cons, term txqueue

conf/festo.txt

@@ -0,0 +1,53 @@
+conf0.r = 9.600000
+conf0.l = 0.013300
+conf0.j = 0.000026
+conf0.psi = 0.055000
+conf0.polecount = 4.000000
+conf0.mot_type = 0.000000
+conf0.out_rev = 0.000000
+conf0.high_motor_temp = 80.000000
+conf0.max_motor_temp = 100.000000
+conf0.phase_time = 0.500000
+conf0.phase_cur = 1.000000
+conf0.max_vel = 800.000000
+conf0.max_acc = 100000.000077
+conf0.max_force = 2.800000
+conf0.max_dc_cur = 5.000000
+conf0.max_ac_cur = 6.800000
+conf0.fb_type = 2.000000
+conf0.fb_polecount = 1.000000
+conf0.fb_offset = 1.324000
+conf0.fb_rev = 0.000000
+conf0.fb_res = 1000.000000
+conf0.autophase = 0.000000
+conf0.cmd_type = 1.000000
+conf0.cmd_unit = 0.000000
+conf0.cmd_rev = 0.000000
+conf0.cmd_res = 2000.000000
+conf0.en_condition = 0.000000
+conf0.error_out = 0.000000
+conf0.pos_staic = 0.000000
+conf0.sin_offset = 0.000000
+conf0.cos_offset = 0.000000
+conf0.sin_gain = 1.000000
+conf0.cos_gain = 1.000000
+conf0.max_dc_volt = 370.000000
+conf0.max_hv_temp = 90.000000
+conf0.max_core_temp = 55.000000
+conf0.max_pos_error = 1.570796
+conf0.high_dc_volt = 350.000000
+conf0.low_dc_volt = 12.000000
+conf0.high_hv_temp = 70.000000
+conf0.fan_hv_temp = 60.000000
+conf0.fan_core_temp = 450.000000
+conf0.fan_motor_temp = 60.000000
+conf0.p = 0.990000
+conf0.pos_p = 150.000000
+conf0.vel_p = 1.000000
+conf0.acc_p = 0.200000
+conf0.acc_pi = 100.000000
+conf0.cur_p = 0.500000
+conf0.cur_i = 0.000000
+conf0.cur_ff = 1.000000
+conf0.cur_ind = 0.900000
+conf0.max_sat = 0.200000

term/main.cpp

@@ -78,7 +78,7 @@ void Servoterm::OnDq(wxCommandEvent& WXUNUSED(event)){
 }
 
 void Servoterm::OnRead(wxCommandEvent& WXUNUSED(event)){
-
+    servoframe->send("conf");
 }
 
 void Servoterm::OnWrite(wxCommandEvent& WXUNUSED(event)){
@@ -86,8 +86,7 @@ void Servoterm::OnWrite(wxCommandEvent& WXUNUSED(event)){
     string line;
     while (std::getline(infile, line))
     {
-        if(!servoframe->send(line))
-            break;
+        servoframe->send(line);
     }
 
 }
@@ -97,7 +96,7 @@ void Servoterm::OnSave(wxCommandEvent& WXUNUSED(event)){
 }
 
 void Servoterm::OnOpen(wxCommandEvent& WXUNUSED(event)){
-    wxFileDialog openFileDialog(servoframe, wxEmptyString, SRCDIR"/..", "","*", wxFD_OPEN|wxFD_FILE_MUST_EXIST);
+    wxFileDialog openFileDialog(servoframe, wxEmptyString, SRCDIR"/../conf", "","*", wxFD_OPEN|wxFD_FILE_MUST_EXIST);
     if (openFileDialog.ShowModal() == wxID_CANCEL)
         return;
     filename = openFileDialog.GetPath();

term/mainframe.cpp

@@ -180,13 +180,7 @@ int ServoFrame::send(const string& s,bool h){
             }
             histpos = history.size();
         }
-        int ret1 = sp_nonblocking_write(port, s.c_str(), s.length());
-        int ret2 = sp_nonblocking_write(port, "\r", 1);
-        if(ret1 != s.length() || ret2!=1){
-            wxMessageBox( wxT("Error while sending"), wxT("Error"), wxICON_EXCLAMATION);
-            disconnect();
-            return 0;
-        }
+        txqueue.push(s);
     }else{
         wxMessageBox( wxT("Not connected"), wxT("Error"), wxICON_EXCLAMATION);
         return 0;
@@ -197,6 +191,15 @@ int ServoFrame::send(const string& s,bool h){
 void ServoFrame::OnTimer(wxTimerEvent& evt){
 	int ret;
 	if(connected){
+        if(!txqueue.empty()){
+            int ret1 = sp_nonblocking_write(port, txqueue.front().c_str(), txqueue.front().length());
+            int ret2 = sp_nonblocking_write(port, "\r", 1);
+            if(ret1 != txqueue.front().length() || ret2!=1){
+                wxMessageBox( wxT("Error while sending"), wxT("Error"), wxICON_EXCLAMATION);
+                disconnect();
+            }
+            txqueue.pop();
+        }
 		ret = sp_nonblocking_read(port, buf, bufsize);
 		if(ret > 0){
 			buf[ret] = 0;

term/mainframe.hpp

@@ -14,6 +14,7 @@
 #include <wx/slider.h>
 #include <math.h>
 #include <vector>
+#include <queue>
 #include <libserialport.h>
 #include "basicdrawpane.hpp"
 
@@ -62,4 +63,5 @@ private:
     int histpos;
     int addr;
     float values[16];
+    std::queue<std::string> txqueue;
 };