/**
* Read call
*/
ssize_t kb_read(IODevice* self, void* buffer, size_t nbytes)
{
size_t i;
char* cbuffer = (char*)buffer;
for (i = 0; i < nbytes; ++i) {
cbuffer[i] = kb_getc();
}
return i;
}
//-------------------------------Keyboard_input------------------------------------------
void* keyboard_input(void* notuse)
{
char kbInput = 0; //Stores keyboard input
char out_msg[100];
int instr;
printMenu();
while(killFlg == 0)
{
instr = 100;
strcpy(out_msg,"o");
kbInput = kb_getc();
if (memData.autoModeOn == OFF || kbInput == ' ' || kbInput == 'a' ||
kbInput == 'c' || kbInput == 'C' || kbInput == 'L' || kbInput == 'l')
switch (kbInput)
{
case 'q':
case 'Q':
strcpy(out_msg, "Program Exiting... \n");
instr = GUIQUIT;
killFlg = 1;
break;
case 'm':
case 'M':
strcpy(out_msg, "Printing Menu... \n");
printMenu();
break;
case ' ':
//timer_delete(timerid);
strcpy(out_msg, "ESTOP pressed. \n");
instr = ESTOP;
break;
case 'B':
strcpy(out_msg,"BaseCW pressed. \n");
instr = BASECW;
break;
case 'b':
strcpy(out_msg,"BaseCCW pressed. \n");
instr = BASECCW;
break;
case 'S':
strcpy(out_msg,"ShoulderUp pressed. \n");
instr = SHOULDERUP;
break;
case 's':
strcpy(out_msg,"ShoulderDown pressed. \n");
instr = SHOULDERDW;
break;
case 'E':
strcpy(out_msg,"ElbowUp pressed. \n");
instr = ELBOWUP;
break;
case 'e':
strcpy(out_msg,"ElbowDown pressed. \n");
instr = ELBOWDW;
break;
case 'P':
strcpy(out_msg,"PitchUp pressed. \n");
instr = PITCHUP;
break;
case 'p':
strcpy(out_msg,"PitchDown pressed. \n");
instr = PITCHDW;
break;
case 'R':
strcpy(out_msg,"RollCW pressed. \n");
instr = ROLLCW;
break;
case 'r':
strcpy(out_msg,"RollCCW pressed. \n");
instr = ROLLCCW;
break;
case 'G':
strcpy(out_msg,"GripperOpen pressed. \n");
instr = GRIPPEROP;
break;
case 'g':
strcpy(out_msg,"GripperClose pressed. \n");
instr = GRIPPERCLOSE;
break;
case 'C':
strcpy(out_msg,"ConveyorOn pressed. \n");
instr = CONVEYORON;
break;
case 'c':
strcpy(out_msg,"ConveyorOFF pressed. \n");
instr = CONVEYOROFF;
break;
case 'L':
strcpy(out_msg,"UnloadLeft pressed. \n");
instr = UNLOADLEFT;
break;
case 'l':
strcpy(out_msg,"UnloadRight pressed. \n");
instr = UNLOADRIGHT;
break;
case 'H':
case 'h':
strcpy(out_msg,"Home pressed. \n");
instr = HOMEROBOT;
break;
case 'A':
strcpy(out_msg,"AutomodeOn pressed. \n");
instr = MANUALOFF;
break;
case 'a':
strcpy(out_msg,"AutomodeOff pressed. \n");
instr = MANUALON;
break;
case 'D':
case 'd':
strcpy(out_msg,"Display pressed. \n");
readMsg(0,1);
break;
default:
break;
}
if (out_msg[0] != 'o')
{
printf(out_msg);
flushall();
}
if (instr != 100)
{
last_input = instr;
writeMsg(instr);
}
//start the timer
if ((kbInput == 'B')||(kbInput == 'b')||(kbInput == 'S')||(kbInput == 's')||
(kbInput == 'E')||(kbInput == 'e')||(kbInput == 'P')||(kbInput == 'p')||
(kbInput == 'R')||(kbInput == 'r')||(kbInput == 'G')||(kbInput == 'g')||
(kbInput == 'L')||(kbInput == 'l'))
{
timer_settime(timerid, 0, &timer,NULL);
}
delay(100);
}
return EXIT_SUCCESS;
}
