/*
* システムログタスクの本体（受け口関数）
*/
void
eLogTaskBody_main(void)
{
SYSLOG syslog;
uint_t lost;
ER_UINT rercd;
cSerialPort_open();
syslog_0(LOG_NOTICE, "System logging task is started.");
for (;;) {
lost = 0U;
while ((rercd = cSysLog_read(&syslog)) >= 0) {
lost += (uint_t) rercd;
if (lost > 0U) {
syslog_lostmsg(lost, logtask_putc);
lost = 0U;
}
syslog_print(&syslog, logtask_putc);
logtask_putc('\n');
}
if (lost > 0U) {
syslog_lostmsg(lost, logtask_putc);
}
dly_tsk(ATTR_interval);
}
}
/* #[<ENTRY_FUNC>]# eBody_main
* name: eBody_main
* global_name: tGetCommandTaskBody_eBody_main
* oneway: false
* #[</ENTRY_FUNC>]# */
void
eBody_main()
{
char buffer[2];
char command = 0;
SYSTIM current;
static int16_t speed = 0;
static int16_t turn = 0;
/* シリアルポートをオープン */
cSerialPort_open();
while(1){
command = '\0';
/* シリアルポートから1文字受信 */
syslog(LOG_INFO, "wait serial send time(%d)", current);
cSerialPort_read(buffer, 1);
syslog(LOG_INFO, "get serial data. buffer(%c) time(%d)", buffer[0], current);
/* シリアル受信データの解析 */
if(buffer[0] == '-'){
VAR_sign = -1 * VAR_sign;
}else if(buffer[0] >= '0' && buffer[0] <= '9'){
VAR_parameter = VAR_parameter * 10 + (buffer[0] - '0');
}else if(buffer[0] >= 'A'){
if(buffer[0] <= 'Z'){
buffer[0] += 0x20;
}
if(buffer[0] >= 'a' && buffer[0] <= 'z'){
command = buffer[0];
getTime(¤t);
}
}
/* 各タスクへのコマンドの送信 */
switch(command){
case 'g':
/* スタート */
if(cSemaphore_signal() == E_OK){
if((VAR_parameter*VAR_sign & 1) != 0){
cLinetracerControl_setEdge(-1);
} else {
cLinetracerControl_setEdge(1);
}
cBalancerControl_calibrate();
//syslog(LOG_NOTICE, "start running. edge(%d) time(%d)", VAR_parameter*VAR_sign, current);
}
break;
case 's':
/* ストップ */
cBalancerControl_setSpeed(0);
//syslog(LOG_NOTICE, "stop running. time(%d)", current);
break;
case 'b':
/* 光センサの閾値セット */
cLinetracerControl_setLightThreshold(0, VAR_parameter*VAR_sign);
//syslog(LOG_NOTICE, "set black light. light(%d) time(%d)", VAR_parameter*VAR_sign, current);
break;
case 'w':
/* 光センサの閾値セット */
cLinetracerControl_setLightThreshold(1, VAR_parameter*VAR_sign);
//syslog(LOG_NOTICE, "set white light. light(%d) time(%d)", VAR_parameter*VAR_sign, current);
break;
case 'l':
/* 光センサの閾値セット */
cLinetracerControl_setLightThreshold(2, VAR_parameter*VAR_sign);
//syslog(LOG_NOTICE, "set light threshold. light(%d) time(%d)", VAR_parameter*VAR_sign, current);
break;
case 'i':
/* ログマスクをセット */
if(VAR_parameter*VAR_sign >= 3 && VAR_parameter*VAR_sign <= 7){
cSysLog_mask(LOG_UPTO(VAR_parameter*VAR_sign), LOG_UPTO(LOG_EMERG));
//syslog(LOG_NOTICE, "set log mask. log_mask(%d) time(%d)", VAR_parameter*VAR_sign, current);
}
break;
case 'f':
/* スピードセット */
if(VAR_parameter != 0){
cBalancerControl_setSpeed((int16_t)VAR_parameter * (int16_t)VAR_sign);
//syslog(LOG_NOTICE, "set speed. speed(%d) time(%d)", VAR_parameter*VAR_sign, current);
}
break;
case 't':
/* 尻尾角セット */
if(VAR_parameter >= 0){
cTailController_setAngle(VAR_parameter);
//syslog(LOG_NOTICE, "set tail angle. angle(%d) time(%d)", VAR_parameter*VAR_sign, current);
}
break;
// --- fujiya added (2013/09/01) from here----
case 'z':
/* turn set */
if(VAR_parameter != 0){
cBalancerControl_setTurn((int16_t) VAR_parameter * (int16_t) VAR_sign);
//syslog(LOG_NOTICE, "set turn. turn(%d) time(%d)", VAR_parameter*VAR_sign, current);
}
break;
case 'e':
/* linetracer_kill */
cLinetracerTask_stop();
//syslog(LOG_NOTICE, "linetracerTask_stoped time(%d)", current);
break;
case 'd':
/* go straight (VAR_parameter[ms])*/
speed = 50;
turn = 0;
//syslog(LOG_NOTICE, "go straight turn(%d) speed(%d) time(%d)", turn, speed, current);
cBalancerControl_setTurn(turn);
cBalancerControl_setSpeed(speed);
break;
case 'c':
/* go back (VAR_parameter[ms])*/
speed = -50;
turn = 0;
//syslog(LOG_NOTICE, "go back turn(%d) speed(%d) time(%d)", turn, speed, current);
cBalancerControl_setTurn(turn);
cBalancerControl_setSpeed(speed);
break;
case 'x':
/* turn right (VAR_parameter[ms]) */
speed = 50;
turn = -50;
//syslog(LOG_NOTICE, "turn right turn(%d) speed(%d) time(%d)", turn, speed, current);
cBalancerControl_setTurn(turn);
cBalancerControl_setSpeed(speed);
break;
case 'v':
/* turn left (VAR_parameter[ms]) */
speed = 50;
turn = 50;
//syslog(LOG_NOTICE, "turn left turn(%d) speed(%d) time(%d)", turn, speed, current);
cBalancerControl_setTurn(turn);
cBalancerControl_setSpeed(speed);
break;
case 'q': //かっとべマグナム
speed = 100;
turn = 0;
//syslog(LOG_NOTICE, "go magunamu turn(%d) speed(%d) time(%d)", turn, speed, current);
cBalancerControl_setTurn(turn);
cBalancerControl_setSpeed(speed);
break;
// --- fujiya added (2013/09/01) to here ----
default:
/* 特定のcommandが指定されなかった場合は何もしない */
break;
}
/* 受信バッファのクリア */
if(command){
VAR_parameter = 0;
VAR_sign = 1;
//syslog(LOG_NOTICE, "command(%d) time(%d): parameter reset.", VAR_parameter*VAR_sign, current);
}
}
}
