Author: mcermak
Date: Mon Aug 20 16:05:17 2007
New Revision: 2
Modified:
nxtlisp/remote-commands.lisp
Log:
set-sensor-state and sensor remote commands done but not tested yet
Modified: nxtlisp/remote-commands.lisp
==============================================================================
--- nxtlisp/remote-commands.lisp (original)
+++ nxtlisp/remote-commands.lisp Mon Aug 20 16:05:17 2007
@@ -57,10 +57,10 @@
;; change-nxt-id (a wrapper around set-brick-name-command)
;; set-sensor-state (uses set-input-mode direct command and
;; reset-input-scaled-value if clear flag is set)
-;; sensor - done just partly, consult next steps with Dr.K
+;; sensor (type and mode are possible &optional arguments, maybe not the
+;; best solution)
-
;; differences between RCX and NXT:
;; play-system-sound-file plays a sound file in NXT's memory, possibly in a loop
;; start-nxt-program takes and string as an program name; rcx requires a number
@@ -74,6 +74,53 @@
(EXPORT '(var set-var message send-message sensor effector set-effector-state
read-rcx-executable))
+(defvar *last-sensor-type* nil
+ "If sensor is called with no modifier arguments, *last-sensor-type* is checked
+to obtain sensor type. It also maintains backward compatibility with RCXLisp.")
+
+(defvar *last-sensor-mode* nil
+ "If sensor is called with no modifier arguments, *last-sensor-mode* is checked
+to obtain sensor mode. It also maintains backward compatibility with RCXLisp.")
+
+(defun update-last-sensor-type (port sensor-type)
+ "Updates the *last-sensor-type* variable according to last call of set-sensor-state."
+ (if (or (eql *last-sensor-type* nil) ; port has not been used yet (not in list)
+ (not (let ((used nil)) ; there's gotta be a better way...
+ (dolist (i *last-sensor-type*)
+ (if (eql (car i) port)
+ (setf used t)))
+ used)))
+ (push (list port sensor-type) *last-sensor-type*)
+ (loop for element in *last-sensor-type* ; port has been used, update
+ when (eql (car element) port)
+ return (setf (cdr element) sensor-type))))
+
+(defun update-last-sensor-mode (port sensor-mode)
+ "Updates the *last-sensor-mode* variable according to last call of set-sensor-state."
+ (if (or (eql *last-sensor-mode* nil) ; port has not been used yet (not in list)
+ (not (let ((used nil))
+ (dolist (i *last-sensor-mode*)
+ (if (eql (car i) port)
+ (setf used t)))
+ used)))
+ (push (list port sensor-mode) *last-sensor-mode*)
+ (loop for element in *last-sensor-mode* ; port has been used, update
+ when (eql (car element) port)
+ return (setf (cdr element) sensor-mode))))
+
+(defun extract-type (port)
+ "Returns the last set type of sensor on port."
+ (loop for element in *last-sensor-type*
+ when (eql (car element) port)
+ return (cdr element)))
+
+(defun extract-mode (port)
+ "Returns the last set mode of sensor on port."
+ (loop for element in *last-sensor-mode*
+ when (eql (car element) port)
+ return (cdr element)))
+
+
(defun play-tone (frequency duration &optional (stream *standard-nxt-io*))
"Plays a tone on the NXT. Frequency is in Hz (200-14000), duration in ms."
(direct-play-tone frequency duration :stream stream))
@@ -147,12 +194,45 @@
(:slope-mask #x1F)
(:mode-mask #xE0)))) ; has the same value as :angle-steps in docs (?)
(set-input-mode port sensor-type sensor-mode :stream stream)
- (if clear (reset-input-scaled-value port)))) ; if the clear flag is set, reset the counter
+ (if clear (reset-input-scaled-value port)) ; if the clear flag is set, reset the counter
+ ;; see the manual or documentation in the source code for description
+ (update-last-sensor-type port sensor-type)
+ (update-last-sensor-mode port sensor-mode)))
+
-(defun sensor (port &optional (stream *standard-nxt-io*))
+;; TODO: should the type/mode handling be this way? rethink
+(defun sensor (port &optional (type :raw type-supplied-p)
+ (mode :raw mode-supplied-p) (stream *standard-nxt-io*))
"Retrieves values from the sensor plugged in <port> port."
- ;; TODO: handle the return value (consult with Dr. K)
- (get-input-values port))
+ (let ((raw-packet (get-input-values port))
+ ;; if type or mode was not supplied, use values set
+ ;; in last call to set-sensor-state
+ (sensor-type (if type-supplied-p
+ type
+ (extract-type port)))
+ (sensor-mode (if mode-supplied-p
+ mode
+ (extract-mode port))))
+ ;; let's decode the packet according to type/mode
+ (if (not (aref raw-packet 1))
+ (warn "sensor: Packet marked as not valid."))
+ ;; sensor-type has higher priority to sensor-mode
+ (case sensor-type
+ (:angle (extract-number (aref raw-packet 9)
+ (aref raw-packet 10)
+ :sword))
+ ((or :light-active
+ :light-inactive) (extract-number (aref raw-packet 7)
+ (aref raw-packet 8)
+ :uword))
+ (t (case sensor-mode
+ ((or :boolean :transition-cnt :period-counter
+ :celsius :fahrenheit) (extract-number (aref raw-packet 9)
+ (aref raw-packet 10)
+ :sword))
+ (t (extract-number (aref raw-packet 5)
+ (aref raw-packet 6)
+ :uword)))))))
(defun effector (effector feature &optional (stream *standard-nxt-io*))
"Returns the current value of <feature> for <effector>."
@@ -163,3 +243,10 @@
(defun set-effector-state (effector feature value &optional (stream *standard-nxt-io*))
"TODO: document")
+(defun extract-number (byte-1 byte-2 mode)
+ "Return a number constructed from 2 bytes, either a signed word or unsigned word."
+ (case mode
+ (:uword (+ byte-1 (* byte-2 256)))
+ (:sword (if (< byte-2 127) ; possitive?
+ (+ byte-1 (* byte-2 256))
+ (1+ (lognot (+ byte-1 (* byte-2 256))))))))
\ No newline at end of file
