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<a href="robot_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Copyright (C) 2018 dimercur</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * This program is free software: you can redistribute it and/or modify</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * it under the terms of the GNU General Public License as published by</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * the Free Software Foundation, either version 3 of the License, or</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * (at your option) any later version.</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> *</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * This program is distributed in the hope that it will be useful,</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * GNU General Public License for more details.</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> *</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * You should have received a copy of the GNU General Public License</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * along with this program. If not, see <http://www.gnu.org/licenses/>.</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> */</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#include "<a class="code" href="robot_8h.html">robot.h</a>"</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> </div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="robot_8cpp.html#a6f8059414f0228f0256115e024eeed4b"> 28</a></span> <span class="keywordtype">int</span> <a class="code" href="robot_8cpp.html#a6f8059414f0228f0256115e024eeed4b">fd</a>;</div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="keywordtype">int</span> <a class="code" href="robot_8cpp.html#a116eceb372bf4bda7e6a360286e762b1">getChar</a>(<span class="keywordtype">char</span> * c);</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="keywordtype">int</span> <a class="code" href="robot_8cpp.html#a2e1339c58b604c970f67096c7d143c2a">readSerial</a>(<span class="keywordtype">char</span> * msg);</div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="keywordtype">char</span> <a class="code" href="robot_8cpp.html#ab87123df26d91967d4d7507ad10326ac">checkSumGO</a>(<span class="keywordtype">char</span> * msg);</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="keywordtype">int</span> <a class="code" href="robot_8cpp.html#adf885bd17005f841896acf2e49350db7">receiveMsg</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="keywordtype">int</span> <a class="code" href="robot_8cpp.html#ac9d64c6d05c20ae9fdb8c158e2ee7098">sendCmd</a>(<span class="keywordtype">char</span> cmd, <span class="keyword">const</span> <span class="keywordtype">char</span> * arg);</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="robot_8cpp.html#a9360e75fe324da14faaa87105771140e"> 36</a></span> <span class="keywordtype">int</span> <a class="code" href="robot_8cpp.html#a9360e75fe324da14faaa87105771140e">open_communication_robot</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> * path)</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> {</div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#ifndef __STUB__</span></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keyword">struct </span>termios options;</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <a class="code" href="robot_8cpp.html#a6f8059414f0228f0256115e024eeed4b">fd</a> = open(path, O_RDWR | O_NOCTTY | O_NDELAY);</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keywordflow">if</span>(fd !=-1)</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  {</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  fcntl(fd, F_SETFL, 0);</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  tcgetattr(fd, &options);</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  cfsetospeed (&options, B9600);</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  cfsetispeed (&options, B9600);</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  options.c_cc[VMIN]=0;</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  options.c_cc[VTIME]=0;</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  tcsetattr(fd, TCSANOW, &options);</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  }</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  {</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  perror(<span class="stringliteral">"can't openSerial"</span>);</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  }</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="preprocessor">#else</span></div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span> }</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span> </div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span> </div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="robot_8cpp.html#a3fbce7530a62f9287f8a3b85b9c7e4d7"> 64</a></span> <span class="keywordtype">int</span> <a class="code" href="robot_8cpp.html#a3fbce7530a62f9287f8a3b85b9c7e4d7">close_communication_robot</a>(<span class="keywordtype">void</span>)</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span> {</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="preprocessor">#ifndef __STUB__</span></div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keywordflow">return</span> close(<a class="code" href="robot_8cpp.html#a6f8059414f0228f0256115e024eeed4b">fd</a>);</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="preprocessor">#else</span></div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span> }</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span> </div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="robot_8cpp.html#a68c01c5d6226d21fc0d141f681806677"> 74</a></span> <span class="keywordtype">int</span> <a class="code" href="robot_8cpp.html#a68c01c5d6226d21fc0d141f681806677">send_command_to_robot</a>(<span class="keywordtype">char</span> cmd, <span class="keyword">const</span> <span class="keywordtype">char</span> * arg)</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span> {</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="preprocessor">#ifndef __STUB__</span></div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <a class="code" href="robot_8cpp.html#ac9d64c6d05c20ae9fdb8c158e2ee7098">sendCmd</a>(cmd,arg);</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="comment">// TODO : check return from sendCmd</span></div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordflow">return</span> <a class="code" href="robot_8cpp.html#adf885bd17005f841896acf2e49350db7">receiveMsg</a>();</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="preprocessor">#else</span></div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordtype">int</span> reponse;</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">switch</span>(cmd)</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  {</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#acf7d51360dcb103fc57604725ec2816d">DMB_PING</a>:</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  reponse = 0;</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#a82b279c49221d3cd3d875d521dfb97b9">DMB_IDLE</a>:</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  reponse = 0;</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#adee1628bbc796ba55f4a349895f4e0fa">DMB_START_WITH_WD</a>:</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  reponse = 0;</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#a2ca219902014ffb39aab27cca08a948f">DMB_RELOAD_WD</a>:</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  reponse = 0;</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#af1737e8fe4da4e8bc2d5db9d26c42462">DMB_GET_VBAT</a>:</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  reponse = 2;</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#ad58c241121e685f26a291aa4bd5f9c80">DMB_IS_BUSY</a>:</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  reponse = 1;</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#a5ebbd37042a6244b4f9d473ae7132780">DMB_START_WITHOUT_WD</a>:</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  reponse = 0;</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#ac48dee90eb71d036d001321674abbb8b">DMB_MOVE</a>:</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  reponse = 0;</div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#ac6c5492c8100e73f8d30ed36072684db">DMB_TURN</a>:</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  reponse = 0;</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#ae363a29a4961cd8a646a0ca9199bc6cf">DMB_GO_FORWARD</a>:</div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  reponse = 0;</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#a499f41cc19a4459de033687049cbbe71">DMB_GO_BACK</a>:</div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  reponse = 0;</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#aefcb838e73a335f1a2a6c914ee2ff752">DMB_GO_LEFT</a>:</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  reponse = 0;</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#ad681962f7b8cf4797ebd48be0405d1b9">DMB_GO_RIGHT</a>:</div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  reponse = 0;</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#a7308179907a0a2989c162865e7a7979a">DMB_STOP_MOVE</a>:</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  reponse = 0;</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  reponse = 0;</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  }</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordflow">return</span> reponse;</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span> }</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span> </div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="comment">/****************************/</span></div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="comment">/* PRIVATE */</span></div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="comment">/****************************/</span></div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span> </div><div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="robot_8cpp.html#ac9d64c6d05c20ae9fdb8c158e2ee7098"> 138</a></span> <span class="keywordtype">int</span> <a class="code" href="robot_8cpp.html#ac9d64c6d05c20ae9fdb8c158e2ee7098">sendCmd</a>(<span class="keywordtype">char</span> cmd, <span class="keyword">const</span> <span class="keywordtype">char</span> * arg)</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span> {</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keywordtype">char</span> cmdWithArg[20]={};</div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  cmdWithArg[0]=cmd;</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keywordflow">switch</span>(cmd)</div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  {</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#ae363a29a4961cd8a646a0ca9199bc6cf">DMB_GO_FORWARD</a>: strcpy(cmdWithArg,<span class="stringliteral">"M=+64000"</span>);</div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#a499f41cc19a4459de033687049cbbe71">DMB_GO_BACK</a>: strcpy(cmdWithArg,<span class="stringliteral">"M=-64000"</span>);</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#aefcb838e73a335f1a2a6c914ee2ff752">DMB_GO_LEFT</a>: strcpy(cmdWithArg,<span class="stringliteral">"T=+64000"</span>);</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#ad681962f7b8cf4797ebd48be0405d1b9">DMB_GO_RIGHT</a>: strcpy(cmdWithArg,<span class="stringliteral">"T=-64000"</span>);</div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#a7308179907a0a2989c162865e7a7979a">DMB_STOP_MOVE</a>: strcpy(cmdWithArg,<span class="stringliteral">"M=0"</span>);</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#ac48dee90eb71d036d001321674abbb8b">DMB_MOVE</a>: strcat(cmdWithArg,<span class="stringliteral">"="</span>);</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  strcat(cmdWithArg,arg);</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keywordflow">case</span> <a class="code" href="definitions_8h.html#ac6c5492c8100e73f8d30ed36072684db">DMB_TURN</a>: strcat(cmdWithArg,<span class="stringliteral">"="</span>);</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  strcat(cmdWithArg,arg);</div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  }</div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordtype">int</span> sizeCmd = strlen(cmdWithArg);</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  cmdWithArg[sizeCmd] = <a class="code" href="robot_8cpp.html#ab87123df26d91967d4d7507ad10326ac">checkSumGO</a>(cmdWithArg);</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  cmdWithArg[sizeCmd+1] = <span class="charliteral">'\r'</span>;</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  cmdWithArg[sizeCmd+2] = <span class="charliteral">'\0'</span>;</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordflow">return</span> write(<a class="code" href="robot_8cpp.html#a6f8059414f0228f0256115e024eeed4b">fd</a>,cmdWithArg,strlen(cmdWithArg));</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span> }</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span> </div><div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="robot_8cpp.html#adf885bd17005f841896acf2e49350db7"> 168</a></span> <span class="keywordtype">int</span> <a class="code" href="robot_8cpp.html#adf885bd17005f841896acf2e49350db7">receiveMsg</a>(<span class="keywordtype">void</span>)</div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span> {</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordtype">char</span> msg[20];</div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordtype">int</span> b;</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keywordflow">if</span>((b = <a class="code" href="robot_8cpp.html#a2e1339c58b604c970f67096c7d143c2a">readSerial</a>(msg))!=<a class="code" href="definitions_8h.html#a624686d3af63394ee02f0a197967d44a">ROBOT_TIMED_OUT</a>)</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  {</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordtype">int</span> taille = strlen(msg);</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordtype">char</span> checksum = msg[taille-2];</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  msg[taille-1] = 0;</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  msg[taille-2] = 0;</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordflow">if</span>(checksum!=<a class="code" href="robot_8cpp.html#ab87123df26d91967d4d7507ad10326ac">checkSumGO</a>(msg))</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  {</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordflow">return</span> <a class="code" href="definitions_8h.html#af1118b8a83d446b4965347bba126a488">ROBOT_CHECKSUM</a>;</div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  }</div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  {</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">switch</span>(msg[0])</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  {</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordflow">case</span> <span class="charliteral">'O'</span> : <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordflow">case</span> <span class="charliteral">'E'</span> : <span class="keywordflow">return</span> <a class="code" href="definitions_8h.html#a4aefbbdd5d35999aa0575ab7183148d4">ROBOT_ERROR</a>;</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordflow">case</span> <span class="charliteral">'C'</span> : <span class="keywordflow">return</span> <a class="code" href="definitions_8h.html#a70a2d5db14b900843364adb7cfe53ac8">ROBOT_UKNOWN_CMD</a>;</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  default : <span class="keywordflow">return</span> atoi(&msg[0]);</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  }</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  }</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  }</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  {</div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordflow">return</span> <a class="code" href="definitions_8h.html#a624686d3af63394ee02f0a197967d44a">ROBOT_TIMED_OUT</a>;</div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  }</div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span> }</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span> </div><div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="robot_8cpp.html#a116eceb372bf4bda7e6a360286e762b1"> 199</a></span> <span class="keywordtype">int</span> <a class="code" href="robot_8cpp.html#a116eceb372bf4bda7e6a360286e762b1">getChar</a>(<span class="keywordtype">char</span> * c)</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span> {</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordtype">int</span> n =0;</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keywordtype">int</span> delay =0;</div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">while</span>((n=read(<a class="code" href="robot_8cpp.html#a6f8059414f0228f0256115e024eeed4b">fd</a>,c,1)) <=0)</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  {</div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  usleep(5000);</div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  delay++;</div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keywordflow">if</span>(delay > 10)</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  {</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">return</span> <a class="code" href="definitions_8h.html#a624686d3af63394ee02f0a197967d44a">ROBOT_TIMED_OUT</a>;</div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  }</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span> </div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  }</div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keywordflow">return</span> n;</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span> }</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span> </div><div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="robot_8cpp.html#a2e1339c58b604c970f67096c7d143c2a"> 216</a></span> <span class="keywordtype">int</span> <a class="code" href="robot_8cpp.html#a2e1339c58b604c970f67096c7d143c2a">readSerial</a>(<span class="keywordtype">char</span> * msg)</div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span> {</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keywordtype">char</span> car=0;</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keywordtype">int</span> i=0;</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0 ; j < 20 ; j++)</div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  msg[j]=0;</div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  </div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="keywordflow">while</span>(car !=<span class="charliteral">'\r'</span> && car!=<span class="charliteral">'\n'</span>) {</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keywordflow">if</span>(i>=20) </div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="keywordflow">return</span> -5;</div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span> </div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keywordflow">if</span>(<a class="code" href="robot_8cpp.html#a116eceb372bf4bda7e6a360286e762b1">getChar</a>(&car)==<a class="code" href="definitions_8h.html#a624686d3af63394ee02f0a197967d44a">ROBOT_TIMED_OUT</a>) {</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordflow">return</span> <a class="code" href="definitions_8h.html#a624686d3af63394ee02f0a197967d44a">ROBOT_TIMED_OUT</a>;</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  }</div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  </div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  msg[i] = car;</div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  i++;</div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  }</div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="keywordflow">return</span> i;</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span> }</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span> </div><div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="robot_8cpp.html#ab87123df26d91967d4d7507ad10326ac"> 237</a></span> <span class="keywordtype">char</span> <a class="code" href="robot_8cpp.html#ab87123df26d91967d4d7507ad10326ac">checkSumGO</a>(<span class="keywordtype">char</span> * msg)</div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span> {</div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keywordtype">char</span> resultat = 0;</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="keywordtype">int</span> i = 0;</div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keywordtype">int</span> taille = strlen(msg);</div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="keywordflow">for</span>(i=0;i<taille;i++)</div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  {</div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  resultat^=msg[i];</div><div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  }</div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="keywordflow">return</span> resultat;</div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span> </div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span> }</div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span> </div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span> </div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span> </div><div class="ttc" id="definitions_8h_html_acf7d51360dcb103fc57604725ec2816d"><div class="ttname"><a href="definitions_8h.html#acf7d51360dcb103fc57604725ec2816d">DMB_PING</a></div><div class="ttdeci">#define DMB_PING</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00033">definitions.h:33</a></div></div>
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<div class="ttc" id="definitions_8h_html_a2ca219902014ffb39aab27cca08a948f"><div class="ttname"><a href="definitions_8h.html#a2ca219902014ffb39aab27cca08a948f">DMB_RELOAD_WD</a></div><div class="ttdeci">#define DMB_RELOAD_WD</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00037">definitions.h:37</a></div></div>
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<div class="ttc" id="definitions_8h_html_aefcb838e73a335f1a2a6c914ee2ff752"><div class="ttname"><a href="definitions_8h.html#aefcb838e73a335f1a2a6c914ee2ff752">DMB_GO_LEFT</a></div><div class="ttdeci">#define DMB_GO_LEFT</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00044">definitions.h:44</a></div></div>
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<div class="ttc" id="definitions_8h_html_adee1628bbc796ba55f4a349895f4e0fa"><div class="ttname"><a href="definitions_8h.html#adee1628bbc796ba55f4a349895f4e0fa">DMB_START_WITH_WD</a></div><div class="ttdeci">#define DMB_START_WITH_WD</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00036">definitions.h:36</a></div></div>
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<div class="ttc" id="definitions_8h_html_a499f41cc19a4459de033687049cbbe71"><div class="ttname"><a href="definitions_8h.html#a499f41cc19a4459de033687049cbbe71">DMB_GO_BACK</a></div><div class="ttdeci">#define DMB_GO_BACK</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00043">definitions.h:43</a></div></div>
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<div class="ttc" id="robot_8h_html"><div class="ttname"><a href="robot_8h.html">robot.h</a></div><div class="ttdoc">Fonctions for communicating with robot. </div></div>
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<div class="ttc" id="robot_8cpp_html_ab87123df26d91967d4d7507ad10326ac"><div class="ttname"><a href="robot_8cpp.html#ab87123df26d91967d4d7507ad10326ac">checkSumGO</a></div><div class="ttdeci">char checkSumGO(char *msg)</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00237">robot.cpp:237</a></div></div>
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<div class="ttc" id="robot_8cpp_html_a2e1339c58b604c970f67096c7d143c2a"><div class="ttname"><a href="robot_8cpp.html#a2e1339c58b604c970f67096c7d143c2a">readSerial</a></div><div class="ttdeci">int readSerial(char *msg)</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00216">robot.cpp:216</a></div></div>
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<div class="ttc" id="definitions_8h_html_a4aefbbdd5d35999aa0575ab7183148d4"><div class="ttname"><a href="definitions_8h.html#a4aefbbdd5d35999aa0575ab7183148d4">ROBOT_ERROR</a></div><div class="ttdeci">#define ROBOT_ERROR</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00050">definitions.h:50</a></div></div>
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<div class="ttc" id="definitions_8h_html_af1118b8a83d446b4965347bba126a488"><div class="ttname"><a href="definitions_8h.html#af1118b8a83d446b4965347bba126a488">ROBOT_CHECKSUM</a></div><div class="ttdeci">#define ROBOT_CHECKSUM</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00051">definitions.h:51</a></div></div>
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<div class="ttc" id="definitions_8h_html_a5ebbd37042a6244b4f9d473ae7132780"><div class="ttname"><a href="definitions_8h.html#a5ebbd37042a6244b4f9d473ae7132780">DMB_START_WITHOUT_WD</a></div><div class="ttdeci">#define DMB_START_WITHOUT_WD</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00035">definitions.h:35</a></div></div>
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<div class="ttc" id="robot_8cpp_html_adf885bd17005f841896acf2e49350db7"><div class="ttname"><a href="robot_8cpp.html#adf885bd17005f841896acf2e49350db7">receiveMsg</a></div><div class="ttdeci">int receiveMsg(void)</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00168">robot.cpp:168</a></div></div>
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<div class="ttc" id="robot_8cpp_html_a116eceb372bf4bda7e6a360286e762b1"><div class="ttname"><a href="robot_8cpp.html#a116eceb372bf4bda7e6a360286e762b1">getChar</a></div><div class="ttdeci">int getChar(char *c)</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00199">robot.cpp:199</a></div></div>
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<div class="ttc" id="definitions_8h_html_a70a2d5db14b900843364adb7cfe53ac8"><div class="ttname"><a href="definitions_8h.html#a70a2d5db14b900843364adb7cfe53ac8">ROBOT_UKNOWN_CMD</a></div><div class="ttdeci">#define ROBOT_UKNOWN_CMD</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00049">definitions.h:49</a></div></div>
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<div class="ttc" id="definitions_8h_html_a82b279c49221d3cd3d875d521dfb97b9"><div class="ttname"><a href="definitions_8h.html#a82b279c49221d3cd3d875d521dfb97b9">DMB_IDLE</a></div><div class="ttdeci">#define DMB_IDLE</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00034">definitions.h:34</a></div></div>
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<div class="ttc" id="definitions_8h_html_ad681962f7b8cf4797ebd48be0405d1b9"><div class="ttname"><a href="definitions_8h.html#ad681962f7b8cf4797ebd48be0405d1b9">DMB_GO_RIGHT</a></div><div class="ttdeci">#define DMB_GO_RIGHT</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00045">definitions.h:45</a></div></div>
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<div class="ttc" id="robot_8cpp_html_ac9d64c6d05c20ae9fdb8c158e2ee7098"><div class="ttname"><a href="robot_8cpp.html#ac9d64c6d05c20ae9fdb8c158e2ee7098">sendCmd</a></div><div class="ttdeci">int sendCmd(char cmd, const char *arg)</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00138">robot.cpp:138</a></div></div>
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<div class="ttc" id="definitions_8h_html_ad58c241121e685f26a291aa4bd5f9c80"><div class="ttname"><a href="definitions_8h.html#ad58c241121e685f26a291aa4bd5f9c80">DMB_IS_BUSY</a></div><div class="ttdeci">#define DMB_IS_BUSY</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00039">definitions.h:39</a></div></div>
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<div class="ttc" id="definitions_8h_html_af1737e8fe4da4e8bc2d5db9d26c42462"><div class="ttname"><a href="definitions_8h.html#af1737e8fe4da4e8bc2d5db9d26c42462">DMB_GET_VBAT</a></div><div class="ttdeci">#define DMB_GET_VBAT</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00038">definitions.h:38</a></div></div>
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<div class="ttc" id="definitions_8h_html_a624686d3af63394ee02f0a197967d44a"><div class="ttname"><a href="definitions_8h.html#a624686d3af63394ee02f0a197967d44a">ROBOT_TIMED_OUT</a></div><div class="ttdeci">#define ROBOT_TIMED_OUT</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00048">definitions.h:48</a></div></div>
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<div class="ttc" id="definitions_8h_html_ae363a29a4961cd8a646a0ca9199bc6cf"><div class="ttname"><a href="definitions_8h.html#ae363a29a4961cd8a646a0ca9199bc6cf">DMB_GO_FORWARD</a></div><div class="ttdeci">#define DMB_GO_FORWARD</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00042">definitions.h:42</a></div></div>
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<div class="ttc" id="robot_8cpp_html_a68c01c5d6226d21fc0d141f681806677"><div class="ttname"><a href="robot_8cpp.html#a68c01c5d6226d21fc0d141f681806677">send_command_to_robot</a></div><div class="ttdeci">int send_command_to_robot(char cmd, const char *arg)</div><div class="ttdoc">Envoi une commande au robot et attends sa réponse. </div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00074">robot.cpp:74</a></div></div>
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<div class="ttc" id="robot_8cpp_html_a6f8059414f0228f0256115e024eeed4b"><div class="ttname"><a href="robot_8cpp.html#a6f8059414f0228f0256115e024eeed4b">fd</a></div><div class="ttdeci">int fd</div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00028">robot.cpp:28</a></div></div>
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<div class="ttc" id="robot_8cpp_html_a9360e75fe324da14faaa87105771140e"><div class="ttname"><a href="robot_8cpp.html#a9360e75fe324da14faaa87105771140e">open_communication_robot</a></div><div class="ttdeci">int open_communication_robot(const char *path)</div><div class="ttdoc">Ouvre la communication avec le robot. </div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00036">robot.cpp:36</a></div></div>
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<div class="ttc" id="definitions_8h_html_a7308179907a0a2989c162865e7a7979a"><div class="ttname"><a href="definitions_8h.html#a7308179907a0a2989c162865e7a7979a">DMB_STOP_MOVE</a></div><div class="ttdeci">#define DMB_STOP_MOVE</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00046">definitions.h:46</a></div></div>
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<div class="ttc" id="robot_8cpp_html_a3fbce7530a62f9287f8a3b85b9c7e4d7"><div class="ttname"><a href="robot_8cpp.html#a3fbce7530a62f9287f8a3b85b9c7e4d7">close_communication_robot</a></div><div class="ttdeci">int close_communication_robot(void)</div><div class="ttdoc">Ferme la communication avec le robot. </div><div class="ttdef"><b>Definition:</b> <a href="robot_8cpp_source.html#l00064">robot.cpp:64</a></div></div>
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<div class="ttc" id="definitions_8h_html_ac6c5492c8100e73f8d30ed36072684db"><div class="ttname"><a href="definitions_8h.html#ac6c5492c8100e73f8d30ed36072684db">DMB_TURN</a></div><div class="ttdeci">#define DMB_TURN</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00041">definitions.h:41</a></div></div>
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<div class="ttc" id="definitions_8h_html_ac48dee90eb71d036d001321674abbb8b"><div class="ttname"><a href="definitions_8h.html#ac48dee90eb71d036d001321674abbb8b">DMB_MOVE</a></div><div class="ttdeci">#define DMB_MOVE</div><div class="ttdef"><b>Definition:</b> <a href="definitions_8h_source.html#l00040">definitions.h:40</a></div></div>
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