lifter_check.cpp

[詳解]

#include "Controller.h"
#include "Lifter.h"
#include "app.h"
#include "ev3api.h"
#include "util.h"

#if defined(BUILD_MODULE)
#include "module_cfg.h"
#else
#include "kernel_cfg.h"
#endif

#define DEBUG

#ifdef DEBUG
#define _debug(x) (x)
#else
#define _debug(x)
#endif

static int g_bluetooth_command = 0;  // Bluetoothコマンド 1:リモートスタート
static FILE* g_bluetooth = NULL;     // Bluetoothファイルハンドル

/* メインタスク */
void main_task(intptr_t unused)
{
  /* Open Bluetooth file */
  g_bluetooth = ev3_serial_open_file(EV3_SERIAL_BT);
  assert(g_bluetooth != NULL);

  /* Bluetooth通信タスクの起動 */
  act_tsk(BT_TASK);

  msg_f("ET-Robocon2018", 1);
  msg_f(" create from github.com/korosuke613/etrobocon2018", 2);

  Controller controller;
  Lifter lifter{ controller };

  lifter.liftUp();
  lifter.liftDown();

  ter_tsk(BT_TASK);
  fclose(g_bluetooth);

  ext_tsk();
}

void bt_task(intptr_t unused)
{
  while(1) {
    uint8_t c = fgetc(g_bluetooth); /* 受信 */
    switch(c) {
      case '1':
        g_bluetooth_command = 1;
        break;
      default:
        break;
    }
    fputc(c, g_bluetooth); /* エコーバック */
  }
}