car_fmw: carhw stdlib

car_fmw/src/Debug.kt

@@ -0,0 +1,33 @@
+
+object Debug {
+    var PROGRAM_DURATION = 1000
+
+    fun echoUsbTest() {
+        val command = Connection.receiveInt()
+        Connection.sendInt(command)
+        Time.wait(PROGRAM_DURATION)
+    }
+
+    fun simpleRouteTest() {
+        Engine.forward()
+        Leds.blink()
+        Time.wait(PROGRAM_DURATION)
+
+        Engine.right()
+        Leds.blink()
+        Time.wait(PROGRAM_DURATION)
+
+        Engine.backward()
+        Leds.blink()
+        Time.wait(PROGRAM_DURATION)
+
+        Engine.left()
+        Leds.blink()
+        Time.wait(PROGRAM_DURATION)
+    }
+
+    fun blinkTest() {
+        Leds.blink()
+        Time.wait(PROGRAM_DURATION)
+    }
+}

car_fmw/src/blink.kt

@@ -1,7 +0,0 @@
-
-fun blinkProgramm() {
-    while (true) {
-        blink()
-        wait(PROGRAM_DURATION)
-    }
-}

car_fmw/src/echo.kt

@@ -1,31 +1,19 @@
-fun echoUsb() {
-    clear_buffer()
-    while (true) {
-        val command = receive_int()
-        send_int(command)
-
-        blink()
-        wait(PROGRAM_DURATION)
-    }
-
-}
 
 fun echoProto() {
-    clear_buffer()
 
-    set_active_heap(MEMORY_DYNAMIC_HEAP)
+    Memory.setHeap(Memory.DYNAMIC_HEAP)
     while (true) {
         val route = readRoute()
-        blink()
+        Leds.blink()
         go(route)
-        blink()
-        wait(PROGRAM_DURATION)
-        clean_dynamic_heap()
+        Leds.blink()
+        Time.wait(1000)
+        Memory.cleanDynamicHeap()
     }
 }
 
 fun readRoute(): RouteRequest {
-    val buffer = receiveByteArray()
+    val buffer = Connection.receiveByteArray()
     val stream = CodedInputStream(buffer)
     val result = RouteRequest.BuilderRouteRequest(IntArray(0), IntArray(0)).parseFrom(stream).build()
 
@@ -39,6 +27,6 @@ fun writeRoute(route: RouteRequest) {
 
     route.writeTo(stream)
 
-    sendByteArray(buffer)
+    Connection.sendByteArray(buffer)
 }
 

car_fmw/src/include/Button.kt

@@ -0,0 +1,11 @@
+external fun car_user_btn_init(handler: () -> Unit)
+external fun car_user_btn_is_pushed(): Boolean
+external fun EXTI0_IRQHandler()
+
+object Button {
+    fun setCallback(handler: () -> Unit) {
+        car_user_btn_init(handler)
+    }
+
+    fun isPushed(): Boolean = car_user_btn_is_pushed()
+}

car_fmw/src/include/Connection.kt

@@ -0,0 +1,44 @@
+
+external fun car_conn_init()
+external fun car_conn_rcv_buf_clear()
+
+external fun car_conn_snd_byte(b: Byte)
+external fun car_conn_snd_int(i: Int)
+external fun car_conn_snd_buf(size: Int, pointer: Int)
+
+external fun car_conn_rcv_byte(): Byte
+external fun car_conn_rcv_int(): Int
+external fun car_conn_rcv_buf(size: Int, pointer: Int)
+
+object Connection {
+    fun init() {
+        car_conn_init()
+    }
+
+    fun clearBuffer() {
+        car_conn_rcv_buf_clear()
+    }
+
+    fun receiveInt(): Int = car_conn_rcv_int()
+    fun receiveByte(): Byte = car_conn_rcv_byte()
+
+    fun sendInt(n: Int) {
+        car_conn_snd_int(n)
+    }
+
+    fun sendByte(b: Byte) {
+        car_conn_snd_byte(b)
+    }
+
+    fun receiveByteArray(): ByteArray {
+        val result = ByteArray(car_conn_rcv_int())
+        car_conn_rcv_buf(result.size, result.data)
+
+        return result
+    }
+
+    fun sendByteArray(array: ByteArray) {
+        car_conn_snd_int(array.size)
+        car_conn_rcv_buf(array.size, array.data)
+    }
+}

car_fmw/src/include/Engine.kt

@@ -0,0 +1,33 @@
+external fun car_engine_init()
+
+external fun car_engine_stop()
+external fun car_engine_forward()
+external fun car_engine_backward()
+external fun car_engine_turn_left()
+external fun car_engine_turn_right()
+
+object Engine {
+    fun init() {
+        car_engine_init()
+    }
+
+    fun stop() {
+        car_engine_stop()
+    }
+
+    fun forward() {
+        car_engine_forward()
+    }
+
+    fun backward() {
+        car_engine_backward()
+    }
+
+    fun left() {
+        car_engine_turn_left()
+    }
+
+    fun right() {
+        car_engine_turn_right()
+    }
+}

car_fmw/src/include/Leds.kt

@@ -0,0 +1,36 @@
+
+external fun car_leds_init()
+external fun car_leds_clear_all()
+external fun car_led_set(led: Int, on: Boolean)
+
+object Leds {
+    val BLINK_DURATION: Int = 1000
+    val GREEN = 0
+    val ORANGE = 1
+    val RED = 2
+    val BLUE = 3
+
+    fun init() {
+        car_leds_init()
+    }
+
+    fun set(led: Int, on: Boolean) {
+        car_led_set(led, on)
+    }
+
+    fun switchAll(on: Boolean) {
+        car_led_set(GREEN, on)
+        car_led_set(BLUE, on)
+        car_led_set(RED, on)
+        car_led_set(ORANGE, on)
+    }
+
+    fun blink() {
+        switchAll(true)
+        Time.wait(BLINK_DURATION)
+        switchAll(false)
+    }
+}
+
+
+

car_fmw/src/include/Memory.kt

@@ -0,0 +1,16 @@
+
+external fun set_active_heap(heap: Int)
+external fun clean_dynamic_heap()
+
+object Memory {
+    val STATIC_HEAP = 0
+    val DYNAMIC_HEAP = 1
+
+    fun setHeap(heap: Int) {
+        set_active_heap(heap)
+    }
+
+    fun cleanDynamicHeap() {
+        clean_dynamic_heap()
+    }
+}

car_fmw/src/include/Time.kt

@@ -0,0 +1,16 @@
+
+external fun car_time_init()
+external fun car_time_wait(msec: Int)
+external fun car_time_get_timestamp(): Int
+
+object Time {
+    fun init() {
+        car_time_init()
+    }
+
+    fun wait(msec: Int) {
+        car_time_wait(msec)
+    }
+
+    fun getTimestamp(): Int = car_time_get_timestamp()
+}

car_fmw/src/include/communication.kt

@@ -1,20 +0,0 @@
-
-external fun VCP_init()
-external fun clear_buffer()
-
-external fun send_int(i: Int)
-external fun send_buffer(size: Int, pointer: Int)
-
-external fun receive_int(): Int
-external fun receive_buffer(size: Int, pointer: Int)
-
-fun receiveByteArray(): ByteArray {
-    val result = ByteArray(receive_int())
-    receive_buffer(result.size, result.data)
-
-    return result
-}
-
-fun sendByteArray(arr: ByteArray) {
-    send_buffer(arr.size, arr.data)
-}

car_fmw/src/include/engine.kt

@@ -1,8 +0,0 @@
-
-external fun engine_init()
-
-external fun engine_stop()
-external fun engine_forward()
-external fun engine_backward()
-external fun engine_turn_left()
-external fun engine_turn_right()

car_fmw/src/include/general.kt

@@ -1,8 +0,0 @@
-
-fun init() {
-    time_init()
-    engine_init()
-    leds_init()
-    VCP_init()
-    clear_buffer()
-}

car_fmw/src/include/leds.kt

@@ -1,31 +0,0 @@
-
-external fun leds_init()
-external fun leds_clear_all()
-external fun led_set(led: Int, on: Boolean)
-
-val LED_GREEN = 0
-val LED_ORANGE = 1
-val LED_RED = 2
-val LED_BLUE = 3
-
-val BLINK_DURATION: Int = 1000
-
-fun led_on() {
-    led_set(LED_GREEN, true)
-    led_set(LED_BLUE, true)
-    led_set(LED_RED, true)
-    led_set(LED_ORANGE, true)
-}
-
-fun led_off() {
-    led_set(LED_GREEN, false)
-    led_set(LED_BLUE, false)
-    led_set(LED_RED, false)
-    led_set(LED_ORANGE, false)
-}
-
-fun blink() {
-    led_on()
-    wait(BLINK_DURATION)
-    led_off()
-}

car_fmw/src/include/memory.kt

@@ -1,6 +0,0 @@
-
-val MEMORY_STATIC_HEAP = 0
-val MEMORY_DYNAMIC_HEAP = 1
-
-external fun set_active_heap(heap: Int)
-external fun clean_dynamic_heap()

car_fmw/src/include/time.kt

@@ -1,4 +0,0 @@
-
-external fun time_init()
-
-external fun wait(msec: Int)

car_fmw/src/include/user_btn.kt

@@ -1,4 +0,0 @@
-
-external fun user_btn_init(handler: () -> Unit)
-external fun user_btn_is_pushed(): Boolean
-external fun EXTI0_IRQHandler()

car_fmw/src/main.kt

@@ -1,20 +1,11 @@
 
-
-val PROGRAM_DURATION: Int = 1000
-
-val ROTATE_TIME = 500
-val STABILIZATION_TIME = 100
-
-fun rotateLeftHack() {
-    engine_turn_left()
-    wait(ROTATE_TIME)
-    engine_forward()
-    wait(STABILIZATION_TIME)
-    engine_backward()
-    wait(STABILIZATION_TIME)
-}
-
 fun main() {
-    init()
+    /* init hardware */
+    Time.init()
+    Engine.init()
+    Leds.init()
+    Connection.init()
+
+    /* run test */
     echoProto()
 }

car_fmw/src/proto_src/Direction.kt

@@ -1,3 +1,4 @@
+
 class DirectionRequest private constructor (var command: DirectionRequest.Command, var sid: Int) {
   //========== Properties ===========
   //enum command = 1

car_fmw/src/proto_src/Route.kt

@@ -1,3 +1,4 @@
+
 class RouteRequest private constructor (var distances: IntArray, var angles: IntArray) {
   //========== Properties ===========
   //repeated int32 distances = 1

car_fmw/src/rcControl.kt

@@ -16,14 +16,14 @@ fun go(request: RouteRequest) {
         val action = actions[j]
 
         when (action) {
-            RouteType.FORWARD.id -> engine_forward()
-            RouteType.BACKWARD.id -> engine_backward()
-            RouteType.LEFT.id -> engine_turn_left()
-            RouteType.RIGHT.id -> engine_turn_right()
+            RouteType.FORWARD.id -> Engine.forward()
+            RouteType.BACKWARD.id -> Engine.backward()
+            RouteType.LEFT.id -> Engine.left()
+            RouteType.RIGHT.id -> Engine.right()
         }
 
-        wait(time)
-        engine_stop()
+        Time.wait(time)
+        Engine.stop()
         j++
     }
 

car_fmw/src/simpleRoute.kt

@@ -1,20 +0,0 @@
-
-fun simpleRoute() {
-    while (true) {
-        engine_forward()
-        wait(PROGRAM_DURATION)
-        blink()
-
-        engine_turn_right()
-        wait(PROGRAM_DURATION)
-        blink()
-
-        engine_backward()
-        wait(PROGRAM_DURATION)
-        blink()
-
-        engine_turn_left()
-        wait(PROGRAM_DURATION)
-        blink()
-    }
-}