diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 9817c0f235ffa25c76bf4d744b4d22511c4f571e..8203d5ce8ed19e37ce6cfe4b324e02de81133183 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -2,7 +2,7 @@ ADD_SUBDIRECTORY(mtn)
ADD_SUBDIRECTORY(bin)
# locate the necessary dependencies
# add the necessary include directories
-INCLUDE_DIRECTORIES(. ./mtn)
+INCLUDE_DIRECTORIES(. ./mtn ./bin)
INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR}/mtn)
# application source files
SET(sources bioloid_motion_pages.cpp)
diff --git a/src/bioloid_motion_pages.cpp b/src/bioloid_motion_pages.cpp
index 27fa5098ac654da96fc2374b7ab46c5bcbfcb5d0..557ecd62516cc5cd95f53faeac70c5302f4d7a91 100755
--- a/src/bioloid_motion_pages.cpp
+++ b/src/bioloid_motion_pages.cpp
@@ -3,10 +3,13 @@
#include <string.h>
#include "mtn_file_parser.hpp"
+#include "bin_file_parser.h"
int main(const int argc,char *argv[])
{
std::vector<unsigned short int> angles;
+ MTN::MTN_File_Parser mtn_parser;
+ CBinFileParser bin_parser;
unsigned int i=0,j=0,k=0;
CMtnFile *motions;
CMtnPage *page;
@@ -21,9 +24,13 @@ int main(const int argc,char *argv[])
{
if(strstr(argv[1],".mtn")!=NULL)
{
+ mtn_parser.parse(argv[1]);
+ motions=mtn_parser.get_motions();
}
else if(strstr(argv[1],".bin")!=NULL)
{
+ bin_parser.parse(argv[1]);
+ motions=bin_parser.get_motions();
}
else
{
@@ -31,10 +38,7 @@ int main(const int argc,char *argv[])
return (EXIT_FAILURE);
}
}
- MTN::MTN_File_Parser mtn_parser;
- mtn_parser.parse(argv[1]);
- motions=mtn_parser.get_motions();
-
+ /* show motion pages */
std::cout << "Num. pages: " << motions->get_num_pages() << std::endl;
for(i=0;i<motions->get_num_pages();i++)
{
@@ -59,6 +63,10 @@ int main(const int argc,char *argv[])
}
}
+ /* generate the stm32 c code for the motion pages */
+ std::cout << "#include \"motion_pages.h\"\n" << std::endl << std::endl;
+ std::cout << "TPage motion_pages[MAX_PAGES] __attribute__ ((section (\".pages\")))={\n" << std::endl;
+
return(EXIT_SUCCESS);
}
diff --git a/src/mtn_file.cpp b/src/mtn_file.cpp
deleted file mode 100644
index 7fe8e0d96c3c0b733dcb6a27d7df5de31d500485..0000000000000000000000000000000000000000
--- a/src/mtn_file.cpp
+++ /dev/null
@@ -1,154 +0,0 @@
-#include "mtn_file.h"
-
-CMtnFile::CMtnFile()
-{
- this->type="";
- this->version=0.0;
- this->enable.clear();
- this->motor_type.clear();
- this->pages.clear();
-}
-
-void CMtnFile::set_type(std::string &type)
-{
- this->type=type;
-}
-
-void CMtnFile::set_version(double version)
-{
- this->version=version;
-}
-
-void CMtnFile::set_num_servos(unsigned int num_servos)
-{
- this->enable.resize(num_servos);
- this->motor_type.resize(num_servos);
-}
-
-void CMtnFile::set_enable(unsigned int servo,bool enable)
-{
- if(servo>this->enable.size())
- {
- /* handle errors */
- }
- else
- this->enable[servo]=enable;
-}
-
-void CMtnFile::set_enables(std::vector<bool> &enables)
-{
- unsigned int i=0;
-
- if(this->enable.size()!=enables.size())
- {
- /* handle errors */
- }
- else
- for(i=0;i<this->enable.size();i++)
- this->enable[i]=enables[i];
-}
-
-void CMtnFile::set_motor_type(unsigned int servo, int motor_type)
-{
- if(servo>this->motor_type.size())
- {
- /* handle errors */
- }
- else
- this->motor_type[servo]=motor_type;
-}
-
-void CMtnFile::set_motor_types(std::vector<int> &motor_types)
-{
- unsigned int i=0;
-
- if(this->motor_type.size()!=motor_types.size())
- {
- /* handle errors */
- }
- else
- for(i=0;i<this->motor_type.size();i++)
- this->motor_type[i]=motor_types[i];
-}
-
-void CMtnFile::add_page(CMtnPage *page)
-{
- this->pages.push_back(page);
-}
-
-std::string CMtnFile::get_type(void)
-{
- return this->type;
-}
-
-double CMtnFile::get_version(void)
-{
- return this->version;
-}
-
-unsigned int CMtnFile::get_num_servos(void)
-{
- return this->enable.size();
-}
-
-bool CMtnFile::get_enable(unsigned int servo)
-{
- if(servo>this->enable.size())
- {
- /* handle errors */
- }
- else
- return this->enable[servo];
-}
-
-std::vector<bool> CMtnFile::get_enables(void)
-{
- return this->enable;
-}
-
-int CMtnFile::get_motor_type(unsigned int servo)
-{
- if(servo>this->motor_type.size())
- {
- /* handle errors */
- }
- else
- return this->motor_type[servo];
-}
-
-std::vector<int> CMtnFile::get_motor_types(void)
-{
- return this->motor_type;
-}
-
-unsigned int CMtnFile::get_num_pages(void)
-{
- return this->pages.size();
-}
-
-CMtnPage *CMtnFile::get_page(unsigned int page)
-{
- if(page>this->pages.size())
- {
- /* handle errors */
- }
- else
- return this->pages[page];
-}
-
-CMtnFile::~CMtnFile()
-{
- unsigned int i=0;
-
- this->type="";
- this->version=0.0;
- this->enable.clear();
- this->motor_type.clear();
- for(i=0;i<this->pages.size();i++)
- {
- delete this->pages[i];
- this->pages[i]=NULL;
- }
- this->pages.clear();
-}
-
diff --git a/src/mtn_file.h b/src/mtn_file.h
deleted file mode 100644
index edd2f5591c5bbd5102f290c9f112a1fc515b012b..0000000000000000000000000000000000000000
--- a/src/mtn_file.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#ifndef _MTN_FILE_H
-#define _MTN_FILE_H
-
-#include "mtn_page.h"
-
-class CMtnFile
-{
- private:
- std::string type;
- double version;
- std::vector<bool> enable;
- std::vector<int> motor_type;
- std::vector<CMtnPage *> pages;
- public:
- CMtnFile();
- void set_type(std::string &type);
- void set_version(double version);
- void set_num_servos(unsigned int num_servos);
- void set_enable(unsigned int servo,bool enable);
- void set_enables(std::vector<bool> &enables);
- void set_motor_type(unsigned int servo, int motor_type);
- void set_motor_types(std::vector<int> &motor_types);
- void add_page(CMtnPage *page);
- std::string get_type(void);
- double get_version(void);
- unsigned int get_num_servos(void);
- bool get_enable(unsigned int servo);
- std::vector<bool> get_enables(void);
- int get_motor_type(unsigned int servo);
- std::vector<int> get_motor_types(void);
- unsigned int get_num_pages(void);
- CMtnPage *get_page(unsigned int page);
- ~CMtnFile();
-};
-
-#endif
diff --git a/src/mtn_page.cpp b/src/mtn_page.cpp
deleted file mode 100644
index ea95321bb365edc54209971ef7d2223573f7c830..0000000000000000000000000000000000000000
--- a/src/mtn_page.cpp
+++ /dev/null
@@ -1,178 +0,0 @@
-#include "mtn_page.h"
-
-CMtnPage::CMtnPage(unsigned int num_servos)
-{
- this->name="";
- this->compliance.resize(num_servos);
- this->next_page=-1;
- this->exit_page=-1;
- this->repetitions=0;
- this->speed_rate=0;
- this->inertial=-1;
- this->steps.clear();
-}
-
-void CMtnPage::set_name(std::string &name)
-{
- this->name=name;
-}
-
-void CMtnPage::set_compliance(unsigned int servo,unsigned int compliance)
-{
- if(servo>this->compliance.size())
- {
- /* handle errors */
- }
- else
- this->compliance[servo]=compliance;
-}
-
-void CMtnPage::set_compliances(std::vector<unsigned int> compliances)
-{
- unsigned int i=0;
-
- if(this->compliance.size()!=compliances.size())
- {
- /* handle errors */
- }
- else
- {
- for(i=0;i<this->compliance.size();i++)
- this->compliance[i]=compliances[i];
- }
-}
-
-void CMtnPage::set_next_page(unsigned int page)
-{
- if(page>=256)
- {
- /* handle errors */
- }
- else
- this->next_page=page;
-}
-
-void CMtnPage::set_exit_page(unsigned int page)
-{
- if(page>=256)
- {
- /* handle errors */
- }
- else
- this->exit_page=page;
-}
-
-void CMtnPage::set_repetitions(unsigned int num)
-{
- if(num>=256)
- {
- /* handle errors */
- }
- else
- this->repetitions=num;
-}
-
-void CMtnPage::set_speed_rate(double rate)
-{
- this->speed_rate=rate;
-}
-
-void CMtnPage::set_inertial(unsigned int inertia)
-{
- if(inertia>=256)
- {
- /* handle errors */
- }
- else
- this->inertial=inertia;
-}
-
-void CMtnPage::add_step(CMtnStep *step)
-{
- if(this->steps.size()>=7)
- {
- /* handle errors */
- }
- else
- this->steps.push_back(step);
-}
-
-std::string CMtnPage::get_name(void)
-{
- return this->name;
-}
-
-unsigned int CMtnPage::get_compliance(unsigned int servo)
-{
- if(servo>this->compliance.size())
- {
- /* handle errors */
- }
- else
- return this->compliance[servo];
-}
-
-std::vector<unsigned int> CMtnPage::get_compliances(void)
-{
- return this->compliance;
-}
-
-unsigned int CMtnPage::get_next_page(void)
-{
- return this->next_page;
-}
-
-unsigned int CMtnPage::get_exit_page(void)
-{
- return this->exit_page;
-}
-
-unsigned int CMtnPage::get_repetitions(void)
-{
- return this->repetitions;
-}
-
-double CMtnPage::get_speed_rate(void)
-{
- return this->speed_rate;
-}
-
-unsigned int CMtnPage::get_inertial(void)
-{
- return this->inertial;
-}
-
-unsigned int CMtnPage::get_num_steps(void)
-{
- return this->steps.size();
-}
-
-CMtnStep *CMtnPage::get_step(unsigned int step)
-{
- if(step>this->steps.size())
- {
- /* handle error */
- }
- else
- return this->steps[step];
-}
-
-CMtnPage::~CMtnPage()
-{
- unsigned int i=0;
-
- this->name.clear();
- this->compliance.clear();
- this->next_page=-1;
- this->exit_page=-1;
- this->repetitions=0;
- this->speed_rate=0;
- this->inertial=-1;
- for(i=0;i<this->steps.size();i++)
- {
- delete this->steps[i];
- this->steps[i]=NULL;
- }
- this->steps.clear();
-}
-
diff --git a/src/mtn_page.h b/src/mtn_page.h
deleted file mode 100644
index 22549e10671451bf8bbe8c4323d554962b4c45fc..0000000000000000000000000000000000000000
--- a/src/mtn_page.h
+++ /dev/null
@@ -1,42 +0,0 @@
-#ifndef _MTN_PAGE_H
-#define _MTN_PAGE_H
-
-#include "mtn_step.h"
-#include <string>
-
-class CMtnPage
-{
- private:
- std::string name;
- std::vector<unsigned int> compliance;
- unsigned int next_page;
- unsigned int exit_page;
- unsigned int repetitions;
- double speed_rate;
- unsigned int inertial;
- std::vector<CMtnStep *> steps;
- public:
- CMtnPage(unsigned int num_servos);
- void set_name(std::string &name);
- void set_compliance(unsigned int servo,unsigned int compliance);
- void set_compliances(std::vector<unsigned int> compliances);
- void set_next_page(unsigned int page);
- void set_exit_page(unsigned int page);
- void set_repetitions(unsigned int num);
- void set_speed_rate(double rate);
- void set_inertial(unsigned int inertia);
- void add_step(CMtnStep *step);
- std::string get_name(void);
- unsigned int get_compliance(unsigned int servo);
- std::vector<unsigned int> get_compliances(void);
- unsigned int get_next_page(void);
- unsigned int get_exit_page(void);
- unsigned int get_repetitions(void);
- double get_speed_rate(void);
- unsigned int get_inertial(void);
- unsigned int get_num_steps(void);
- CMtnStep *get_step(unsigned int step);
- ~CMtnPage();
-};
-
-#endif
diff --git a/src/mtn_step.cpp b/src/mtn_step.cpp
deleted file mode 100644
index 377cf35835a0af30611320a60ccd936c3904df3b..0000000000000000000000000000000000000000
--- a/src/mtn_step.cpp
+++ /dev/null
@@ -1,86 +0,0 @@
-#include "mtn_step.h"
-
-CMtnStep::CMtnStep(unsigned int num_servos)
-{
- this->angles.resize(num_servos);
- this->pause_time=0.0;
- this->step_time=0.0;
-}
-
-void CMtnStep::set_angle(unsigned int servo,unsigned short int angle)
-{
- if(servo>this->angles.size())
- {
- /* handle errors */
- }
- else
- this->angles[servo]=angle;
-}
-
-void CMtnStep::set_angles(std::vector<unsigned short int> &angles)
-{
- unsigned int i=0;
-
- if(angles.size()!=this->angles.size())
- {
- /* handle errors */
- }
- else
- {
- for(i=0;i<angles.size();i++)
- this->angles[i]=angles[i];
- }
-}
-
-void CMtnStep::set_pause_time(double time)
-{
- if(time<0.0)
- {
- /* handle errors */
- }
- else
- this->pause_time=time;
-}
-
-void CMtnStep::set_step_time(double time)
-{
- if(time<0.0)
- {
- /* handle errors */
- }
- else
- this->step_time=time;
-}
-
-unsigned short int CMtnStep::get_angle(unsigned int servo)
-{
- if(servo>this->angles.size())
- {
- /* handler errors */
- }
- else
- return this->angles[servo];
-}
-
-std::vector<unsigned short int> CMtnStep::get_angles(void)
-{
- return this->angles;
-}
-
-double CMtnStep::get_pause_time(void)
-{
- return this->pause_time;
-}
-
-double CMtnStep::get_step_time(void)
-{
- return this->step_time;
-}
-
-CMtnStep::~CMtnStep()
-{
- this->angles.clear();
- this->pause_time=0.0;
- this->step_time=0.0;
-}
-
diff --git a/src/mtn_step.h b/src/mtn_step.h
deleted file mode 100644
index f85b4f17977e572f11441ebd74068ed6f680b6f8..0000000000000000000000000000000000000000
--- a/src/mtn_step.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#ifndef _MTN_STEP_H
-#define _MTN_STEP_H
-
-#include <vector>
-
-class CMtnStep
-{
- private:
- std::vector<unsigned short int> angles;
- double pause_time;
- double step_time;
- public:
- CMtnStep(unsigned int num_servos);
- void set_angle(unsigned int servo,unsigned short int angle);
- void set_angles(std::vector<unsigned short int> &angles);
- void set_pause_time(double time);
- void set_step_time(double time);
- unsigned short int get_angle(unsigned int servo);
- std::vector<unsigned short int> get_angles(void);
- double get_pause_time(void);
- double get_step_time(void);
- ~CMtnStep();
-};
-
-#endif
diff --git a/src/stm32_src_mtn.h b/src/stm32_src_mtn.h
new file mode 100644
index 0000000000000000000000000000000000000000..8b0b6bed2ac8197ee5ae870d829218f8648152ca
--- /dev/null
+++ b/src/stm32_src_mtn.h
@@ -0,0 +1,15 @@
+#ifndef _STM32_SRC_MTN_H
+#define _STM32_SRC_MTN_H
+
+#include "mtn_file.h";
+
+class CSTM32SrcMtn
+{
+ private:
+ CMtnFile *motions;
+ public:
+ CSTM32SrcMtn();
+ ~CSTM32SrcMtn();
+};
+
+#endif