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;
}
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;
}
}
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;
}