << "OK" << endl;		
				else
					cout << "ERR" << endl;		
			}
		}
		else
		{	return interpreteCommande(cmd, dessin, pile, exclu, dessinExclu, true);
		}
	}
	else if(nomCommande == "UNDO" && nParam == 1)
	{	string cmd = pile->Undo();
		//cout << cmd << endl;
		if(getCommande(cmd) == "RECUPD")
		{	string nom = getParametre(cmd,1);
			Dessin *d = dessinExclu->at(nom);
			if(d == NULL)
			{	cout << "ERR" << endl;
				return true;
			}
			else
			{	dessinExclu->erase(nom);
				delete *dessin;
				*dessin = d;
				cout << "OK" << endl;
				return false;
			}
		}
		else if(getCommande(cmd) == "RECUP")
		{	string nom = getParametre(cmd,1);
			Figure *f = exclu->at(nom);
			if(f == NULL)
			{	cout << "ERR" << endl;
			}
			else
			{	exclu->at(nom) = NULL;
				exclu->erase(nom);
				string type = getCommande(f->Print());
				if((*dessin)->Add(f))
					cout << "OK" << endl;		
				else
					cout << "ERR" << endl;		
			}
		}
		else
		{	return interpreteCommande(cmd, dessin, pile, exclu, dessinExclu, true);
		}
	}
	else if(nomCommande == "SAVE" && nParam == 2)
	{	if((*dessin)->Save(getParametre(commande,1)))
		{	cout << "OK" << endl;
		}
		else
		{	cout << "ERR" << endl;
		}
	}
	else if(nomCommande == "LOAD" && nParam == 2)
	{	if(!callByUndoRedo)
		{	Command c(commande, "RECUPD " + (*dessin)->GetName());
			dessinExclu->insert(pair<string,Dessin*>((*dessin)->GetName(),(*dessin)->Copy()));
			pile->AddUndo(c);
		}
		if((*dessin)->Load(getParametre(commande,1)))
		{	cout << "OK" << endl;
		}
		else
		{	cout << "ERR" << endl;
		}
	}
	else if(nomCommande == "CLEAR")
	{	if(!callByUndoRedo)
		{	Command c(commande, "RECUPD " + (*dessin)->GetName());
			dessinExclu->insert(pair<string,Dessin*>((*dessin)->GetName(),(*dessin)->Copy()));
			pile->AddUndo(c);
			(*dessin)->RemoveAll();
		}
		cout << "OK" << endl;
	}
	else if(nomCommande == "EXIT")
	{	return true;
	}
	else
	{	if((*dessin)->AddByCmd(commande))
		{	Command c(commande, "DELETE " + getParametre(commande,1));
			if(!callByUndoRedo)
			{	pile->AddUndo(c);
			}
			cout << "OK" << endl;
		}
		else
		{	cout << "ERR" << endl;
		}
	}
	return false;
}