pour trouver l'automate de reception can
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Diff: Strategie/Strategie.cpp
- Revision:
- 6:eddfa414fd11
- Parent:
- 5:dcd817534b57
- Child:
- 8:0edc7dfb7f7e
diff -r dcd817534b57 -r eddfa414fd11 Strategie/Strategie.cpp --- a/Strategie/Strategie.cpp Sat Apr 23 09:16:14 2016 +0000 +++ b/Strategie/Strategie.cpp Mon Apr 25 10:59:22 2016 +0000 @@ -22,8 +22,8 @@ unsigned short id_check[NOMBRE_CARTES]= {CHECK_BALISE,CHECK_MOTEUR}; unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_BALISE,ALIVE_MOTEUR}; #else -unsigned short id_check[NOMBRE_CARTES]= {CHECK_BALISE,CHECK_MOTEUR,CHECK_ACTIONNEURS}; -unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_BALISE,ALIVE_MOTEUR,ALIVE_ACTIONNEURS}; +unsigned short id_check[NOMBRE_CARTES]= {CHECK_BALISE,CHECK_MOTEUR}; +unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_BALISE,ALIVE_MOTEUR}; #endif unsigned char checkCurrent = 0; unsigned char countAliveCard = 0; @@ -224,10 +224,22 @@ switch(instruction.order) { case MV_COURBURE: - //TODO - mettre l'ACK à jour + waitingAckID = ASSERVISSEMENT_COURBURE; + waitingAckFrom = ACKNOWLEDGE_MOTEUR; if(instruction.nextActionType == ENCHAINEMENT) { - //TODO - flag dans le trame pour indiquer l'enchainement + MV_enchainement++; + localData5 = 1; + } else { + if(MV_enchainement > 0) { + localData5 = 2; + MV_enchainement = 0; + } else { + localData5 = 0; + } } + + localData1 = ((instruction.direction == FORWARD)?1:-1); + BendRadius (instruction.arg1, instruction.arg3, localData1, localData5); break; case MV_LINE: waitingAckID = ASSERVISSEMENT_RECALAGE; @@ -533,11 +545,14 @@ break; case BALISE_STOP: SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP); - wait_ms(10); - SendRawId(ASSERVISSEMENT_STOP); - gameEtat = ETAT_WARNING_TIMEOUT; - timeoutWarning.reset(); - timeoutWarning.start();//Reset du timer utiliser par le timeout + if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT) + { + wait_ms(10); + SendRawId(ASSERVISSEMENT_STOP); + gameEtat = ETAT_WARNING_TIMEOUT; + timeoutWarning.reset(); + timeoutWarning.start();//Reset du timer utiliser par le timeout + } break; case BALISE_END_DANGER: if(gameEtat == ETAT_WARNING_TIMEOUT) {