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/****************************************************************
** OrangeBot Project
*****************************************************************
** /
** /
** /
** ______ \
** \
** \
*****************************************************************
** Project
*****************************************************************
** Brief
****************************************************************/
/****************************************************************
** DESCRIPTION
****************************************************************
** This file implements the UART command protocols for the OrangeBot
** system, including ping, signature, revision, stop, and velocity commands.
****************************************************************/
/****************************************************************
** HISTORY VERSION
****************************************************************
** 2025-11-09 - Initial implementation of UART command protocols
****************************************************************/
/****************************************************************
** KNOWN BUGS
****************************************************************
**
****************************************************************/
/****************************************************************
** TODO
****************************************************************
** - Add error handling for invalid command parameters
** - Implement proper timeout management for connection reset
** - Add unit tests for all command handlers
****************************************************************/
/****************************************************************
** INCLUDES
****************************************************************/
//Standard C Libraries
#include <stdint.h>
//Standard C++ libraries
#include <iostream>
#include <string>
//OS Libraries
//#define _WIN32_WINNT 0x0500 //Enable GetConsoleWindow
//#include <windows.h>
//User Libraries
//Include user log trace
#define ENABLE_DEBUG
#include "debug.h"
//Universal parser class
#include "uniparser.h"
/****************************************************************
** NAMESPACES
****************************************************************/
//Never use a whole namespace. Use only what you need from it.
using std::cout;
using std::endl;
/****************************************************************
** DEFINES
****************************************************************/
/****************************************************************
** MACROS
****************************************************************/
/****************************************************************
** PROTOTYPES
****************************************************************/
extern bool test_bench( void );
//Feed a string to the parser
extern void parser_executor( Orangebot::Uniparser &my_parser, uint8_t *ptr );
//Initialize and register the commands
extern bool init_parser_commands( Orangebot::Uniparser &parser_tmp );
//UART Command Handlers
extern void handle_ping(void);
extern void handle_sign(void);
extern void handle_revision(void);
extern void handle_stop(void);
extern void handle_set_velocity(int16_t right_speed, int16_t left_speed);
extern void handle_set_velocity_timed(int8_t right_speed, int8_t left_speed, uint8_t time);
/****************************************************************
** GLOBAL VARIABILES
****************************************************************/
//User::Dummy my_class;
/****************************************************************
** FUNCTIONS
****************************************************************/
/****************************************************************************
** Function
** main |
****************************************************************************/
//! @return bool |
//! @brief Main entry point for OrangeBot project
//! @details Initializes the system and runs test bench
/***************************************************************************/
int main()
{
//----------------------------------------------------------------
// STATIC VARIABILE
//----------------------------------------------------------------
//----------------------------------------------------------------
// LOCAL VARIABILE
//----------------------------------------------------------------
//----------------------------------------------------------------
// CHECK AND INITIALIZATIONS
//----------------------------------------------------------------
//Start Debugging. Show function nesting level 0 and above
DSTART( 0 );
//Trace Enter main
DENTER();
//----------------------------------------------------------------
// BODY
//----------------------------------------------------------------
cout << "OrangeBot Projects\n";
//print in the 'debug.log' file. works just like a fully featured printf
DPRINT("OrangeBot Projects\n");
test_bench();
//----------------------------------------------------------------
// FINALIZATIONS
//----------------------------------------------------------------
//Trace Return from main
DRETURN();
//Stop Debugging
DSTOP();
return 0;
} //end function: main
/****************************************************************************
** Function
** test_bench | void
****************************************************************************/
//! @param f bool
//! @return bool |
//! @brief Runs comprehensive tests for the parser with UART commands
//! @details Tests all implemented UART command protocols
/***************************************************************************/
bool test_bench( void )
{
//Trace Enter with arguments
DENTER();
//----------------------------------------------------------------
// VARS
//----------------------------------------------------------------
//Create a new parser
Orangebot::Uniparser my_parser;
//----------------------------------------------------------------
// INIT
//----------------------------------------------------------------
//----------------------------------------------------------------
// BODY
//----------------------------------------------------------------
//! @details algorithm:
init_parser_commands( my_parser );
//----------------------------------------------------------------
// TEST EXECUTION
//----------------------------------------------------------------
printf("---------------------------------------------------\n");
printf("Testing UART Command Protocols\n");
printf("---------------------------------------------------\n");
// Test ping command
parser_executor( my_parser, (uint8_t *)"P\0" );
// Test signature command
parser_executor( my_parser, (uint8_t *)"F\0" );
// Test revision command
parser_executor( my_parser, (uint8_t *)"REV\0" );
// Test stop command
parser_executor( my_parser, (uint8_t *)"STOP\0" );
// Test velocity command
parser_executor( my_parser, (uint8_t *)"VR+100L-50\0" );
// Test timed velocity command
parser_executor( my_parser, (uint8_t *)"T234VR+123L-123\0" );
parser_executor( my_parser, (uint8_t *)"P\0" );
//----------------------------------------------------------------
// RETURN
//----------------------------------------------------------------
//Trace Return vith return value
DRETURN_ARG("out: %d\n", 0);
return true; //OK
} //end main
/****************************************************************************
** Function
** parser_executor | Orangebot::Uniparser &, uint8_t *
****************************************************************************/
//! @param parser |
//! @param str |
//! @brief Feeds a string to the parser for processing
//! @details Processes each character in the input string and feeds it to the parser
/***************************************************************************/
void parser_executor( Orangebot::Uniparser &my_parser, uint8_t *ptr )
{
//Trace Enter with arguments
DENTER_ARG("in: %d\n", 0);
//----------------------------------------------------------------
// VARS
//----------------------------------------------------------------
//----------------------------------------------------------------
// INIT
//----------------------------------------------------------------
//----------------------------------------------------------------
// BODY
//----------------------------------------------------------------
uint8_t t = 0;
//While: String not over
while ((t == 0) || ((t >= 1) && !((ptr[t] == '\0') && (ptr[t-1] == '\0'))))
{
//Print char
if ((ptr[t] >= '0') || (ptr[t] >= 'z') || (ptr[t] == '-') || (ptr[t] == '+'))
{
printf("feed: >0x%x< >%c<\n", ptr[t], ptr[t]);
}
else
{
printf("feed: >0x%x<\n", ptr[t]);
}
//Feed char to parser
my_parser.parse(ptr[t]);
//Next char
t++;
if (t> 128)
{
printf("infinite loop detected. Maybe you forgot \\0 at end of string?\n");
exit(0);
}
}
//Feed an additional terminator
my_parser.parse('\0');
//----------------------------------------------------------------
// RETURN
//----------------------------------------------------------------
//Trace Return vith return value
DRETURN();
return; //OK
} //end function: parser_executor | Orangebot::Uniparser & | uint8_t *
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