int main() {
cout << "Running..." << endl;
/// This part is for Ctrl^C interrupt
struct sigaction sigStruct;
sigStruct.sa_handler = sig_handler;
sigStruct.sa_flags = 0;
sigemptyset(&sigStruct.sa_mask);
if (sigaction(SIGINT, &sigStruct, NULL) == -1) {
cout << "Problem with sigaction" << endl;
exit(1);
}
bool inputstate;
Pin* outputPin = new Pin(4, Pin::Mode::OUT); // To connect LED
Pin* inputPin = new Pin(7, Pin::Mode::IN); // Connect button with pulldown
bool prevState = inputPin->get();
while(true) {
usleep(100000);
inputstate = inputPin->get();
if (!prevState && inputstate) {
outputPin->set(!outputPin->get());
}
prevState = inputstate;
if (ctrlCPressed) {
delete inputPin;
inputPin = 0;
delete outputPin;
outputPin = 0;
break;
}
}
cout << "\nExiting..." << endl;
return 0;
}
void Blinker::on_console_line_received(void *line){
SerialMessage new_message = *static_cast<SerialMessage *>(line);
// Ignore comments and blank lines and if this is a G code then also ignore it
char first_char = new_message.message[0];
if(strchr(";( \n\rGMTN", first_char) != NULL) return;
// Extract the first parameter
string possible_command = new_message.message;
string cmd = shift_parameter(possible_command);
// If this is a blink command
if( cmd == "blink" ){
// Extract the pin name parameter
string pin_name = shift_parameter(possible_command);
Pin* pin = (new Pin())->from_string(pin_name)->as_output();
// Add the pin to the vector
this->pins.push_back(pin);
string possible_period = shift_parameter(possible_command);
if( possible_period.size() > 0 ){
this->period = atoi( possible_period.c_str() );
}
// Set the ticker
this->ticker->attach_us(this, &Blinker::tick, this->period);
}
// Command to set a pin
if( cmd == "set" ){
// Extract the pin name parameter
string pin_name = shift_parameter(possible_command);
string possible_direction = shift_parameter(possible_command);
Pin* pin = (new Pin())->from_string(pin_name);
if(possible_direction[0] == 'i') {
pin->as_input();
}else{
pin->as_output();
}
if (!this->pins.empty())
{
for (unsigned int i=0;i<this->pins.size();i++)
{
if(pin->equals(*this->pins[i]))
{
// erase the pin, replace and pop is faster since we don't care about order
this->pins[i] = this->pins.back();
this->pins.pop_back();
}
}
}
pin->set(true);
delete pin;
}
// Command to set a pin
if( cmd == "get" ){
// Extract the pin name parameter
string pin_name = shift_parameter(possible_command);
Pin* pin = (new Pin())->from_string(pin_name)->as_output();
new_message.stream->printf("Value: %d\n\r", pin->get());
delete pin;
}
// Command to read and write spi
if( cmd == "spi" ){
// Extract the pin name parameter
string port = shift_parameter(possible_command);
string data = shift_parameter(possible_command);
string possible_frequency = shift_parameter(possible_command);
SPI* spi = NULL;
Pin* cs = new Pin();
int r = 0;
if(port == "0") {
spi = new SPI(P3_7, P3_6, P3_3);
cs->from_string("3.8");
}else if(port == "1") {
spi = new SPI(P1_4, P1_3, PF_4);
cs->from_string("1.5");
}
if(spi != NULL){
int freq = 100000;
if(possible_frequency.size()>0){
freq = stoi(possible_frequency);
}
cs->set(1);
spi->format(8,3);
spi->frequency(freq);
cs->set(0);
r = spi->write(stoi(data));
cs->set(1);
new_message.stream->printf("Value: 0x%x (%d)\n\r", r, r);
}else{
new_message.stream->printf("Port %s not found", port.c_str());
}
delete spi;
}
new_message.stream->printf("OK\n\r");
}
