mirror of
https://github.com/arduino/Arduino.git
synced 2025-01-30 19:52:13 +01:00
PdePreprocessor restored to version 316b871
Added an "insideString" flag in scrubComments to avoid failing with strings like "Hello */*" Added a handful of tests taking code from various issues in order to better avoid future regressions Closes #1687
This commit is contained in:
Federico Fissore
parent
71bb7f7ae3
commit
139dd6bf6a
@ -242,25 +242,24 @@ public class PdePreprocessor {
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*/
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*/
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public String strip(String in) {
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public String strip(String in) {
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// XXX: doesn't properly handle special single-quoted characters
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// XXX: doesn't properly handle special single-quoted characters
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List<Pattern> patterns = new ArrayList<Pattern>();
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// single-quoted character
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// single-quoted character
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patterns.add(Pattern.compile("('.')", Pattern.MULTILINE));
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String p = "('.')";
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// single and multi-line comment
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patterns.add(Pattern.compile("('\\\\\"')", Pattern.MULTILINE));
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p += "|('\\\\\"')";
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patterns.add(Pattern.compile("(//.*?$)", Pattern.MULTILINE));
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patterns.add(Pattern.compile("(/\\*[^*]*(?:\\*(?!/)[^*]*)*\\*/)", Pattern.MULTILINE));
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// pre-processor directive
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patterns.add(Pattern.compile("(^\\s*#.*?$)", Pattern.MULTILINE));
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// double-quoted string
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// double-quoted string
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patterns.add(Pattern.compile("(\"(?:[^\"\\\\]|\\\\.)*\")", Pattern.MULTILINE));
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p += "|(\"(?:[^\"\\\\]|\\\\.)*\")";
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String code = in;
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// single and multi-line comment
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for (Pattern p : patterns) {
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//p += "|" + "(//\\s*?$)|(/\\*\\s*?\\*/)";
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Matcher matcher = p.matcher(code);
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p += "|(//.*?$)|(/\\*[^*]*(?:\\*(?!/)[^*]*)*\\*/)";
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code = matcher.replaceAll(" ");
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}
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return code;
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// pre-processor directive
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p += "|" + "(^\\s*#.*?$)";
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Pattern pattern = Pattern.compile(p, Pattern.MULTILINE);
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Matcher matcher = pattern.matcher(in);
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return matcher.replaceAll(" ");
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}
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}
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/**
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/**
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@ -333,17 +332,54 @@ public class PdePreprocessor {
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* Replace all commented portions of a given String as spaces.
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* Replace all commented portions of a given String as spaces.
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* Utility function used here and in the preprocessor.
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* Utility function used here and in the preprocessor.
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*/
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*/
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static public String scrubComments(String what) {
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public String scrubComments(String what) {
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List<Pattern> patterns = new ArrayList<Pattern>();
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char p[] = what.toCharArray();
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patterns.add(Pattern.compile("('\\\\\"')", Pattern.MULTILINE));
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patterns.add(Pattern.compile("(//.*?$)", Pattern.MULTILINE));
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patterns.add(Pattern.compile("(/\\*[^*]*(?:\\*(?!/)[^*]*)*\\*/)", Pattern.MULTILINE));
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String result = what;
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int index = 0;
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for (Pattern p : patterns) {
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boolean insideString = false;
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result = p.matcher(result).replaceAll("");
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while (index < p.length) {
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if (p[index] == '\"') {
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insideString = !insideString;
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}
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// for any double slash comments, ignore until the end of the line
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if (!insideString && (p[index] == '/') &&
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(index < p.length - 1) &&
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(p[index+1] == '/')) {
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p[index++] = ' ';
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p[index++] = ' ';
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while ((index < p.length) &&
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(p[index] != '\n')) {
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p[index++] = ' ';
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}
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}
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return result;
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// check to see if this is the start of a new multiline comment.
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// if it is, then make sure it's actually terminated somewhere.
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} else if (!insideString && (p[index] == '/') &&
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(index < p.length - 1) &&
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(p[index+1] == '*')) {
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p[index++] = ' ';
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p[index++] = ' ';
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boolean endOfRainbow = false;
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while (index < p.length - 1) {
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if ((p[index] == '*') && (p[index+1] == '/')) {
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p[index++] = ' ';
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p[index++] = ' ';
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endOfRainbow = true;
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break;
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} else {
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// continue blanking this area
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p[index++] = ' ';
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}
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}
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if (!endOfRainbow) {
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throw new RuntimeException(_("Missing the */ from the end of a " +
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"/* comment */"));
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}
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} else { // any old character, move along
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index++;
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}
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}
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return new String(p);
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}
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}
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}
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}
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303
app/test/processing/app/preproc/Baladuino.ino
Normal file
303
app/test/processing/app/preproc/Baladuino.ino
Normal file
@ -0,0 +1,303 @@
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/*
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* The code is released under the GNU General Public License.
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* Developed by Kristian Lauszus, TKJ Electronics 2013
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* This is the algorithm for the Balanduino balancing robot.
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* It can be controlled by either an Android app or a Processing application via Bluetooth.
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* The Android app can be found at the following link: https://github.com/TKJElectronics/BalanduinoAndroidApp
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* The Processing application can be found here: https://github.com/TKJElectronics/BalanduinoProcessingApp
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* It can also be controlled by a PS3, Wii or a Xbox controller
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* For details, see: http://balanduino.net/
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*/
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/* Use this to enable and disable the different options */
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#define ENABLE_TOOLS
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#define ENABLE_SPP
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#define ENABLE_PS3
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#define ENABLE_WII
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#define ENABLE_XBOX
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#define ENABLE_ADK
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#include "Balanduino.h"
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#include <Wire.h> // Official Arduino Wire library
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#include <usbhub.h> // Some dongles can have a hub inside
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#ifdef ENABLE_ADK
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#include <adk.h>
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#endif
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// These are all open source libraries written by Kristian Lauszus, TKJ Electronics
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// The USB libraries are located at the following link: https://github.com/felis/USB_Host_Shield_2.0
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#include <Kalman.h> // Kalman filter library - see: http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it/
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#ifdef ENABLE_XBOX
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#include <XBOXRECV.h>
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#endif
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#ifdef ENABLE_SPP
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#include <SPP.h>
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#endif
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#ifdef ENABLE_PS3
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#include <PS3BT.h>
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#endif
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#ifdef ENABLE_WII
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#include <Wii.h>
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#endif
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// Create the Kalman library instance
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Kalman kalman; // See https://github.com/TKJElectronics/KalmanFilter for source code
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#if defined(ENABLE_SPP) || defined(ENABLE_PS3) || defined(ENABLE_WII) || defined(ENABLE_XBOX) || defined(ENABLE_ADK)
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#define ENABLE_USB
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USB Usb; // This will take care of all USB communication
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#endif
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#ifdef ENABLE_ADK
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// Implementation for the Android Open Accessory Protocol. Simply connect your phone to get redirected to the Play Store
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ADK adk(&Usb, "TKJ Electronics", // Manufacturer Name
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"Balanduino", // Model Name
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"Android App for Balanduino", // Description - user visible string
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"0.5.0", // Version of the Android app
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"https://play.google.com/store/apps/details?id=com.tkjelectronics.balanduino", // URL - web page to visit if no installed apps support the accessory
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"1234"); // Serial Number - this is not used
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#endif
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#ifdef ENABLE_XBOX
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XBOXRECV Xbox(&Usb); // You have to connect a Xbox wireless receiver to the Arduino to control it with a wireless Xbox controller
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#endif
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#if defined(ENABLE_SPP) || defined(ENABLE_PS3) || defined(ENABLE_WII)
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USBHub Hub(&Usb); // Some dongles have a hub inside
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BTD Btd(&Usb); // This is the main Bluetooth library, it will take care of all the USB and HCI communication with the Bluetooth dongle
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#endif
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#ifdef ENABLE_SPP
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SPP SerialBT(&Btd, "Balanduino", "0000"); // The SPP (Serial Port Protocol) emulates a virtual Serial port, which is supported by most computers and mobile phones
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#endif
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#ifdef ENABLE_PS3
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PS3BT PS3(&Btd); // The PS3 library supports all three official controllers: the Dualshock 3, Navigation and Move controller
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#endif
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#ifdef ENABLE_WII
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WII Wii(&Btd); // The Wii library can communicate with Wiimotes and the Nunchuck and Motion Plus extension and finally the Wii U Pro Controller
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//WII Wii(&Btd,PAIR); // You will have to pair with your Wiimote first by creating the instance like this and the press 1+2 on the Wiimote
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// or press sync if you are using a Wii U Pro Controller
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// Or you can simply send "CW;" to the robot to start the pairing sequence
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// This can also be done using the Android or Processing application
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#endif
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void setup() {
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/* Initialize UART */
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Serial.begin(115200);
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/* Read the PID values, target angle and other saved values in the EEPROM */
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if (!checkInitializationFlags())
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readEEPROMValues(); // Only read the EEPROM values if they have not been restored
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/* Setup encoders */
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pinMode(leftEncoder1, INPUT);
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pinMode(leftEncoder2, INPUT);
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pinMode(rightEncoder1, INPUT);
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pinMode(rightEncoder2, INPUT);
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attachInterrupt(0, leftEncoder, CHANGE);
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attachInterrupt(1, rightEncoder, CHANGE);
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/* Enable the motor drivers */
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pinMode(leftEnable, OUTPUT);
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pinMode(rightEnable, OUTPUT);
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digitalWrite(leftEnable, HIGH);
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digitalWrite(rightEnable, HIGH);
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/* Setup motor pins to output */
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sbi(pwmPortDirection, leftPWM);
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sbi(leftPortDirection, leftA);
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sbi(leftPortDirection, leftB);
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sbi(pwmPortDirection, rightPWM);
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sbi(rightPortDirection, rightA);
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sbi(rightPortDirection, rightB);
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/* Set PWM frequency to 20kHz - see the datasheet http://www.atmel.com/Images/doc8272.pdf page 128-135 */
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// Set up PWM, Phase and Frequency Correct on pin 18 (OC1A) & pin 17 (OC1B) with ICR1 as TOP using Timer1
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TCCR1B = _BV(WGM13) | _BV(CS10); // Set PWM Phase and Frequency Correct with ICR1 as TOP and no prescaling
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ICR1 = PWMVALUE; // ICR1 is the TOP value - this is set so the frequency is equal to 20kHz
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/* Enable PWM on pin 18 (OC1A) & pin 17 (OC1B) */
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// Clear OC1A/OC1B on compare match when up-counting
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// Set OC1A/OC1B on compare match when downcounting
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TCCR1A = _BV(COM1A1) | _BV(COM1B1);
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setPWM(leftPWM, 0); // Turn off PWM on both pins
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setPWM(rightPWM, 0);
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/* Setup buzzer pin */
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pinMode(buzzer, OUTPUT);
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#ifdef ENABLE_USB
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if (Usb.Init() == -1) { // Check if USB Host is working
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Serial.print(F("OSC did not start"));
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digitalWrite(buzzer, HIGH);
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while (1); // Halt
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}
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#endif
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/* Attach onInit function */
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// This is used to set the LEDs according to the voltage level and vibrate the controller to indicate the new connection
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#ifdef ENABLE_PS3
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PS3.attachOnInit(onInit);
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#endif
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#ifdef ENABLE_WII
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Wii.attachOnInit(onInit);
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#endif
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#ifdef ENABLE_XBOX
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Xbox.attachOnInit(onInit);
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#endif
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/* Setup IMU */
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Wire.begin();
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while (i2cRead(0x75, i2cBuffer, 1));
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if (i2cBuffer[0] != 0x68) { // Read "WHO_AM_I" register
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Serial.print(F("Error reading sensor"));
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digitalWrite(buzzer, HIGH);
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while (1); // Halt
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}
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i2cBuffer[0] = 19; // Set the sample rate to 400Hz - 8kHz/(19+1) = 400Hz
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i2cBuffer[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling
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i2cBuffer[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s
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i2cBuffer[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g
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while (i2cWrite(0x19, i2cBuffer, 4, false)); // Write to all four registers at once
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while (i2cWrite(0x6B, 0x09, true)); // PLL with X axis gyroscope reference, disable temperature sensor and disable sleep mode
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delay(100); // Wait for the sensor to get ready
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/* Set Kalman and gyro starting angle */
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while (i2cRead(0x3D, i2cBuffer, 4));
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accY = ((i2cBuffer[0] << 8) | i2cBuffer[1]);
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accZ = ((i2cBuffer[2] << 8) | i2cBuffer[3]);
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// atan2 outputs the value of -π to π (radians) - see http://en.wikipedia.org/wiki/Atan2
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// We then convert it to 0 to 2π and then from radians to degrees
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accAngle = (atan2((double)accY - cfg.accYzero, (double)accZ - cfg.accZzero) + PI) * RAD_TO_DEG;
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kalman.setAngle(accAngle); // Set starting angle
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pitch = accAngle;
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gyroAngle = accAngle;
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/* Find gyro zero value */
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calibrateGyro();
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pinMode(LED_BUILTIN, OUTPUT); // LED_BUILTIN is defined in pins_arduino.h in the hardware add-on
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/* Beep to indicate that it is now ready */
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digitalWrite(buzzer, HIGH);
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delay(100);
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digitalWrite(buzzer, LOW);
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/* Setup timing */
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kalmanTimer = micros();
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pidTimer = kalmanTimer;
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encoderTimer = kalmanTimer;
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imuTimer = millis();
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reportTimer = imuTimer;
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ledTimer = imuTimer;
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blinkTimer = imuTimer;
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}
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void loop() {
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#ifdef ENABLE_WII
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if (Wii.wiimoteConnected) // We have to read much more often from the Wiimote to decrease latency
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Usb.Task();
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#endif
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/* Calculate pitch */
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while (i2cRead(0x3D, i2cBuffer, 8));
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accY = ((i2cBuffer[0] << 8) | i2cBuffer[1]);
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accZ = ((i2cBuffer[2] << 8) | i2cBuffer[3]);
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gyroX = ((i2cBuffer[6] << 8) | i2cBuffer[7]);
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// atan2 outputs the value of -π to π (radians) - see http://en.wikipedia.org/wiki/Atan2
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// We then convert it to 0 to 2π and then from radians to degrees
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accAngle = (atan2((double)accY - cfg.accYzero, (double)accZ - cfg.accZzero) + PI) * RAD_TO_DEG;
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uint32_t timer = micros();
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// This fixes the 0-360 transition problem when the accelerometer angle jumps between 0 and 360 degrees
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if ((accAngle < 90 && pitch > 270) || (accAngle > 270 && pitch < 90)) {
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kalman.setAngle(accAngle);
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pitch = accAngle;
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gyroAngle = accAngle;
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} else {
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gyroRate = ((double)gyroX - gyroXzero) / 131.0; // Convert to deg/s
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double dt = (double)(timer - kalmanTimer) / 1000000.0;
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gyroAngle += gyroRate * dt; // Gyro angle is only used for debugging
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if (gyroAngle < 0 || gyroAngle > 360)
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gyroAngle = pitch; // Reset the gyro angle when it has drifted too much
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pitch = kalman.getAngle(accAngle, gyroRate, dt); // Calculate the angle using a Kalman filter
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}
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kalmanTimer = timer;
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//Serial.print(accAngle);Serial.print('\t');Serial.print(gyroAngle);Serial.print('\t');Serial.println(pitch);
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#ifdef ENABLE_WII
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||||||
|
if (Wii.wiimoteConnected) // We have to read much more often from the Wiimote to decrease latency
|
||||||
|
Usb.Task();
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Drive motors */
|
||||||
|
timer = micros();
|
||||||
|
// If the robot is laying down, it has to be put in a vertical position before it starts balancing
|
||||||
|
// If it's already balancing it has to be ±45 degrees before it stops trying to balance
|
||||||
|
if ((layingDown && (pitch < cfg.targetAngle - 10 || pitch > cfg.targetAngle + 10)) || (!layingDown && (pitch < cfg.targetAngle - 45 || pitch > cfg.targetAngle + 45))) {
|
||||||
|
layingDown = true; // The robot is in a unsolvable position, so turn off both motors and wait until it's vertical again
|
||||||
|
stopAndReset();
|
||||||
|
} else {
|
||||||
|
layingDown = false; // It's no longer laying down
|
||||||
|
updatePID(cfg.targetAngle, targetOffset, turningOffset, (double)(timer - pidTimer) / 1000000.0);
|
||||||
|
}
|
||||||
|
pidTimer = timer;
|
||||||
|
|
||||||
|
/* Update encoders */
|
||||||
|
timer = micros();
|
||||||
|
if (timer - encoderTimer >= 100000) { // Update encoder values every 100ms
|
||||||
|
encoderTimer = timer;
|
||||||
|
int32_t wheelPosition = getWheelsPosition();
|
||||||
|
wheelVelocity = wheelPosition - lastWheelPosition;
|
||||||
|
lastWheelPosition = wheelPosition;
|
||||||
|
//Serial.print(wheelPosition);Serial.print('\t');Serial.print(targetPosition);Serial.print('\t');Serial.println(wheelVelocity);
|
||||||
|
if (abs(wheelVelocity) <= 40 && !stopped) { // Set new targetPosition if braking
|
||||||
|
targetPosition = wheelPosition;
|
||||||
|
stopped = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
batteryCounter++;
|
||||||
|
if (batteryCounter > 10) { // Measure battery every 1s
|
||||||
|
batteryCounter = 0;
|
||||||
|
batteryVoltage = (double)analogRead(VBAT) / 63.050847458; // VBAT is connected to analog input 5 which is not broken out. This is then connected to a 47k-12k voltage divider - 1023.0/(3.3/(12.0/(12.0+47.0))) = 63.050847458
|
||||||
|
if (batteryVoltage < 10.2 && batteryVoltage > 5) // Equal to 3.4V per cell - don't turn on if it's below 5V, this means that no battery is connected
|
||||||
|
digitalWrite(buzzer, HIGH);
|
||||||
|
else
|
||||||
|
digitalWrite(buzzer, LOW);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Read the Bluetooth dongle and send PID and IMU values */
|
||||||
|
#ifdef ENABLE_USB
|
||||||
|
readUsb();
|
||||||
|
#endif
|
||||||
|
#ifdef ENABLE_TOOLS
|
||||||
|
checkSerialData();
|
||||||
|
#endif
|
||||||
|
#if defined(ENABLE_TOOLS) || defined(ENABLE_SPP)
|
||||||
|
printValues();
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if defined(ENABLE_SPP) || defined(ENABLE_PS3) || defined(ENABLE_WII)
|
||||||
|
if (Btd.isReady()) {
|
||||||
|
timer = millis();
|
||||||
|
if ((Btd.watingForConnection && timer - blinkTimer > 1000) || (!Btd.watingForConnection && timer - blinkTimer > 100)) {
|
||||||
|
blinkTimer = timer;
|
||||||
|
ledState = !ledState;
|
||||||
|
digitalWrite(LED_BUILTIN, ledState); // Used to blink the built in LED, starts blinking faster upon an incoming Bluetooth request
|
||||||
|
}
|
||||||
|
} else if (ledState) { // The LED is on
|
||||||
|
ledState = !ledState;
|
||||||
|
digitalWrite(LED_BUILTIN, ledState); // This will turn it off
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
}
|
||||||
281
app/test/processing/app/preproc/Baladuino.stripped.ino
Normal file
281
app/test/processing/app/preproc/Baladuino.stripped.ino
Normal file
@ -0,0 +1,281 @@
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
Kalman kalman;
|
||||||
|
|
||||||
|
|
||||||
|
USB Usb;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
ADK adk(&Usb, ,
|
||||||
|
,
|
||||||
|
,
|
||||||
|
,
|
||||||
|
,
|
||||||
|
);
|
||||||
|
|
||||||
|
|
||||||
|
XBOXRECV Xbox(&Usb);
|
||||||
|
|
||||||
|
|
||||||
|
USBHub Hub(&Usb);
|
||||||
|
BTD Btd(&Usb);
|
||||||
|
|
||||||
|
|
||||||
|
SPP SerialBT(&Btd, , );
|
||||||
|
|
||||||
|
|
||||||
|
PS3BT PS3(&Btd);
|
||||||
|
|
||||||
|
|
||||||
|
WII Wii(&Btd);
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void setup() {
|
||||||
|
|
||||||
|
Serial.begin(115200);
|
||||||
|
|
||||||
|
|
||||||
|
if (!checkInitializationFlags())
|
||||||
|
readEEPROMValues();
|
||||||
|
|
||||||
|
|
||||||
|
pinMode(leftEncoder1, INPUT);
|
||||||
|
pinMode(leftEncoder2, INPUT);
|
||||||
|
pinMode(rightEncoder1, INPUT);
|
||||||
|
pinMode(rightEncoder2, INPUT);
|
||||||
|
attachInterrupt(0, leftEncoder, CHANGE);
|
||||||
|
attachInterrupt(1, rightEncoder, CHANGE);
|
||||||
|
|
||||||
|
|
||||||
|
pinMode(leftEnable, OUTPUT);
|
||||||
|
pinMode(rightEnable, OUTPUT);
|
||||||
|
digitalWrite(leftEnable, HIGH);
|
||||||
|
digitalWrite(rightEnable, HIGH);
|
||||||
|
|
||||||
|
|
||||||
|
sbi(pwmPortDirection, leftPWM);
|
||||||
|
sbi(leftPortDirection, leftA);
|
||||||
|
sbi(leftPortDirection, leftB);
|
||||||
|
sbi(pwmPortDirection, rightPWM);
|
||||||
|
sbi(rightPortDirection, rightA);
|
||||||
|
sbi(rightPortDirection, rightB);
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
TCCR1B = _BV(WGM13) | _BV(CS10);
|
||||||
|
ICR1 = PWMVALUE;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
TCCR1A = _BV(COM1A1) | _BV(COM1B1);
|
||||||
|
setPWM(leftPWM, 0);
|
||||||
|
setPWM(rightPWM, 0);
|
||||||
|
|
||||||
|
|
||||||
|
pinMode(buzzer, OUTPUT);
|
||||||
|
|
||||||
|
if (Usb.Init() == -1) {
|
||||||
|
Serial.print(F( ));
|
||||||
|
digitalWrite(buzzer, HIGH);
|
||||||
|
while (1);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
PS3.attachOnInit(onInit);
|
||||||
|
|
||||||
|
|
||||||
|
Wii.attachOnInit(onInit);
|
||||||
|
|
||||||
|
|
||||||
|
Xbox.attachOnInit(onInit);
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
Wire.begin();
|
||||||
|
|
||||||
|
while (i2cRead(0x75, i2cBuffer, 1));
|
||||||
|
if (i2cBuffer[0] != 0x68) {
|
||||||
|
Serial.print(F( ));
|
||||||
|
digitalWrite(buzzer, HIGH);
|
||||||
|
while (1);
|
||||||
|
}
|
||||||
|
|
||||||
|
i2cBuffer[0] = 19;
|
||||||
|
i2cBuffer[1] = 0x00;
|
||||||
|
i2cBuffer[2] = 0x00;
|
||||||
|
i2cBuffer[3] = 0x00;
|
||||||
|
while (i2cWrite(0x19, i2cBuffer, 4, false));
|
||||||
|
while (i2cWrite(0x6B, 0x09, true));
|
||||||
|
|
||||||
|
delay(100);
|
||||||
|
|
||||||
|
|
||||||
|
while (i2cRead(0x3D, i2cBuffer, 4));
|
||||||
|
accY = ((i2cBuffer[0] << 8) | i2cBuffer[1]);
|
||||||
|
accZ = ((i2cBuffer[2] << 8) | i2cBuffer[3]);
|
||||||
|
|
||||||
|
|
||||||
|
accAngle = (atan2((double)accY - cfg.accYzero, (double)accZ - cfg.accZzero) + PI) * RAD_TO_DEG;
|
||||||
|
|
||||||
|
kalman.setAngle(accAngle);
|
||||||
|
pitch = accAngle;
|
||||||
|
gyroAngle = accAngle;
|
||||||
|
|
||||||
|
|
||||||
|
calibrateGyro();
|
||||||
|
|
||||||
|
pinMode(LED_BUILTIN, OUTPUT);
|
||||||
|
|
||||||
|
|
||||||
|
digitalWrite(buzzer, HIGH);
|
||||||
|
delay(100);
|
||||||
|
digitalWrite(buzzer, LOW);
|
||||||
|
|
||||||
|
|
||||||
|
kalmanTimer = micros();
|
||||||
|
pidTimer = kalmanTimer;
|
||||||
|
encoderTimer = kalmanTimer;
|
||||||
|
imuTimer = millis();
|
||||||
|
reportTimer = imuTimer;
|
||||||
|
ledTimer = imuTimer;
|
||||||
|
blinkTimer = imuTimer;
|
||||||
|
}
|
||||||
|
|
||||||
|
void loop() {
|
||||||
|
|
||||||
|
if (Wii.wiimoteConnected)
|
||||||
|
Usb.Task();
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
while (i2cRead(0x3D, i2cBuffer, 8));
|
||||||
|
accY = ((i2cBuffer[0] << 8) | i2cBuffer[1]);
|
||||||
|
accZ = ((i2cBuffer[2] << 8) | i2cBuffer[3]);
|
||||||
|
gyroX = ((i2cBuffer[6] << 8) | i2cBuffer[7]);
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
accAngle = (atan2((double)accY - cfg.accYzero, (double)accZ - cfg.accZzero) + PI) * RAD_TO_DEG;
|
||||||
|
|
||||||
|
uint32_t timer = micros();
|
||||||
|
|
||||||
|
if ((accAngle < 90 && pitch > 270) || (accAngle > 270 && pitch < 90)) {
|
||||||
|
kalman.setAngle(accAngle);
|
||||||
|
pitch = accAngle;
|
||||||
|
gyroAngle = accAngle;
|
||||||
|
} else {
|
||||||
|
gyroRate = ((double)gyroX - gyroXzero) / 131.0;
|
||||||
|
double dt = (double)(timer - kalmanTimer) / 1000000.0;
|
||||||
|
gyroAngle += gyroRate * dt;
|
||||||
|
if (gyroAngle < 0 || gyroAngle > 360)
|
||||||
|
gyroAngle = pitch;
|
||||||
|
pitch = kalman.getAngle(accAngle, gyroRate, dt);
|
||||||
|
}
|
||||||
|
kalmanTimer = timer;
|
||||||
|
|
||||||
|
|
||||||
|
if (Wii.wiimoteConnected)
|
||||||
|
Usb.Task();
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
timer = micros();
|
||||||
|
|
||||||
|
|
||||||
|
if ((layingDown && (pitch < cfg.targetAngle - 10 || pitch > cfg.targetAngle + 10)) || (!layingDown && (pitch < cfg.targetAngle - 45 || pitch > cfg.targetAngle + 45))) {
|
||||||
|
layingDown = true;
|
||||||
|
stopAndReset();
|
||||||
|
} else {
|
||||||
|
layingDown = false;
|
||||||
|
updatePID(cfg.targetAngle, targetOffset, turningOffset, (double)(timer - pidTimer) / 1000000.0);
|
||||||
|
}
|
||||||
|
pidTimer = timer;
|
||||||
|
|
||||||
|
|
||||||
|
timer = micros();
|
||||||
|
if (timer - encoderTimer >= 100000) {
|
||||||
|
encoderTimer = timer;
|
||||||
|
int32_t wheelPosition = getWheelsPosition();
|
||||||
|
wheelVelocity = wheelPosition - lastWheelPosition;
|
||||||
|
lastWheelPosition = wheelPosition;
|
||||||
|
|
||||||
|
if (abs(wheelVelocity) <= 40 && !stopped) {
|
||||||
|
targetPosition = wheelPosition;
|
||||||
|
stopped = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
batteryCounter++;
|
||||||
|
if (batteryCounter > 10) {
|
||||||
|
batteryCounter = 0;
|
||||||
|
batteryVoltage = (double)analogRead(VBAT) / 63.050847458;
|
||||||
|
if (batteryVoltage < 10.2 && batteryVoltage > 5)
|
||||||
|
digitalWrite(buzzer, HIGH);
|
||||||
|
else
|
||||||
|
digitalWrite(buzzer, LOW);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
readUsb();
|
||||||
|
|
||||||
|
|
||||||
|
checkSerialData();
|
||||||
|
|
||||||
|
|
||||||
|
printValues();
|
||||||
|
|
||||||
|
|
||||||
|
if (Btd.isReady()) {
|
||||||
|
timer = millis();
|
||||||
|
if ((Btd.watingForConnection && timer - blinkTimer > 1000) || (!Btd.watingForConnection && timer - blinkTimer > 100)) {
|
||||||
|
blinkTimer = timer;
|
||||||
|
ledState = !ledState;
|
||||||
|
digitalWrite(LED_BUILTIN, ledState);
|
||||||
|
}
|
||||||
|
} else if (ledState) {
|
||||||
|
ledState = !ledState;
|
||||||
|
digitalWrite(LED_BUILTIN, ledState);
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
338
app/test/processing/app/preproc/CharWithEscapedDoubleQuote.ino
Normal file
338
app/test/processing/app/preproc/CharWithEscapedDoubleQuote.ino
Normal file
@ -0,0 +1,338 @@
|
|||||||
|
#include <SoftwareSerial.h> // required to send and receive AT commands from the GPRS Shield
|
||||||
|
#include <Wire.h> // required for I2C communication with the RTC
|
||||||
|
|
||||||
|
// pin numbers for RTC
|
||||||
|
#define DS3231_I2C_ADDRESS 104 // 0x68 // Address for RTC
|
||||||
|
#define DS3231_TIME_CAL_ADDR 0 // 0x00
|
||||||
|
#define DS3231_ALARM1_ADDR 7 // 0x07
|
||||||
|
#define DS3231_ALARM2_ADDR 11 // 0x0B
|
||||||
|
#define DS3231_CONTROL_ADDR 14 // 0x0E
|
||||||
|
#define DS3231_STATUS_ADDR 15 // 0x0F
|
||||||
|
//#define DS3231_AGING_OFFSET_ADDR 16 // 0x10
|
||||||
|
#define DS3231_TEMPERATURE_ADDR 17 // 0x11
|
||||||
|
|
||||||
|
// Declarations for GPRS shield
|
||||||
|
SoftwareSerial GPRS( 7, 8 ); // A softwareSerial line is defined for the GPRS Shield
|
||||||
|
byte buffer[ 64 ]; // Buffer is used to transfer data from the GPRS line to the serial line
|
||||||
|
int count = 0, e = 0, count2 = 0, t = 0, q;
|
||||||
|
char temp, lastCaller[13] = "blank";
|
||||||
|
boolean callIncoming = false, done;
|
||||||
|
|
||||||
|
// Declarations for RTC
|
||||||
|
byte time[ 7 ]; // second, minute, hour, dow, day, month, year
|
||||||
|
byte time_A1[ 5 ]; // second_A1, minute_A1, hour_A1, day_A1, DY/DT
|
||||||
|
byte time_A2[ 4 ]; // minute_A2, hour_A2, day_A2, DY/DT
|
||||||
|
byte received[1]; // used to catch bytes sent from the clock
|
||||||
|
float temperature; // clock temperature is updated every 64 s
|
||||||
|
|
||||||
|
// Declarations for RemoteCallLogger
|
||||||
|
char telescopeNames[6][4];
|
||||||
|
|
||||||
|
/*
|
||||||
|
Code Exclusively for GPRS shield:
|
||||||
|
*/
|
||||||
|
|
||||||
|
//
|
||||||
|
// Default set of instructions for GPRS Shield power control
|
||||||
|
//
|
||||||
|
|
||||||
|
void setPowerStateTo( int newState )
|
||||||
|
{
|
||||||
|
if( newState != 1 && newState != 0 ) { // tests for an invalid state. In this case no change is made to powerstate
|
||||||
|
Serial.print( "Error: Invalid powerstate. Current powerstate = " );
|
||||||
|
Serial.print( getPowerState() );
|
||||||
|
Serial.print( "\n" );
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
if( newState == getPowerState() ) { // if the requested powerstate is already in effect, no action is taken
|
||||||
|
Serial.print( "Powerstate = " );
|
||||||
|
Serial.print( newState );
|
||||||
|
Serial.print( " remains unchanged.\n" );
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
powerUpOrDown(); // This is the only case where the powerstate is changed
|
||||||
|
Serial.print( "Powerstate changed from " );
|
||||||
|
Serial.print( 1 - newState );
|
||||||
|
Serial.print( " to " );
|
||||||
|
Serial.print( newState );
|
||||||
|
Serial.print( "\n" );
|
||||||
|
}
|
||||||
|
}
|
||||||
|
delay( 5000 ); // for startup
|
||||||
|
}
|
||||||
|
|
||||||
|
int getPowerState() // returns 0 if GPRS Shield is off, and 1 if GPRS Shield is on. This corresponds to the constant HIGH LOW enumeration
|
||||||
|
{
|
||||||
|
int ret;
|
||||||
|
if ( digitalRead(18) == 0 && digitalRead(19) == 0 ) // tests pins 18 and 19 for activity. See ExFoundImportantPins sketch to find out why
|
||||||
|
ret = 1;
|
||||||
|
else
|
||||||
|
ret = 0;
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
void powerUpOrDown() // toggle the power of the shield
|
||||||
|
{
|
||||||
|
pinMode( 9, OUTPUT );
|
||||||
|
digitalWrite( 9, LOW );
|
||||||
|
delay( 1000 );
|
||||||
|
digitalWrite( 9, HIGH );
|
||||||
|
delay( 2000 );
|
||||||
|
digitalWrite( 9, LOW );
|
||||||
|
delay( 3000 );
|
||||||
|
}
|
||||||
|
|
||||||
|
//
|
||||||
|
// End of default power control
|
||||||
|
//
|
||||||
|
|
||||||
|
void clearBufferArray() // gives each element in the buffer array a null value
|
||||||
|
{
|
||||||
|
for( int i = 0; i < count; i++ )
|
||||||
|
buffer[ i ] = NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
void makeMissedCall( char num[] )
|
||||||
|
{
|
||||||
|
int i;
|
||||||
|
char in[ 18 ] = "ATD";
|
||||||
|
for( i = 3; i <= 14; i++ ) // AT command string containing telephone number is prepared
|
||||||
|
in[ i ] = num[ i - 3] ;
|
||||||
|
in[ 15 ] = ';';
|
||||||
|
in[ 16 ] = '\r';
|
||||||
|
in[ 17 ] = '\0';
|
||||||
|
GPRS.write( in ); // AT command requesting call is sent
|
||||||
|
delay( 10000 ); // enough time is given for GSM connection, and at least one ring.
|
||||||
|
GPRS.write( "ATH\r\0" ); // AT command requesting hangup is sent
|
||||||
|
delay( 1000 );
|
||||||
|
}
|
||||||
|
|
||||||
|
void sendTextMessage( char number[], char messg[] )
|
||||||
|
{
|
||||||
|
char temp[ 27 ] = "AT + CMGS = \"";
|
||||||
|
for( q = 0; q < 12; q++ ) // for-loop is used to prepare the AT command string containing the telephone number
|
||||||
|
temp[ q + 13 ] = number[ q ];
|
||||||
|
temp[ 25 ] = '\"';
|
||||||
|
temp[ 26 ] = '\0';
|
||||||
|
|
||||||
|
GPRS.println( "AT+CMGF=1\r" ); // AT command requesting SMS in text mode is sent
|
||||||
|
delay( 1000 );
|
||||||
|
GPRS.println( temp ); // AT command containing telephone number is sent
|
||||||
|
delay( 1000 );
|
||||||
|
GPRS.println( messg ); //the content of the message
|
||||||
|
delay( 1000 );
|
||||||
|
GPRS.println( (char) 26 ); //the ASCII code of the ctrl+z is 26. This character indicates the end of the message.
|
||||||
|
delay( 1000 );
|
||||||
|
}
|
||||||
|
|
||||||
|
void analise(byte incoming[], int length) // this function receives and analyses all text sent from the GPRS Shield to the serial line. It stores the cell number of the last caller.
|
||||||
|
{
|
||||||
|
e = 0; // Counter that represents a letter in the buffer
|
||||||
|
done = false; // Boolean that prevents unneccessary loop revolutions
|
||||||
|
while( e < length && !done){ // while e does not surpass the last letter index of the buffer...
|
||||||
|
temp = char( incoming[e] ); // store the character at index e in a temporary char
|
||||||
|
switch( temp ){ // inspect temp
|
||||||
|
case 'R':
|
||||||
|
{
|
||||||
|
if( length > e + 3 && !callIncoming ) { // This case responds to "RING"
|
||||||
|
if(char( incoming[e + 1] ) == 'I'
|
||||||
|
&& char( incoming[e + 2] ) == 'N'
|
||||||
|
&& char( incoming[e + 3] ) == 'G'){
|
||||||
|
GPRS.write("AT+CLCC\r"); // call information is requested
|
||||||
|
delay(500); // time is given for processing
|
||||||
|
GPRS.write("ATH\r"); // GPRS shield hangs up
|
||||||
|
callIncoming = true; // this ensures that a number cannot be stored in any other case than a missed call
|
||||||
|
done = true; // prevents the further operation of this while loop
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case '+':
|
||||||
|
{
|
||||||
|
if(char( buffer[ e + 1]) == '2' && length > e + 11 && callIncoming){ // this case responds to "+2", but only if the buffer contains enough characters for a valid cell number
|
||||||
|
for(t = 0; t < 12; t++) // and only if the callIncoming boolean had been triggered by a previous instance of this function
|
||||||
|
lastCaller[t] = char( buffer[ e + t ]); // the number of this caller is stored in lastCaller
|
||||||
|
lastCaller[12] = '\0';
|
||||||
|
callIncoming = false; // now we are ready for the next call
|
||||||
|
done = true; // prevents the further operation of this while loop
|
||||||
|
}
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case 'l':
|
||||||
|
Serial.println(lastCaller); // an easy way to test this function. Simply type "l" to see the value of lastCaller (default "blank")
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
e++; // buffer index is incremented
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
End of GPRS Shield code
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
/*
|
||||||
|
Code exclusively for RTC
|
||||||
|
*/
|
||||||
|
|
||||||
|
byte decToBcd( byte b ) // converts a byte from a decimal format to a binary-coded decimal
|
||||||
|
{
|
||||||
|
return ( b / 10 << 4 ) + b % 10;
|
||||||
|
}
|
||||||
|
|
||||||
|
boolean getBit( byte addr, int pos ) // returns a single bit from a determined location in the RTC register
|
||||||
|
{
|
||||||
|
byte temp = getByte( addr );
|
||||||
|
return boolean( (temp >> pos) & B00000001 );
|
||||||
|
}
|
||||||
|
|
||||||
|
void setBit( byte addr, int pos, boolean newBit ) // ensures that a single bit from a determined location in the RTC register is a determined value
|
||||||
|
{
|
||||||
|
boolean oldBit = getBit( addr, pos ); // bits' current state is retrieved
|
||||||
|
byte temp = received[ 0 ]; // complete byte is retrieved. it is still left in received from the previous command
|
||||||
|
if ( oldBit != newBit ) // change is only made if the bit isnt already the correct value
|
||||||
|
{
|
||||||
|
if( newBit ) // if newBit is 1, then old bit must be 0, thus we must add an amount
|
||||||
|
temp += (B00000001 << pos); // 2 to the power of the bit position is added to the byte
|
||||||
|
else
|
||||||
|
temp -= (B00000001 << pos); // 2 to the power of the bit position is subtracted from the byte
|
||||||
|
}
|
||||||
|
setByte( addr, temp ); // the register is updated with the new byte
|
||||||
|
}
|
||||||
|
|
||||||
|
byte getByte( byte addr ) // returns a single byte from the given address in the RTC register
|
||||||
|
{
|
||||||
|
byte temp;
|
||||||
|
if( getBytes( addr, 1) ) // If one byte was read from the address:
|
||||||
|
temp = received[ 0 ]; // get that byte
|
||||||
|
else temp = -1; // -1 is returned as an error
|
||||||
|
return temp;
|
||||||
|
}
|
||||||
|
|
||||||
|
boolean getBytes( byte addr, int amount ) // updates the byte array "received" with the given amount of bytes, read from the given address
|
||||||
|
{ // ^ returns false if reading failed
|
||||||
|
boolean wireWorked = false;
|
||||||
|
Wire.beginTransmission( DS3231_I2C_ADDRESS ); // We transmit to the RTC
|
||||||
|
Wire.write( addr ); // We want to read from the given address
|
||||||
|
Wire.endTransmission(); // We want to receive, so we stop transmitting
|
||||||
|
Wire.requestFrom( DS3231_I2C_ADDRESS, amount ); // we request the given amount of bytes from the RTC
|
||||||
|
if( Wire.available() ){
|
||||||
|
received[amount]; // prepare the array for the amount of incoming bytes
|
||||||
|
for( int i = 0; i < amount; i++){
|
||||||
|
received[ i ] = Wire.read(); // we read the given amount of bytes
|
||||||
|
}
|
||||||
|
wireWorked = true; // everything went as planned
|
||||||
|
}
|
||||||
|
return wireWorked;
|
||||||
|
}
|
||||||
|
|
||||||
|
void setByte( byte addr, byte newByte ) // writes a given byte to a given address in the RTCs register. convenient
|
||||||
|
{
|
||||||
|
setBytes( addr, &newByte, 1); // call the setBytes function with the default amount = 1
|
||||||
|
}
|
||||||
|
|
||||||
|
void setBytes( byte addr, byte newBytes[], int amount ) // writes a given amount of bytes in a sequence starting from a given address
|
||||||
|
{
|
||||||
|
Wire.beginTransmission( DS3231_I2C_ADDRESS ); // We transmit to the RTC
|
||||||
|
Wire.write( addr ); // We want to start writing from the given address
|
||||||
|
for( int i = 0; i < amount; i++ )
|
||||||
|
Wire.write( newBytes[ i ] ); // we write each byte in sequence
|
||||||
|
Wire.endTransmission(); // we're done here
|
||||||
|
}
|
||||||
|
|
||||||
|
void getTime() // reads the current time from the register and updates the byte array containing the current time
|
||||||
|
{
|
||||||
|
if( getBytes( DS3231_TIME_CAL_ADDR, 7) ) // if 7 bytes were read in from the time address:
|
||||||
|
{
|
||||||
|
for(int i = 0; i < 7; i++) // place each byte in it's place
|
||||||
|
time[ i ] = received[ i ];
|
||||||
|
// The following conversions convert the values from binary-coded decimal format to regular binary:
|
||||||
|
time[ 0 ] = ( ( time[ 0 ] & B01110000 ) >> 4 ) * 10 + ( time[ 0 ] & B00001111 ); // second
|
||||||
|
time[ 1 ] = ( ( time[ 1 ] & B01110000 ) >> 4 ) * 10 + ( time[ 1 ] & B00001111 ); // minute
|
||||||
|
time[ 2 ] = ( ( time[ 2 ] & B00110000 ) >> 4 ) * 10 + ( time[ 2 ] & B00001111 ); // hour
|
||||||
|
time[ 4 ] = ( ( time[ 4 ] & B00110000 ) >> 4 ) * 10 + ( time[ 4 ] & B00001111 ); // day of month
|
||||||
|
time[ 5 ] = ( ( time[ 5 ] & B00010000 ) >> 4 ) * 10 + ( time[ 5 ] & B00001111 ); // month
|
||||||
|
time[ 6 ] = ( ( time[ 6 ] & B11110000 ) >> 4 ) * 10 + ( time[ 6 ] & B00001111 ); // year
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void setTime( byte newTime[ 7 ] ) // sets the time in the RTC register to the given values
|
||||||
|
{
|
||||||
|
for(int i = 0; i < 7; i++)
|
||||||
|
newTime[i] = decToBcd(newTime[i]); // the time consists of 7 bytes, each which must be converted to binary-coded decimal
|
||||||
|
setBytes( DS3231_TIME_CAL_ADDR, newTime, 7 ); // bytes are sent to be written
|
||||||
|
}
|
||||||
|
|
||||||
|
void getRTCTemperature() // reads the temperature from the register and updates the global temperature float
|
||||||
|
{
|
||||||
|
//temp registers (11h-12h) get updated automatically every 64s
|
||||||
|
if( getBytes( DS3231_TEMPERATURE_ADDR, 2 ) ) // if 2 bytes were read from the temperature addresss
|
||||||
|
{
|
||||||
|
temperature = ( received[ 0 ] & B01111111 ); // assign the integer part of the integer
|
||||||
|
temperature += ( ( received[ 1 ] >> 6 ) * 0.25 ); // assign the fractional part of the temperature
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void gprsListen()
|
||||||
|
{
|
||||||
|
if( GPRS.available() ) { // If the GPRS Shield is transmitting data to the Stalker...
|
||||||
|
while( GPRS.available() ) { // While there is still data left...
|
||||||
|
buffer[ count++ ] = GPRS.read(); // get the next byte of data
|
||||||
|
if ( count == 64 ) // we only handle a maximum of 64 bytes of data at a time
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
Serial.write( buffer, count ); // Send the data to the serial line
|
||||||
|
analise( buffer, count );
|
||||||
|
clearBufferArray(); // clear the buffer
|
||||||
|
count = 0; // reset counter
|
||||||
|
}
|
||||||
|
if (Serial.available()) // if the Stalker is transmitting data....
|
||||||
|
GPRS.write(Serial.read()); // send the data to the GPRS Shield.
|
||||||
|
}
|
||||||
|
|
||||||
|
void printTime() // updates time, and prints it in a convenient format
|
||||||
|
{
|
||||||
|
getTime();
|
||||||
|
Serial.print( int( time[ 3 ] ) ); // dow
|
||||||
|
Serial.print( ' ' );
|
||||||
|
Serial.print( int( time[ 2 ] ) ); // hour
|
||||||
|
Serial.print( ':' );
|
||||||
|
Serial.print( int( time[ 1 ] ) ); // minute
|
||||||
|
Serial.print( ':' );
|
||||||
|
Serial.print( int( time[ 0 ] ) ); // second
|
||||||
|
Serial.print( ' ' );
|
||||||
|
Serial.print( int( time[ 4 ] ) ); // day
|
||||||
|
Serial.print( '/' );
|
||||||
|
Serial.print( int( time[ 5 ] ) ); // month
|
||||||
|
Serial.print( "/20" );
|
||||||
|
Serial.print( int( time[ 6 ] ) ); // year
|
||||||
|
Serial.println();
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
End of RTC code
|
||||||
|
*/
|
||||||
|
|
||||||
|
void setup()
|
||||||
|
{
|
||||||
|
// GPRS Shield startup code
|
||||||
|
GPRS.begin( 9600 );
|
||||||
|
delay(1000);
|
||||||
|
setPowerStateTo(1);
|
||||||
|
delay(1000);
|
||||||
|
|
||||||
|
// RTC Startup code
|
||||||
|
Wire.begin();
|
||||||
|
delay(1000);
|
||||||
|
|
||||||
|
Serial.begin(9600);
|
||||||
|
delay(1000);
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
void loop()
|
||||||
|
{
|
||||||
|
gprsListen(); // GPRS Shield listener. Todo: replace w interrupt
|
||||||
|
getTime(); // Updates the time. Todo: replace w interrupt
|
||||||
|
}
|
||||||
@ -0,0 +1,330 @@
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
SoftwareSerial GPRS( 7, 8 );
|
||||||
|
byte buffer[ 64 ];
|
||||||
|
int count = 0, e = 0, count2 = 0, t = 0, q;
|
||||||
|
char temp, lastCaller[13] = ;
|
||||||
|
boolean callIncoming = false, done;
|
||||||
|
|
||||||
|
|
||||||
|
byte time[ 7 ];
|
||||||
|
byte time_A1[ 5 ];
|
||||||
|
byte time_A2[ 4 ];
|
||||||
|
byte received[1];
|
||||||
|
float temperature;
|
||||||
|
|
||||||
|
|
||||||
|
char telescopeNames[6][4];
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void setPowerStateTo( int newState )
|
||||||
|
{
|
||||||
|
if( newState != 1 && newState != 0 ) {
|
||||||
|
Serial.print( );
|
||||||
|
Serial.print( getPowerState() );
|
||||||
|
Serial.print( );
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
if( newState == getPowerState() ) {
|
||||||
|
Serial.print( );
|
||||||
|
Serial.print( newState );
|
||||||
|
Serial.print( );
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
powerUpOrDown();
|
||||||
|
Serial.print( );
|
||||||
|
Serial.print( 1 - newState );
|
||||||
|
Serial.print( );
|
||||||
|
Serial.print( newState );
|
||||||
|
Serial.print( );
|
||||||
|
}
|
||||||
|
}
|
||||||
|
delay( 5000 );
|
||||||
|
}
|
||||||
|
|
||||||
|
int getPowerState()
|
||||||
|
{
|
||||||
|
int ret;
|
||||||
|
if ( digitalRead(18) == 0 && digitalRead(19) == 0 )
|
||||||
|
ret = 1;
|
||||||
|
else
|
||||||
|
ret = 0;
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
void powerUpOrDown()
|
||||||
|
{
|
||||||
|
pinMode( 9, OUTPUT );
|
||||||
|
digitalWrite( 9, LOW );
|
||||||
|
delay( 1000 );
|
||||||
|
digitalWrite( 9, HIGH );
|
||||||
|
delay( 2000 );
|
||||||
|
digitalWrite( 9, LOW );
|
||||||
|
delay( 3000 );
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void clearBufferArray()
|
||||||
|
{
|
||||||
|
for( int i = 0; i < count; i++ )
|
||||||
|
buffer[ i ] = NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
void makeMissedCall( char num[] )
|
||||||
|
{
|
||||||
|
int i;
|
||||||
|
char in[ 18 ] = ;
|
||||||
|
for( i = 3; i <= 14; i++ )
|
||||||
|
in[ i ] = num[ i - 3] ;
|
||||||
|
in[ 15 ] = ;
|
||||||
|
in[ 16 ] = '\r';
|
||||||
|
in[ 17 ] = '\0';
|
||||||
|
GPRS.write( in );
|
||||||
|
delay( 10000 );
|
||||||
|
GPRS.write( );
|
||||||
|
delay( 1000 );
|
||||||
|
}
|
||||||
|
|
||||||
|
void sendTextMessage( char number[], char messg[] )
|
||||||
|
{
|
||||||
|
char temp[ 27 ] = ;
|
||||||
|
for( q = 0; q < 12; q++ )
|
||||||
|
temp[ q + 13 ] = number[ q ];
|
||||||
|
temp[ 25 ] = ;
|
||||||
|
temp[ 26 ] = '\0';
|
||||||
|
|
||||||
|
GPRS.println( );
|
||||||
|
delay( 1000 );
|
||||||
|
GPRS.println( temp );
|
||||||
|
delay( 1000 );
|
||||||
|
GPRS.println( messg );
|
||||||
|
delay( 1000 );
|
||||||
|
GPRS.println( (char) 26 );
|
||||||
|
delay( 1000 );
|
||||||
|
}
|
||||||
|
|
||||||
|
void analise(byte incoming[], int length)
|
||||||
|
{
|
||||||
|
e = 0;
|
||||||
|
done = false;
|
||||||
|
while( e < length && !done){
|
||||||
|
temp = char( incoming[e] );
|
||||||
|
switch( temp ){
|
||||||
|
case :
|
||||||
|
{
|
||||||
|
if( length > e + 3 && !callIncoming ) {
|
||||||
|
if(char( incoming[e + 1] ) ==
|
||||||
|
&& char( incoming[e + 2] ) ==
|
||||||
|
&& char( incoming[e + 3] ) == ){
|
||||||
|
GPRS.write( );
|
||||||
|
delay(500);
|
||||||
|
GPRS.write( );
|
||||||
|
callIncoming = true;
|
||||||
|
done = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case :
|
||||||
|
{
|
||||||
|
if(char( buffer[ e + 1]) == && length > e + 11 && callIncoming){
|
||||||
|
for(t = 0; t < 12; t++)
|
||||||
|
lastCaller[t] = char( buffer[ e + t ]);
|
||||||
|
lastCaller[12] = '\0';
|
||||||
|
callIncoming = false;
|
||||||
|
done = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case :
|
||||||
|
Serial.println(lastCaller);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
e++;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
byte decToBcd( byte b )
|
||||||
|
{
|
||||||
|
return ( b / 10 << 4 ) + b % 10;
|
||||||
|
}
|
||||||
|
|
||||||
|
boolean getBit( byte addr, int pos )
|
||||||
|
{
|
||||||
|
byte temp = getByte( addr );
|
||||||
|
return boolean( (temp >> pos) & B00000001 );
|
||||||
|
}
|
||||||
|
|
||||||
|
void setBit( byte addr, int pos, boolean newBit )
|
||||||
|
{
|
||||||
|
boolean oldBit = getBit( addr, pos );
|
||||||
|
byte temp = received[ 0 ];
|
||||||
|
if ( oldBit != newBit )
|
||||||
|
{
|
||||||
|
if( newBit )
|
||||||
|
temp += (B00000001 << pos);
|
||||||
|
else
|
||||||
|
temp -= (B00000001 << pos);
|
||||||
|
}
|
||||||
|
setByte( addr, temp );
|
||||||
|
}
|
||||||
|
|
||||||
|
byte getByte( byte addr )
|
||||||
|
{
|
||||||
|
byte temp;
|
||||||
|
if( getBytes( addr, 1) )
|
||||||
|
temp = received[ 0 ];
|
||||||
|
else temp = -1;
|
||||||
|
return temp;
|
||||||
|
}
|
||||||
|
|
||||||
|
boolean getBytes( byte addr, int amount )
|
||||||
|
{
|
||||||
|
boolean wireWorked = false;
|
||||||
|
Wire.beginTransmission( DS3231_I2C_ADDRESS );
|
||||||
|
Wire.write( addr );
|
||||||
|
Wire.endTransmission();
|
||||||
|
Wire.requestFrom( DS3231_I2C_ADDRESS, amount );
|
||||||
|
if( Wire.available() ){
|
||||||
|
received[amount];
|
||||||
|
for( int i = 0; i < amount; i++){
|
||||||
|
received[ i ] = Wire.read();
|
||||||
|
}
|
||||||
|
wireWorked = true;
|
||||||
|
}
|
||||||
|
return wireWorked;
|
||||||
|
}
|
||||||
|
|
||||||
|
void setByte( byte addr, byte newByte )
|
||||||
|
{
|
||||||
|
setBytes( addr, &newByte, 1);
|
||||||
|
}
|
||||||
|
|
||||||
|
void setBytes( byte addr, byte newBytes[], int amount )
|
||||||
|
{
|
||||||
|
Wire.beginTransmission( DS3231_I2C_ADDRESS );
|
||||||
|
Wire.write( addr );
|
||||||
|
for( int i = 0; i < amount; i++ )
|
||||||
|
Wire.write( newBytes[ i ] );
|
||||||
|
Wire.endTransmission();
|
||||||
|
}
|
||||||
|
|
||||||
|
void getTime()
|
||||||
|
{
|
||||||
|
if( getBytes( DS3231_TIME_CAL_ADDR, 7) )
|
||||||
|
{
|
||||||
|
for(int i = 0; i < 7; i++)
|
||||||
|
time[ i ] = received[ i ];
|
||||||
|
|
||||||
|
time[ 0 ] = ( ( time[ 0 ] & B01110000 ) >> 4 ) * 10 + ( time[ 0 ] & B00001111 );
|
||||||
|
time[ 1 ] = ( ( time[ 1 ] & B01110000 ) >> 4 ) * 10 + ( time[ 1 ] & B00001111 );
|
||||||
|
time[ 2 ] = ( ( time[ 2 ] & B00110000 ) >> 4 ) * 10 + ( time[ 2 ] & B00001111 );
|
||||||
|
time[ 4 ] = ( ( time[ 4 ] & B00110000 ) >> 4 ) * 10 + ( time[ 4 ] & B00001111 );
|
||||||
|
time[ 5 ] = ( ( time[ 5 ] & B00010000 ) >> 4 ) * 10 + ( time[ 5 ] & B00001111 );
|
||||||
|
time[ 6 ] = ( ( time[ 6 ] & B11110000 ) >> 4 ) * 10 + ( time[ 6 ] & B00001111 );
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void setTime( byte newTime[ 7 ] )
|
||||||
|
{
|
||||||
|
for(int i = 0; i < 7; i++)
|
||||||
|
newTime[i] = decToBcd(newTime[i]);
|
||||||
|
setBytes( DS3231_TIME_CAL_ADDR, newTime, 7 );
|
||||||
|
}
|
||||||
|
|
||||||
|
void getRTCTemperature()
|
||||||
|
{
|
||||||
|
|
||||||
|
if( getBytes( DS3231_TEMPERATURE_ADDR, 2 ) )
|
||||||
|
{
|
||||||
|
temperature = ( received[ 0 ] & B01111111 );
|
||||||
|
temperature += ( ( received[ 1 ] >> 6 ) * 0.25 );
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void gprsListen()
|
||||||
|
{
|
||||||
|
if( GPRS.available() ) {
|
||||||
|
while( GPRS.available() ) {
|
||||||
|
buffer[ count++ ] = GPRS.read();
|
||||||
|
if ( count == 64 )
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
Serial.write( buffer, count );
|
||||||
|
analise( buffer, count );
|
||||||
|
clearBufferArray();
|
||||||
|
count = 0;
|
||||||
|
}
|
||||||
|
if (Serial.available())
|
||||||
|
GPRS.write(Serial.read());
|
||||||
|
}
|
||||||
|
|
||||||
|
void printTime()
|
||||||
|
{
|
||||||
|
getTime();
|
||||||
|
Serial.print( int( time[ 3 ] ) );
|
||||||
|
Serial.print( );
|
||||||
|
Serial.print( int( time[ 2 ] ) );
|
||||||
|
Serial.print( );
|
||||||
|
Serial.print( int( time[ 1 ] ) );
|
||||||
|
Serial.print( );
|
||||||
|
Serial.print( int( time[ 0 ] ) );
|
||||||
|
Serial.print( );
|
||||||
|
Serial.print( int( time[ 4 ] ) );
|
||||||
|
Serial.print( );
|
||||||
|
Serial.print( int( time[ 5 ] ) );
|
||||||
|
Serial.print( );
|
||||||
|
Serial.print( int( time[ 6 ] ) );
|
||||||
|
Serial.println();
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void setup()
|
||||||
|
{
|
||||||
|
|
||||||
|
GPRS.begin( 9600 );
|
||||||
|
delay(1000);
|
||||||
|
setPowerStateTo(1);
|
||||||
|
delay(1000);
|
||||||
|
|
||||||
|
|
||||||
|
Wire.begin();
|
||||||
|
delay(1000);
|
||||||
|
|
||||||
|
Serial.begin(9600);
|
||||||
|
delay(1000);
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
void loop()
|
||||||
|
{
|
||||||
|
gprsListen();
|
||||||
|
getTime();
|
||||||
|
}
|
||||||
@ -0,0 +1,13 @@
|
|||||||
|
|
||||||
|
|
||||||
|
CapacitiveSensorDue cs_13_8 = CapacitiveSensorDue(13,8);
|
||||||
|
void setup()
|
||||||
|
{
|
||||||
|
Serial.begin(9600);
|
||||||
|
}
|
||||||
|
void loop()
|
||||||
|
{
|
||||||
|
long total1 = cs_13_8.read(30);
|
||||||
|
Serial.println(total1);
|
||||||
|
delay(100);
|
||||||
|
}
|
||||||
@ -13,10 +13,16 @@ public class PdePreprocessorTest {
|
|||||||
public void testSourceWithQuoteAndDoubleQuotesEscapedAndFinalQuoteShouldNotRaiseException() throws Exception {
|
public void testSourceWithQuoteAndDoubleQuotesEscapedAndFinalQuoteShouldNotRaiseException() throws Exception {
|
||||||
String s = FileUtils.readFileToString(new File(PdePreprocessorTest.class.getResource("RemoteCallLogger_v1e0.ino").getFile()));
|
String s = FileUtils.readFileToString(new File(PdePreprocessorTest.class.getResource("RemoteCallLogger_v1e0.ino").getFile()));
|
||||||
|
|
||||||
String actualOutput = new PdePreprocessor().strip(s);
|
PdePreprocessor pdePreprocessor = new PdePreprocessor();
|
||||||
|
String actualOutput = pdePreprocessor.strip(s);
|
||||||
String expectedOutput = FileUtils.readFileToString(new File(PdePreprocessorTest.class.getResource("RemoteCallLogger_v1e0.stripped.ino").getFile()));
|
String expectedOutput = FileUtils.readFileToString(new File(PdePreprocessorTest.class.getResource("RemoteCallLogger_v1e0.stripped.ino").getFile()));
|
||||||
|
|
||||||
assertEquals(expectedOutput, actualOutput);
|
assertEquals(expectedOutput, actualOutput);
|
||||||
|
|
||||||
|
pdePreprocessor.writePrefix(s);
|
||||||
|
assertEquals(2, pdePreprocessor.getExtraImports().size());
|
||||||
|
assertEquals("SoftwareSerial.h", pdePreprocessor.getExtraImports().get(0));
|
||||||
|
assertEquals("Wire.h", pdePreprocessor.getExtraImports().get(1));
|
||||||
}
|
}
|
||||||
|
|
||||||
@Test
|
@Test
|
||||||
@ -24,8 +30,67 @@ public class PdePreprocessorTest {
|
|||||||
String s = FileUtils.readFileToString(new File(PdePreprocessorTest.class.getResource("IncludeBetweenMultilineComment.ino").getFile()));
|
String s = FileUtils.readFileToString(new File(PdePreprocessorTest.class.getResource("IncludeBetweenMultilineComment.ino").getFile()));
|
||||||
|
|
||||||
PdePreprocessor pdePreprocessor = new PdePreprocessor();
|
PdePreprocessor pdePreprocessor = new PdePreprocessor();
|
||||||
|
String actualOutput = pdePreprocessor.strip(s);
|
||||||
|
String expectedOutput = FileUtils.readFileToString(new File(PdePreprocessorTest.class.getResource("IncludeBetweenMultilineComment.stripped.ino").getFile()));
|
||||||
|
|
||||||
|
assertEquals(expectedOutput, actualOutput);
|
||||||
|
|
||||||
pdePreprocessor.writePrefix(s);
|
pdePreprocessor.writePrefix(s);
|
||||||
assertEquals(1, pdePreprocessor.getExtraImports().size());
|
assertEquals(1, pdePreprocessor.getExtraImports().size());
|
||||||
assertEquals("CapacitiveSensorDue.h", pdePreprocessor.getExtraImports().get(0));
|
assertEquals("CapacitiveSensorDue.h", pdePreprocessor.getExtraImports().get(0));
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@Test
|
||||||
|
public void testPdePreprocessorRegressionBaladuino() throws Exception {
|
||||||
|
String s = FileUtils.readFileToString(new File(PdePreprocessorTest.class.getResource("Baladuino.ino").getFile()));
|
||||||
|
|
||||||
|
PdePreprocessor pdePreprocessor = new PdePreprocessor();
|
||||||
|
String actualOutput = pdePreprocessor.strip(s);
|
||||||
|
String expectedOutput = FileUtils.readFileToString(new File(PdePreprocessorTest.class.getResource("Baladuino.stripped.ino").getFile()));
|
||||||
|
|
||||||
|
assertEquals(expectedOutput, actualOutput);
|
||||||
|
|
||||||
|
pdePreprocessor.writePrefix(s);
|
||||||
|
assertEquals(9, pdePreprocessor.getExtraImports().size());
|
||||||
|
assertEquals("Balanduino.h", pdePreprocessor.getExtraImports().get(0));
|
||||||
|
assertEquals("Wire.h", pdePreprocessor.getExtraImports().get(1));
|
||||||
|
assertEquals("usbhub.h", pdePreprocessor.getExtraImports().get(2));
|
||||||
|
assertEquals("adk.h", pdePreprocessor.getExtraImports().get(3));
|
||||||
|
assertEquals("Kalman.h", pdePreprocessor.getExtraImports().get(4));
|
||||||
|
assertEquals("XBOXRECV.h", pdePreprocessor.getExtraImports().get(5));
|
||||||
|
assertEquals("SPP.h", pdePreprocessor.getExtraImports().get(6));
|
||||||
|
assertEquals("PS3BT.h", pdePreprocessor.getExtraImports().get(7));
|
||||||
|
assertEquals("Wii.h", pdePreprocessor.getExtraImports().get(8));
|
||||||
|
}
|
||||||
|
|
||||||
|
@Test
|
||||||
|
public void testStringWithCcomment() throws Exception {
|
||||||
|
String s = FileUtils.readFileToString(new File(PdePreprocessorTest.class.getResource("StringWithCcomment.ino").getFile()));
|
||||||
|
|
||||||
|
PdePreprocessor pdePreprocessor = new PdePreprocessor();
|
||||||
|
String actualOutput = pdePreprocessor.strip(s);
|
||||||
|
String expectedOutput = FileUtils.readFileToString(new File(PdePreprocessorTest.class.getResource("StringWithCcomment.stripped.ino").getFile()));
|
||||||
|
|
||||||
|
assertEquals(expectedOutput, actualOutput);
|
||||||
|
|
||||||
|
pdePreprocessor.writePrefix(s);
|
||||||
|
assertEquals(0, pdePreprocessor.getExtraImports().size());
|
||||||
|
}
|
||||||
|
|
||||||
|
@Test
|
||||||
|
public void testCharWithEscapedDoubleQuote() throws Exception {
|
||||||
|
String s = FileUtils.readFileToString(new File(PdePreprocessorTest.class.getResource("CharWithEscapedDoubleQuote.ino").getFile()));
|
||||||
|
|
||||||
|
PdePreprocessor pdePreprocessor = new PdePreprocessor();
|
||||||
|
String actualOutput = pdePreprocessor.strip(s);
|
||||||
|
String expectedOutput = FileUtils.readFileToString(new File(PdePreprocessorTest.class.getResource("CharWithEscapedDoubleQuote.stripped.ino").getFile()));
|
||||||
|
|
||||||
|
assertEquals(expectedOutput, actualOutput);
|
||||||
|
|
||||||
|
pdePreprocessor.writePrefix(s);
|
||||||
|
assertEquals(2, pdePreprocessor.getExtraImports().size());
|
||||||
|
assertEquals("SoftwareSerial.h", pdePreprocessor.getExtraImports().get(0));
|
||||||
|
assertEquals("Wire.h", pdePreprocessor.getExtraImports().get(1));
|
||||||
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
@ -9,6 +9,9 @@
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
SoftwareSerial GPRS( 7, 8 );
|
SoftwareSerial GPRS( 7, 8 );
|
||||||
byte buffer[ 64 ];
|
byte buffer[ 64 ];
|
||||||
int count = 0, e = 0, count2 = 0, t = 0, q;
|
int count = 0, e = 0, count2 = 0, t = 0, q;
|
||||||
|
|||||||
9
app/test/processing/app/preproc/StringWithCcomment.ino
Normal file
9
app/test/processing/app/preproc/StringWithCcomment.ino
Normal file
@ -0,0 +1,9 @@
|
|||||||
|
void setup() {
|
||||||
|
// put your setup code here, to run once:
|
||||||
|
Serial.println("Accept: */*");
|
||||||
|
}
|
||||||
|
|
||||||
|
void loop() {
|
||||||
|
// put your main code here, to run repeatedly:
|
||||||
|
|
||||||
|
}
|
||||||
@ -0,0 +1,9 @@
|
|||||||
|
void setup() {
|
||||||
|
|
||||||
|
Serial.println( );
|
||||||
|
}
|
||||||
|
|
||||||
|
void loop() {
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
Loading…
x
Reference in New Issue
Block a user