source: rtos_arduino/trunk/arduino_lib/libraries/Ciao/src/Ciao.cpp@ 136

/*
****************************************************************************
* Copyright (c) 2015 Arduino srl. All right reserved.
*
* File : Ciao.cpp
* Date : 2015/09/17
* Revision : 0.0.1 $
* Author: andrea[at]arduino[dot]org
*
****************************************************************************
  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General Public
  License along with this library; if not, write to the Free Software
  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/

#include "Ciao.h"

CiaoClass::CiaoClass(Stream &_stream) :
  stream(_stream), started(false) {
  // Empty
}

void CiaoClass::begin() {
        
        String start;
        String stop;

  // Wait for U-boot to finish startup
        do {
                dropAll();
                delay(1000);
        }while (stream.available() > 0);

        stream.println("ciao;r;status");                                        //check the bridge python status        
        String status = stream.readStringUntil(END_TX_CHAR);
        if(status == "1;running"){                                              
                do{                                                                                             //kill a istance of the bridge.py
                        stream.println("ciao;w;quit");
                        stop = stream.readStringUntil(END_TX_CHAR);
                        delay(3000);
                }while(stop != "1;done");
    }
        do{ 
                stream.print(F("run-ciao\n"));                          //start bridge python
                stream.readStringUntil(END_TX_CHAR);
                delay(3000);
                stream.println("ciao;r;status");                                //check if bridge python is running
                start = stream.readStringUntil(END_TX_CHAR);
        }while (start != "1;running");
}

CiaoData CiaoClass::read( String connector) {
        
        CiaoData data;
        stream.println(connector + ";r");                                       // send read request 
        String message = stream.readStringUntil(END_TX_CHAR);
        data = parse(message, ";");
        return data;
}

void CiaoClass::write(String connector, String param1, String param2 , String param3 ) {

        CiaoData data;
        if (param1 != ""){
                stream.print(connector+";w;");
                stream.print(param1);
        }
        if (param2 != ""){
                stream.print(DATA_SPLIT_CHAR);
                stream.print(param2);
        }
        if (param3 != ""){
                stream.print(DATA_SPLIT_CHAR);
                stream.print(param3);
        }
        stream.println();
        String mess_receive = stream.readStringUntil(END_TX_CHAR);
        data = parse(mess_receive, ";");
        
}

void CiaoClass::writeResponse( String connector, String id, String param1, String param2 , String param3) {

        CiaoData data;
        if(id.length()> ID_SIZE_TX){
                if (param1 != ""){
                        stream.print(connector+";wr;");
                        stream.print(id+";");
                        stream.print(param1);
                }
                if (param2 != ""){
                        stream.print(DATA_SPLIT_CHAR);
                        stream.print(param2);
                }
                if (param3 != ""){
                        stream.print(DATA_SPLIT_CHAR);
                        stream.print(param3);
                }
                stream.println();
                String mess_receive = stream.readStringUntil(END_TX_CHAR);
                data = parse(mess_receive, ";");
        }
}

CiaoData CiaoClass::parse(String message, String split){
        String status;
        CiaoData data;
        int statusIndex = message.indexOf(split);
        int messIndex = message.indexOf(split, statusIndex+1);
        status = message.substring(0, statusIndex);                             //message status (0: no message; 1:data ready; -1:error)

        if(status == ID_READY && message.substring(statusIndex+1, messIndex) != "done"){
                data.msg_split[0]=message.substring(statusIndex+1, messIndex);
                data.parseMessage(message.substring(messIndex+1));      //parsing data received
        }
        else{
                data.msg_split[0] = status;
                data.msg_split[2] = message.substring(statusIndex+1, messIndex);
        }
        return data;
}

void CiaoClass::dropAll() {
  while (stream.available() > 0) {
    stream.read();
  }
}

//fuction to split command (ex: digital/13/1)
void splitString(String command, String split, String msg[], int size){         
          
        for(int a=0;a< size ;a++)               //initialize array element to -1
                msg[a]= ID_ERROR;
        char buf[command.length()+1];
        command.toCharArray(buf, command.length()+1);
        char* array;
        const char splt[1]= {split.charAt(0)};
        int i=0;
        array = strtok (buf,splt);
        while (array != NULL){  
                msg[i]=String(array);
                array = strtok (NULL, splt);
                i++; 
        }
}

// Ciao instance
#ifdef __AVR_ATmega32U4__
// Leonardo variants (where HardwareSerial is Serial1)
SerialCiaoClass Ciao(Serial1);
#else
SerialCiaoClass Ciao(Serial);
#endif