Merge remote-tracking branch 'refs/remotes/origin/master'

emb/command.c

@@ -8,6 +8,9 @@
 struct command command_buf[NUM_COMMANDS];
 uint16_t comm_start = 0, comm_end = 0;
 
+char comm_str[33];
+uint8_t comm_str_ind = 0;    
+
 /* Add y to x, wrapping around limit */
 static inline void add_wrap(uint16_t *x, uint16_t y, uint16_t limit)
 {
@@ -17,7 +20,7 @@ static inline void add_wrap(uint16_t *x, uint16_t y, uint16_t limit)
 }
 
 enum state {
-     STATE_COMM, STATE_COMM_SPACE, STATE_ARG
+     STATE_COMM, STATE_COMM_SPACE, STATE_ARG, STATE_STRING
 };
 
 /* Return 1 if new command ready */
@@ -36,8 +39,16 @@ uint8_t uart_add_ch(char c)
 	  break;
      case STATE_COMM_SPACE:
 	  if (c == ' ') {
-	       state = STATE_ARG;
-	  } else {
+          if (curr->comm_ch == 't')
+          {
+            comm_str_ind = 0;
+            state = STATE_STRING;
+          }
+          else
+          {
+	        state = STATE_ARG;
+	      }
+      } else {
 	       state = STATE_COMM;
 	       add_wrap(&comm_end, 1, NUM_COMMANDS);
 	  }
@@ -58,6 +69,18 @@ uint8_t uart_add_ch(char c)
 	       if (argbuf_ind < 19) argbuf[argbuf_ind++] = c;
 	  }
 	  break;
+     case STATE_STRING:
+      if (comm_str_ind == sizeof(comm_str) - 1 || c == '\n')
+      {
+        comm_str[comm_str_ind] = '\0';
+        state = STATE_COMM;
+        add_wrap(&comm_end, 1, NUM_COMMANDS);
+      }
+      else
+      {
+        comm_str[comm_str_ind++] = c;
+      }
+      break;
      }
      return state == STATE_COMM;
 }

emb/command.h

@@ -14,6 +14,8 @@ extern "C" {
 	  int16_t arg[NUM_ARGS];
      };
      
+     extern char comm_str[33];
+     
      uint8_t uart_add_ch(char c);
      struct command *get_command(void);
 

emb/state-controller.cpp

 #include "servos.hpp"
 #include "command.h"
 #include "time.hpp"
+#include "display.hpp"
 
 #include <avr/interrupt.h>
+#include <string.h>
 
 enum State
 {
@@ -17,13 +19,15 @@ static uint32_t velocitiesEndMillis[NUM_SERVOS];
 static int16_t startAngles[NUM_SERVOS];
 static uint32_t startMillis[NUM_SERVOS];
 
+static char displayString[33];
+
 void parseCommand(command *comm)
 {
     uint32_t currentMillis = getCurrentMillis();
     
     switch (comm->comm_ch)
     {
-        case 's':
+        case 's': // set
             if (0 <= comm->arg[0] - 1 && comm->arg[0] - 1 < NUM_SERVOS)
             { 
                 setServoAngle(comm->arg[0] - 1, comm->arg[1] * 60);
@@ -31,7 +35,7 @@ void parseCommand(command *comm)
                 servoVelocities[comm->arg[0] - 1] = 0;
             }
             break;
-        case 'v':
+        case 'v': // velocity
             if (0 <= comm->arg[0] - 1 && comm->arg[0] - 1 < NUM_SERVOS)
             {
                 servoVelocities[comm->arg[0] - 1] = comm->arg[1];
@@ -40,10 +44,23 @@ void parseCommand(command *comm)
                 startMillis[comm->arg[0] - 1] = currentMillis;
             }
             break;
-        case 'd':
+        case 'd': // delay
             delayEnd = getCurrentMillis() + comm->arg[0];
             state = STATE_DELAY;
             break;
+        case 't': // text
+            clearDisplay();
+            setDisplayCursor(0, 0);
+            uint8_t i = 0;
+             
+            while (char c = displayString[i++])
+            {
+                writeDisplay(c);
+                
+                if (i == 16)
+                    setDisplayCursor(0, 1);
+            }
+            break;
     }
 }
 
@@ -58,6 +75,7 @@ void updateState()
             cli();
             command *tmp = get_command();
             command comm = *tmp;
+            memcpy(displayString, comm_str, sizeof(displayString));
             sei();
             
             if (tmp != nullptr)