Robot has its own core

1 files changed, 96 insertions, 0 deletions

diff --git a/cores/robot/Stream.h b/cores/robot/Stream.h
new file mode 100644
index 0000000..007b4bc
--- /dev/null
+++ b/cores/robot/Stream.h
@@ -0,0 +1,96 @@
+/*
+  Stream.h - base class for character-based streams.
+  Copyright (c) 2010 David A. Mellis.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+  parsing functions based on TextFinder library by Michael Margolis
+*/
+
+#ifndef Stream_h
+#define Stream_h
+
+#include <inttypes.h>
+#include "Print.h"
+
+// compatability macros for testing
+/*
+#define   getInt()            parseInt()
+#define   getInt(skipChar)    parseInt(skipchar)
+#define   getFloat()          parseFloat()
+#define   getFloat(skipChar)  parseFloat(skipChar)
+#define   getString( pre_string, post_string, buffer, length)
+readBytesBetween( pre_string, terminator, buffer, length)
+*/
+
+class Stream : public Print
+{
+  protected:
+    unsigned long _timeout;      // number of milliseconds to wait for the next char before aborting timed read
+    unsigned long _startMillis;  // used for timeout measurement
+    int timedRead();    // private method to read stream with timeout
+    int timedPeek();    // private method to peek stream with timeout
+    int peekNextDigit(); // returns the next numeric digit in the stream or -1 if timeout
+
+  public:
+    virtual int available() = 0;
+    virtual int read() = 0;
+    virtual int peek() = 0;
+    virtual void flush() = 0;
+
+    Stream() {_timeout=1000;}
+
+// parsing methods
+
+  void setTimeout(unsigned long timeout);  // sets maximum milliseconds to wait for stream data, default is 1 second
+
+  bool find(char *target);   // reads data from the stream until the target string is found
+  // returns true if target string is found, false if timed out (see setTimeout)
+
+  bool find(char *target, size_t length);   // reads data from the stream until the target string of given length is found
+  // returns true if target string is found, false if timed out
+
+  bool findUntil(char *target, char *terminator);   // as find but search ends if the terminator string is found
+
+  bool findUntil(char *target, size_t targetLen, char *terminate, size_t termLen);   // as above but search ends if the terminate string is found
+
+
+  long parseInt(); // returns the first valid (long) integer value from the current position.
+  // initial characters that are not digits (or the minus sign) are skipped
+  // integer is terminated by the first character that is not a digit.
+
+  float parseFloat();               // float version of parseInt
+
+  size_t readBytes( char *buffer, size_t length); // read chars from stream into buffer
+  // terminates if length characters have been read or timeout (see setTimeout)
+  // returns the number of characters placed in the buffer (0 means no valid data found)
+
+  size_t readBytesUntil( char terminator, char *buffer, size_t length); // as readBytes with terminator character
+  // terminates if length characters have been read, timeout, or if the terminator character  detected
+  // returns the number of characters placed in the buffer (0 means no valid data found)
+
+  // Arduino String functions to be added here
+  String readString();
+  String readStringUntil(char terminator);
+
+  protected:
+  long parseInt(char skipChar); // as above but the given skipChar is ignored
+  // as above but the given skipChar is ignored
+  // this allows format characters (typically commas) in values to be ignored
+
+  float parseFloat(char skipChar);  // as above but the given skipChar is ignored
+};
+
+#endif