bool RCSerializer::stop()
{
std::string read;
read = serial->writeRead("stop\r");
return checkAck(read);
}
bool RCSerializer::mogo(int m1, int m2)
{
std::string read;
std::ostringstream os;
// send stop message instead of mogo 1:0 2:0
if(m1 == 0 && m2 == 0) {
return stop();
}
os << "mogo 1:" << m1 << " 2:" << m2 << "\r";
read = serial->writeRead(os.str());
if(!checkAck(read)) {
return false;
}
return true;
}
void Jack::execute(String message) { //funzione che gestisce il protocollo
if (validate(message)) {
JData * messageJData = getJDataMessage(message);
if (messageJData->getString(MESSAGE_TYPE).equals(MESSAGE_TYPE_DATA)) {
//Serial.println("check MEX GIA RICEVUTO mex ricevuto");
if (!checkMessageAlreadyReceived(messageJData)) {
//Serial.println("MEX RICEVUTO trigger");
(* onReceive) (messageJData->getJData(MESSAGE_DATA));
}
} else {
//Serial.println("CHECK mex ricevuto");
checkAck(messageJData);
}
//Serial.println("elimino JData mex ricevuto");
delete messageJData;
}
/*conferma test memoria*/
//Serial.print("memoria dopo conferma: ");
//Serial.println(freeMemory());
/*fine conferma test memoria*/
}
alt_u32 RS232_ISR(void* up_dev) {
if(queue_lock == 1) return alt_ticks_per_second()/1000;
alt_up_rs232_dev *serial_dev = ((struct alt_up_dev*)up_dev)->RS232_dev;
unsigned char* cert;
int i = 0;
int len = 0;
switch(*(com.stateMachine)) {
case startInit:
cert = sendStartInit();
sendRS232(serial_dev, cert, 3);
free(cert);
cert = NULL;
com.failReceive = 0;
return alt_ticks_per_second()/20;
case waitStart:
i = 0;
if((len = alt_up_rs232_get_used_space_in_read_FIFO(serial_dev)) >= 3) {
do {
while (alt_up_rs232_get_used_space_in_read_FIFO(serial_dev) == 0);
alt_up_rs232_read_data(serial_dev, &com.data[i], &com.parity);
i++;
} while(i < 3);
if(checkStartAck(com.data[0]) == 1) {
setStates(sendStates);
} else
setStates(startInit);
} else {
com.failReceive++;
if(com.failReceive > 10)
setStates(startInit);
}
return alt_ticks_per_second()/20;
case checkClient:
i = 0;
if((len = alt_up_rs232_get_used_space_in_read_FIFO(serial_dev)) >= 3) {
do {
while (alt_up_rs232_get_used_space_in_read_FIFO(serial_dev) == 0);
alt_up_rs232_read_data(serial_dev, &com.data[i], &com.parity);
i++;
} while(i < 3);
if(checkAck(com.data) == 1) {
if(getBit(com.data[0], 1) == 1) {
setStates(sendAck0);
com.num_packets = ((int)(com.data[1] << 8))+(int)com.data[2];
printf("num of packets will be receiving: %d\n", com.num_packets);
} else
setStates(sendStates);
} else
setStates(sendStates);
} else {
com.failReceive++;
if(com.failReceive > 100) {
reset(serial_dev);
}
}
return alt_ticks_per_second()/20;
case sendStates:
cert = sendStats();
sendRS232(serial_dev, cert, 3);
free(cert);
cert = NULL;
com.failReceive = 0;
return alt_ticks_per_second()/20;
case sendAck0:
cert = sendAck();
sendRS232(serial_dev, cert, 3);
if(cert[1] != 0)
printf("sth is wrong");
free(cert);
cert = NULL;
com.failReceive = 0;
return alt_ticks_per_second()/20;
case receiveData0:
if((len = alt_up_rs232_get_used_space_in_read_FIFO(serial_dev)) > 2) {
//read first 2 bytes for header information
alt_up_rs232_read_data(serial_dev, &com.data[0], &com.parity);
alt_up_rs232_read_data(serial_dev, &com.data[1], &com.parity);
struct Packet* p = readPacketHeader(com.data[0], com.data[1]);
i = 0;
do {
while (alt_up_rs232_get_used_space_in_read_FIFO(serial_dev) == 0);
alt_up_rs232_read_data(serial_dev, &(p->data[i+HEADERSIZE]), &com.parity);
// printf("%c", p->data[i+HEADERSIZE]);
i++;
} while(p->data_size > i );
//printf("\n");
enqueue(com.receivePackets, (void*)p);
com.index_packets++;
setStates(sendAck0);
} else {
com.failReceive++;
if(com.failReceive > 100) {
reset(serial_dev);
}
}
return alt_ticks_per_second()/20;
case waitClient:
i = 0;
if((len = alt_up_rs232_get_used_space_in_read_FIFO(serial_dev)) >= 3) {
do {
while (alt_up_rs232_get_used_space_in_read_FIFO(serial_dev) == 0);
alt_up_rs232_read_data(serial_dev, &com.data[i], &com.parity);
i++;
} while(i < 3);
if(checkAck(com.data) == 1) {
setStates(sendData0);
} else {
com.failReceive++;
if(com.failReceive > 100)
setStates(sendStates);
}
} else {
com.failReceive++;
if(com.failReceive > 100) {
reset(serial_dev);
}
}
return alt_ticks_per_second()/20;
case sendData0:
if(com.packetBuf == NULL) {
if((com.packetBuf = (struct Packet*)dequeue(com.sendPackets))==NULL) {
printf("Packet sending fail, queue is empty");
setStates(sendStates);
return alt_ticks_per_second()/50;
}
} setAck(com.packetBuf, com.host_ack);
for(i = 0; i< com.packetBuf->data_size+HEADERSIZE; i++) {
alt_up_rs232_write_data(serial_dev, com.packetBuf->data[i]);
}
setStates(waitAck0);
com.failReceive = 0;
return alt_ticks_per_second()/20;
case waitAck0:
i = 0;
if((len = alt_up_rs232_get_used_space_in_read_FIFO(serial_dev)) >= 3) {
do {
while (alt_up_rs232_get_used_space_in_read_FIFO(serial_dev) == 0);
alt_up_rs232_read_data(serial_dev, &com.data[i], &com.parity);
i++;
} while(i < 3);
if(checkAck(com.data) == 1) {
com.index_send_packets++;
killPacket(&(com.packetBuf));
if(com.index_send_packets < com.num_send_packets)
setStates(sendData0);
else {
com.index_send_packets = com.num_send_packets = 0;
setStates(sendStates);
com.isRdySend = 0;
}
} else {
setStates(sendData0);
}
} else {
com.failReceive++;
if(com.failReceive > 100) {
reset(serial_dev);
}
}
return alt_ticks_per_second()/20;
default:
break;
}
return alt_ticks_per_second()/20;
}
