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/*
* Class to handle internal communications in the machine via RS485
*
* Adrian Bowyer 3 July 2009
*
*/
#include "intercom.h"
intercom::intercom()
{
reset();
pinMode(RX_ENABLE_PIN, OUTPUT);
pinMode(TX_ENABLE_PIN, OUTPUT);
digitalWrite(RX_ENABLE_PIN, 0); //always listen.
serialInterface.begin(RS485_BAUD);
}
void intercom::sendPacket(char* to, char* string)
{
digitalWrite(TX_ENABLE_PIN, 1);
serialInterface.print(to[0]); // Make sure we send exactly two bytes
serialInterface.print(to[1]);
serialInterface.print(MY_NAME); // This should be two bytes
serialInterface.println(string);
digitalWrite(TX_ENABLE_PIN, 0);
}
void intercom::sendPacketWithReply(char* to, char* string, char* resp, int len)
{
sendPacket(to, string);
getPacket(resp, len);
}
void intercom::getPacket(char* string, int len)
{
int i = -1;
ok = true;
do
{
while(!serialInterface.available());
i++;
// Stop runaway buffer overflow
if(i >= len)
{
ok = false;
i--;
} else
string[i] = serialInterface.read();
} while(string[i] != '\n' && ok);
string[i] = 0;
}
void intercom::reset()
{
buf_pointer = 0;
reply[0] = 0;
}
void intercom::acknowledgeAndReset(char* to)
{
if(!reply[0])
reply[1] = 0;
reply[0] = ACK;
talker.sendPacket(to, reply);
reset();
}
void intercom::getAndProcessCommand()
{
if(!serialInterface.available())
return;
buffer[buf_pointer] = serialInterface.read();
if(buffer[buf_pointer] == '\n')
{
buffer[buf_pointer] = 0;
if(!sameName(buffer, MY_NAME)) // For me?
{
reset(); // No
return;
}
ex.processCommand(&buffer[4]);
acknowledgeAndReset(&buffer[2]);
}else
buf_pointer++;
if(buf_pointer >= BUF_LEN)
{
reset();
setReply(" !Buffer overrun");
}
}
void intercom::setReply(char* string)
{
strcpy(reply, string);
}
void intercom::addReply(char* string)
{
strcat(reply, string);
}
char* intercom::getReply()
{
return reply;
}
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