From b4dbfe735fd471025ce20ac2b5b6dd429a08b1ee Mon Sep 17 00:00:00 2001 From: 45coll <674148718@qq.com> Date: Sat, 9 Oct 2021 16:07:38 +0800 Subject: [PATCH] =?UTF-8?q?command=E5=AE=8C=E6=88=90?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- arduino/head_file_test/main/Command.cpp | 28 ++++++++ arduino/head_file_test/main/Command.h | 17 +++++ arduino/head_file_test/main/main.ino | 11 ++++ arduino/main/Command.cpp | 28 ++++++++ arduino/main/Command.h | 17 +++++ arduino/main/main.ino | 2 + ctest/{com.cpp => Command.cpp} | 14 ++-- ctest/{com.h => Command.h} | 8 +-- ctest/Command.o | Bin 0 -> 1706 bytes ctest/Makefile.win | 31 +++++++++ ctest/ctest1.cpp | 23 ++----- ctest/main.cpp | 32 +++++++++ ctest/main.o | Bin 0 -> 2302 bytes ctest/项目1.layout | 8 +++ ctest/项目2.dev | 82 ++++++++++++++++++++++++ ctest/{ctest1.exe => 项目2.exe} | Bin 133731 -> 134754 bytes ctest/项目2.layout | 8 +++ 17 files changed, 281 insertions(+), 28 deletions(-) create mode 100644 arduino/head_file_test/main/Command.cpp create mode 100644 arduino/head_file_test/main/Command.h create mode 100644 arduino/head_file_test/main/main.ino create mode 100644 arduino/main/Command.cpp create mode 100644 arduino/main/Command.h rename ctest/{com.cpp => Command.cpp} (53%) rename ctest/{com.h => Command.h} (72%) create mode 100644 ctest/Command.o create mode 100644 ctest/Makefile.win create mode 100644 ctest/main.cpp create mode 100644 ctest/main.o create mode 100644 ctest/项目1.layout create mode 100644 ctest/项目2.dev rename ctest/{ctest1.exe => 项目2.exe} (60%) create mode 100644 ctest/项目2.layout diff --git a/arduino/head_file_test/main/Command.cpp b/arduino/head_file_test/main/Command.cpp new file mode 100644 index 0000000..9c54a6b --- /dev/null +++ b/arduino/head_file_test/main/Command.cpp @@ -0,0 +1,28 @@ +#include "Command.h" + +void Command::run(char* str){ + for(int i=0; i < call_count; i++){ + if(isSentinel(call_ids[i],str)){ // case : call_ids = "T2" str = "T215.15" + call_list[i](str+strlen(call_ids[i])); // get 15.15 input function + break; + } + } +} +void Command::add(char* id, CommandCallback onCommand){ + call_list[call_count] = onCommand; + call_ids[call_count] = id; + call_count++; +} +void Command::scalar(float* value, char* user_cmd){ + *value = atof(user_cmd); +} +bool Command::isSentinel(char* ch,char* str) +{ + char s[strlen(ch)+1]; + strncpy(s,str,strlen(ch)); + s[strlen(ch)] = '\0'; //strncpy need add end '\0' + if(strcmp(ch, s) == 0) + return true; + else + return false; +} diff --git a/arduino/head_file_test/main/Command.h b/arduino/head_file_test/main/Command.h new file mode 100644 index 0000000..20e2fe5 --- /dev/null +++ b/arduino/head_file_test/main/Command.h @@ -0,0 +1,17 @@ +#include +// callback function pointer definiton +typedef void (* CommandCallback)(char*); //!< command callback function pointer +class Command +{ + public: + void add(char* id , CommandCallback onCommand); + void run(char* str); + void scalar(float* value, char* user_cmd); + bool isSentinel(char* ch,char* str); + private: + // Subscribed command callback variables + CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number + char* call_ids[20]; //!< added callback commands + int call_count;//!< number callbacks that are subscribed + +}; diff --git a/arduino/head_file_test/main/main.ino b/arduino/head_file_test/main/main.ino new file mode 100644 index 0000000..915d5ff --- /dev/null +++ b/arduino/head_file_test/main/main.ino @@ -0,0 +1,11 @@ +#include "Command.h" +Command command;//声明一个自己的该类的对象 +void setup() { + // put your setup code here, to run once: + +} + +void loop() { + // put your main code here, to run repeatedly: + +} diff --git a/arduino/main/Command.cpp b/arduino/main/Command.cpp new file mode 100644 index 0000000..9c54a6b --- /dev/null +++ b/arduino/main/Command.cpp @@ -0,0 +1,28 @@ +#include "Command.h" + +void Command::run(char* str){ + for(int i=0; i < call_count; i++){ + if(isSentinel(call_ids[i],str)){ // case : call_ids = "T2" str = "T215.15" + call_list[i](str+strlen(call_ids[i])); // get 15.15 input function + break; + } + } +} +void Command::add(char* id, CommandCallback onCommand){ + call_list[call_count] = onCommand; + call_ids[call_count] = id; + call_count++; +} +void Command::scalar(float* value, char* user_cmd){ + *value = atof(user_cmd); +} +bool Command::isSentinel(char* ch,char* str) +{ + char s[strlen(ch)+1]; + strncpy(s,str,strlen(ch)); + s[strlen(ch)] = '\0'; //strncpy need add end '\0' + if(strcmp(ch, s) == 0) + return true; + else + return false; +} diff --git a/arduino/main/Command.h b/arduino/main/Command.h new file mode 100644 index 0000000..20e2fe5 --- /dev/null +++ b/arduino/main/Command.h @@ -0,0 +1,17 @@ +#include +// callback function pointer definiton +typedef void (* CommandCallback)(char*); //!< command callback function pointer +class Command +{ + public: + void add(char* id , CommandCallback onCommand); + void run(char* str); + void scalar(float* value, char* user_cmd); + bool isSentinel(char* ch,char* str); + private: + // Subscribed command callback variables + CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number + char* call_ids[20]; //!< added callback commands + int call_count;//!< number callbacks that are subscribed + +}; diff --git a/arduino/main/main.ino b/arduino/main/main.ino index 62f5ec6..14f411d 100644 --- a/arduino/main/main.ino +++ b/arduino/main/main.ino @@ -7,6 +7,7 @@ Deng's FOC 闭环速度控制例程 测试库：SimpleFOC 2.1.1 测试硬件： 默认PID针对的电机是 GB6010 ，使用自己的电机需要修改PID参数，才能实现更好效果 */ #include +#include "Command.h" #include #include //引用以使用异步UDP #include // Source: https://github.com/TKJElectronics/KalmanFilter @@ -65,6 +66,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22); //命令设置 +Command command; double target_velocity = 0; double target_angle = 91; double target_voltage = 0; diff --git a/ctest/com.cpp b/ctest/Command.cpp similarity index 53% rename from ctest/com.cpp rename to ctest/Command.cpp index 58c3cb1..3933a55 100644 --- a/ctest/com.cpp +++ b/ctest/Command.cpp @@ -1,8 +1,11 @@ -#include "com.h" +#include "Command.h" +#include +#include +#include void Command::run(char* str){ for(int i=0; i < call_count; i++){ - if(call_ids[i]){ - call_list[i](&str); + if(isSentinel(call_ids[i],str)){ // case : call_ids = "T2" str = "T215.15" + call_list[i](str+strlen(call_ids[i])); // get 15.15 input function break; } } @@ -15,10 +18,11 @@ void Command::add(char* id, CommandCallback onCommand){ void Command::scalar(float* value, char* user_cmd){ *value = atof(user_cmd); } -bool Commander::isSentinel(char* ch,char* str) +bool Command::isSentinel(char* ch,char* str) { - char s[strlen(ch)]; + char s[strlen(ch)+1]; strncpy(s,str,strlen(ch)); + s[strlen(ch)] = '\0'; //strncpy need add end '\0' if(strcmp(ch, s) == 0) return true; else diff --git a/ctest/com.h b/ctest/Command.h similarity index 72% rename from ctest/com.h rename to ctest/Command.h index 0c4a509..ff73c50 100644 --- a/ctest/com.h +++ b/ctest/Command.h @@ -5,12 +5,12 @@ class Command public: void add(char* id , CommandCallback onCommand); void run(char* str); - void Command::scalar(float* value, char* user_cmd); - bool Commander::isSentinel(char* ch); + void scalar(float* value, char* user_cmd); + bool isSentinel(char* ch,char* str); private: // Subscribed command callback variables CommandCallback call_list[20];//!< array of command callback pointers - 20 is an arbitrary number char* call_ids[20]; //!< added callback commands - int call_count = 0;//!< number callbacks that are subscribed + int call_count;//!< number callbacks that are subscribed -} +}; diff --git a/ctest/Command.o b/ctest/Command.o new file mode 100644 index 0000000000000000000000000000000000000000..e26f4f9f6b9fc6921e420a6c5cd7f0dc9ae74bd6 GIT binary patch literal 1706 zcmZuxPiWI%6#vqsTMu(BtZENC1nFUd#yX2S_0Te--^58_Mn#=n*FQSecBRc^4%9)M z7(>C67d?3N(37WK#C8+iv8c!n9(EB18z`Oziu1iMf0npC$d~ti@Av-XC3(5W9R#H! z5E5aUKqNIkqcYt*L?0mnN62g5v;%MxNoq{WWz>v|x0{+EsirhutL^4R ztqHWXDwvZx_@36!Mn!NyR{51TXA4Y#6f&eQJC!_D;r+<3J_sQgmf{JXZ%%hEz!1s0 zf5B|#8?EOTZrn;IZze}!E^gtvh52s2W84?xQk>xP3q0Hdyg$&78X;UbFdyc-#sjg= zv5tzr$+riulJt)Sd0jVEg zM~a|fj6fm~y_adXtULmF4q6Yx-Z!-r^|9G>wz-496+gacSmAr+3h)A%Vvt1 ks+=l#BaX% #include #include -#include "com.h" +#include "Command.h" +Command command; char buf[255]; void wifi_print(char * s,double num) { @@ -18,24 +19,8 @@ void re_command(float *num) { *num = *num + 1; } -char* str = "abc23"; -char* cmd_id = "abc"; +//void doTarget(char* cmd) { command.scalar(&v, cmd); } main() { - re_command(&v); - char s[strlen(cmd_id)]; - - strncpy(s,str,strlen(cmd_id)); - printf("%s", s); - if(strcmp(cmd_id, s) == 0) - { - printf("%f", v); - v = atof(str+strlen(cmd_id)); - printf("%f", v); - } - -// char* da; -// da = "123456"; -// if (da[0] == '2') - +command.run(); } diff --git a/ctest/main.cpp b/ctest/main.cpp new file mode 100644 index 0000000..b23785b --- /dev/null +++ b/ctest/main.cpp @@ -0,0 +1,32 @@ +#include +#include +#include +#include "Command.h" +Command command; +char buf[255]; +void wifi_print(char * s,double num) +{ + char str[255]; + char n[255]; + sprintf(n, "%.2f",num); + strcpy(str,s); + strcat(str, n); + strcat(buf+strlen(buf), str); + strcat(buf, ","); +} +float v = 0; +float a = 0; +void re_command(float *num) +{ + *num = *num + 1; +} +void doTarget_v(char* cmd) { command.scalar(&v, cmd); } +void doTarget_a(char* cmd) { command.scalar(&a, cmd); } +main() +{ + command.add("T", doTarget_v); + command.add("A", doTarget_a); + command.run("A2233"); + printf("%.2f",v); + printf("%.2f",a); +} diff --git a/ctest/main.o b/ctest/main.o new file mode 100644 index 0000000000000000000000000000000000000000..6bcc5b48803b23c3cb067adf499facb34d6a6490 GIT binary patch literal 2302 zcma)7O=ufO7@gHhsRKz@4h{4-T_+AW;BFP!q-ilkK~*yWH!O)oOGwymByCXfk18up 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