CRAC Team / CRAC-Strat_2017_HOMOLOGATION_PETIT_ROBOT

code petit robot pour homologation

Fork of CRAC-Strat_2017_V2 by CRAC Team

Strategie/Strategie.cpp@8:0edc7dfb7f7e, 2016-04-27 (annotated)

Committer:
antbig
Date:
Wed Apr 27 13:05:03 2016 +0000
Revision:
8:0edc7dfb7f7e
Parent:
6:eddfa414fd11
Child:
9:d0042422d95a
D?but des actions du gros robot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antbig 0:ad97421fb1fb 1 #include "Strategie.h"
antbig 0:ad97421fb1fb 2
antbig 5:dcd817534b57 3 E_stratGameEtat gameEtat = ETAT_CHECK_CARTE_SCREEN;
antbig 0:ad97421fb1fb 4 E_stratGameEtat lastEtat = ETAT_CHECK_CARTE_SCREEN;
antbig 0:ad97421fb1fb 5 unsigned char screenChecktry = 0;
antbig 0:ad97421fb1fb 6 Timer cartesCheker;//Le timer pour le timeout de la vérification des cartes
antbig 0:ad97421fb1fb 7 Timer fakeJack;
antbig 0:ad97421fb1fb 8 Timer gameTimer;
antbig 0:ad97421fb1fb 9 Timer debugetatTimer;
antbig 5:dcd817534b57 10 Timer timeoutWarning;
antbig 5:dcd817534b57 11 Timer timeoutWarningWaitEnd;
antbig 0:ad97421fb1fb 12 Timeout chronoEnd;//permet d'envoyer la trame CAN pour la fin
antbig 0:ad97421fb1fb 13
antbig 0:ad97421fb1fb 14 unsigned short waitingAckID = 0;//L'id du ack attendu
antbig 0:ad97421fb1fb 15 unsigned short waitingAckFrom = 0;//La provenance du ack attendu
antbig 0:ad97421fb1fb 16
antbig 0:ad97421fb1fb 17 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
antbig 0:ad97421fb1fb 18
antbig 0:ad97421fb1fb 19 signed short x_robot,y_robot,theta_robot;//La position du robot
antbig 0:ad97421fb1fb 20
antbig 5:dcd817534b57 21 #ifdef ROBOT_BIG
antbig 0:ad97421fb1fb 22 unsigned short id_check[NOMBRE_CARTES]= {CHECK_BALISE,CHECK_MOTEUR};
antbig 0:ad97421fb1fb 23 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_BALISE,ALIVE_MOTEUR};
antbig 8:0edc7dfb7f7e 24 InterruptIn jack(p24); // entrée analogique en interruption pour le jack
antbig 5:dcd817534b57 25 #else
antbig 6:eddfa414fd11 26 unsigned short id_check[NOMBRE_CARTES]= {CHECK_BALISE,CHECK_MOTEUR};
antbig 6:eddfa414fd11 27 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_BALISE,ALIVE_MOTEUR};
antbig 8:0edc7dfb7f7e 28 InterruptIn jack(p24); // entrée analogique en interruption pour le jack
antbig 5:dcd817534b57 29 #endif
antbig 0:ad97421fb1fb 30 unsigned char checkCurrent = 0;
antbig 0:ad97421fb1fb 31 unsigned char countAliveCard = 0;
antbig 0:ad97421fb1fb 32
antbig 2:8d8e2cf798a3 33 unsigned char InversStrat = 1;//Si à 1, indique que l'on part de l'autre cote de la table(inversion des Y)
antbig 1:116040d14164 34
antbig 5:dcd817534b57 35 unsigned char countRobotNear = 0;//Le nombre de robot à proximité
antbig 5:dcd817534b57 36
antbig 4:88431b537477 37 /****************************************************************************************/
antbig 4:88431b537477 38 /* FUNCTION NAME: chronometre_ISR */
antbig 4:88431b537477 39 /* DESCRIPTION : Interruption à la fin des 90s du match */
antbig 4:88431b537477 40 /****************************************************************************************/
antbig 0:ad97421fb1fb 41 void chronometre_ISR (void)
antbig 0:ad97421fb1fb 42 {
antbig 0:ad97421fb1fb 43 SendRawId(ASSERVISSEMENT_STOP);//On stope les moteurs
antbig 0:ad97421fb1fb 44 SendRawId(GLOBAL_GAME_END);//Indication fin de match
antbig 0:ad97421fb1fb 45 gameTimer.stop();//Arret du timer
antbig 0:ad97421fb1fb 46
antbig 1:116040d14164 47 #ifdef ROBOT_BIG
antbig 0:ad97421fb1fb 48 doFunnyAction();
antbig 0:ad97421fb1fb 49 #endif
antbig 0:ad97421fb1fb 50
antbig 1:116040d14164 51 while(1);//On bloque la programme dans l'interruption
antbig 0:ad97421fb1fb 52 }
antbig 0:ad97421fb1fb 53
antbig 4:88431b537477 54 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 55 /* FUNCTION NAME: jack_ISR */
antbig 8:0edc7dfb7f7e 56 /* DESCRIPTION : Interruption en changement d'état sur le Jack */
antbig 8:0edc7dfb7f7e 57 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 58 void jack_ISR (void)
antbig 8:0edc7dfb7f7e 59 {
antbig 8:0edc7dfb7f7e 60 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 8:0edc7dfb7f7e 61 led4=1;
antbig 8:0edc7dfb7f7e 62 gameEtat = ETAT_GAME_START;//On débute le match
antbig 8:0edc7dfb7f7e 63 }
antbig 8:0edc7dfb7f7e 64 }
antbig 8:0edc7dfb7f7e 65
antbig 8:0edc7dfb7f7e 66 /****************************************************************************************/
antbig 4:88431b537477 67 /* FUNCTION NAME: automate_process */
antbig 4:88431b537477 68 /* DESCRIPTION : Automate de gestion de la stratégie du robot */
antbig 4:88431b537477 69 /****************************************************************************************/
antbig 0:ad97421fb1fb 70 void automate_process(void)
antbig 0:ad97421fb1fb 71 {
antbig 0:ad97421fb1fb 72 static struct S_Instruction instruction;
antbig 1:116040d14164 73 static unsigned char AX12_enchainement = 0;
antbig 1:116040d14164 74 static unsigned char MV_enchainement = 0;
antbig 0:ad97421fb1fb 75 signed char localData1 = 0;
antbig 0:ad97421fb1fb 76 signed short localData2 = 0;
antbig 0:ad97421fb1fb 77 unsigned short localData3 = 0;
antbig 0:ad97421fb1fb 78 signed short localData4 = 0;
antbig 1:116040d14164 79 unsigned char localData5 = 0;
antbig 0:ad97421fb1fb 80
antbig 0:ad97421fb1fb 81 if(gameTimer.read_ms() >= 88000) {//Fin du match (On autorise 2s pour déposer des éléments
antbig 0:ad97421fb1fb 82 gameTimer.stop();
antbig 0:ad97421fb1fb 83 gameTimer.reset();
antbig 0:ad97421fb1fb 84 gameEtat = ETAT_END;//Fin du temps
antbig 0:ad97421fb1fb 85 }
antbig 0:ad97421fb1fb 86
antbig 0:ad97421fb1fb 87 if(lastEtat != gameEtat || debugetatTimer.read_ms() >= 1000) {
antbig 0:ad97421fb1fb 88 lastEtat = gameEtat;
antbig 0:ad97421fb1fb 89 debugetatTimer.reset();
antbig 0:ad97421fb1fb 90 sendStratEtat((unsigned char)gameEtat);
antbig 0:ad97421fb1fb 91 }
antbig 0:ad97421fb1fb 92
antbig 0:ad97421fb1fb 93 switch(gameEtat)
antbig 0:ad97421fb1fb 94 {
antbig 0:ad97421fb1fb 95 case ETAT_CHECK_CARTE_SCREEN:
antbig 0:ad97421fb1fb 96 /*
antbig 0:ad97421fb1fb 97 Verification de l'état de la carte ecran
antbig 0:ad97421fb1fb 98 */
antbig 0:ad97421fb1fb 99 waitingAckFrom = ALIVE_IHM;//On indique que l'on attend un ack de la carte IHM
antbig 0:ad97421fb1fb 100 SendRawId(CHECK_IHM);//On demande à la carte IHM d'insiquer ça présence
antbig 0:ad97421fb1fb 101
antbig 0:ad97421fb1fb 102 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 103 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 104 cartesCheker.start();//On lance le timer pour le timeout
antbig 0:ad97421fb1fb 105 gameEtat = ETAT_CHECK_CARTE_SCREEN_WAIT_ACK;
antbig 0:ad97421fb1fb 106
antbig 0:ad97421fb1fb 107 break;
antbig 0:ad97421fb1fb 108 case ETAT_CHECK_CARTE_SCREEN_WAIT_ACK:
antbig 0:ad97421fb1fb 109 /*
antbig 0:ad97421fb1fb 110 Attente du ALIVE de la carte écran.
antbig 0:ad97421fb1fb 111
antbig 0:ad97421fb1fb 112 Si la carte ne répond pas apres 10ms, on retoune dans l'etat ETAT_CHECK_CARTE_SCREEN
antbig 0:ad97421fb1fb 113 maximum 3 tentatives
antbig 0:ad97421fb1fb 114 Si pas de réponse, clignotement de toutes les leds possible
antbig 0:ad97421fb1fb 115 */
antbig 0:ad97421fb1fb 116 if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
antbig 0:ad97421fb1fb 117 cartesCheker.stop();
antbig 0:ad97421fb1fb 118 screenChecktry = 0;
antbig 0:ad97421fb1fb 119 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 120 } else if(cartesCheker.read_ms () > 100) {
antbig 0:ad97421fb1fb 121 cartesCheker.stop();
antbig 0:ad97421fb1fb 122 if(screenChecktry >=3) {
antbig 0:ad97421fb1fb 123 errorLoop();//Erreur La carte IHM n'est pas en ligne
antbig 0:ad97421fb1fb 124 } else {
antbig 0:ad97421fb1fb 125 gameEtat = ETAT_CHECK_CARTE_SCREEN;
antbig 0:ad97421fb1fb 126 }
antbig 0:ad97421fb1fb 127 }
antbig 0:ad97421fb1fb 128 break;
antbig 0:ad97421fb1fb 129 case ETAT_CHECK_CARTES:
antbig 0:ad97421fb1fb 130 /*
antbig 0:ad97421fb1fb 131 Il faut faire une boucle pour verifier toutes les cartes les une apres les autres
antbig 0:ad97421fb1fb 132 */
antbig 0:ad97421fb1fb 133 waitingAckFrom = id_alive[checkCurrent];//On indique que l'on attend un ack de la carte IHM
antbig 0:ad97421fb1fb 134 SendRawId(id_check[checkCurrent]);//On demande à la carte IHM d'insiquer ça présence
antbig 0:ad97421fb1fb 135
antbig 0:ad97421fb1fb 136 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 137 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 138 cartesCheker.start();//On lance le timer pour le timeout
antbig 0:ad97421fb1fb 139 gameEtat = ETAT_CHECK_CARTES_WAIT_ACK;
antbig 0:ad97421fb1fb 140 break;
antbig 0:ad97421fb1fb 141 case ETAT_CHECK_CARTES_WAIT_ACK:
antbig 0:ad97421fb1fb 142 /*
antbig 0:ad97421fb1fb 143 On attend l'ack de la carte en cours de vérification
antbig 0:ad97421fb1fb 144 */
antbig 0:ad97421fb1fb 145 //printf("cartesCheker = %d waitingAckFrom = %d\n",cartesCheker.read_ms(), waitingAckFrom);
antbig 0:ad97421fb1fb 146 if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
antbig 0:ad97421fb1fb 147 cartesCheker.stop();
antbig 0:ad97421fb1fb 148 screenChecktry = 0;
antbig 0:ad97421fb1fb 149 countAliveCard++;
antbig 0:ad97421fb1fb 150 if(checkCurrent >= NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 151 if(countAliveCard >= NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 152 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 153 SendRawId(ECRAN_ALL_CHECK);//On dit à l'IHM que toutes les cartes sont en ligne
antbig 5:dcd817534b57 154 tactile_printf("Selection couleur et strategie");
antbig 0:ad97421fb1fb 155 } else {
antbig 0:ad97421fb1fb 156 gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
antbig 0:ad97421fb1fb 157 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 158 }
antbig 0:ad97421fb1fb 159 } else {
antbig 0:ad97421fb1fb 160 checkCurrent++;
antbig 0:ad97421fb1fb 161 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 162 }
antbig 0:ad97421fb1fb 163 } else if(cartesCheker.read_ms () > 100) {
antbig 0:ad97421fb1fb 164 cartesCheker.stop();
antbig 0:ad97421fb1fb 165 if(screenChecktry >=3) {
antbig 0:ad97421fb1fb 166 screenChecktry = 0;
antbig 0:ad97421fb1fb 167 if(checkCurrent >= NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 168 if(countAliveCard == NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 169 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 170 SendRawId(ECRAN_ALL_CHECK);//On dit à l'IHM que toutes les cartes sont en ligne
antbig 0:ad97421fb1fb 171 } else {
antbig 0:ad97421fb1fb 172 gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
antbig 0:ad97421fb1fb 173 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 174 }
antbig 0:ad97421fb1fb 175 } else {
antbig 0:ad97421fb1fb 176 checkCurrent++;
antbig 0:ad97421fb1fb 177 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 178 }
antbig 0:ad97421fb1fb 179 } else {
antbig 0:ad97421fb1fb 180 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 181 }
antbig 0:ad97421fb1fb 182 }
antbig 0:ad97421fb1fb 183 break;
antbig 0:ad97421fb1fb 184 case ETAT_WAIT_FORCE:
antbig 0:ad97421fb1fb 185 /*
antbig 0:ad97421fb1fb 186 Attente du forçage de la part de la carte IHM
antbig 0:ad97421fb1fb 187 */
antbig 0:ad97421fb1fb 188 if(waitingAckFrom == 0) {
antbig 0:ad97421fb1fb 189 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 190 }
antbig 0:ad97421fb1fb 191 break;
antbig 0:ad97421fb1fb 192 case ETAT_CONFIG:
antbig 0:ad97421fb1fb 193 /*
antbig 0:ad97421fb1fb 194 Attente de l'odre de choix de mode,
antbig 0:ad97421fb1fb 195 Il est possible de modifier la couleur et l'id de la stratégie
antbig 0:ad97421fb1fb 196 Il est aussi possible d'envoyer les ordres de debug
antbig 0:ad97421fb1fb 197 */
antbig 0:ad97421fb1fb 198 break;
antbig 1:116040d14164 199 case ETAT_GAME_INIT:
antbig 0:ad97421fb1fb 200 //On charge la liste des instructions
antbig 4:88431b537477 201 //strcpy(cheminFileStart,"/local/test.txt");//On ouvre le fichier test.txt
antbig 0:ad97421fb1fb 202 loadAllInstruction();//Mise en cache de toute les instructions
antbig 0:ad97421fb1fb 203 gameEtat = ETAT_GAME_WAIT_FOR_JACK;
antbig 0:ad97421fb1fb 204 SendRawId(ECRAN_ACK_START_MATCH);
antbig 0:ad97421fb1fb 205 tactile_printf("Attente du JACK.");
antbig 8:0edc7dfb7f7e 206 jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
antbig 0:ad97421fb1fb 207 break;
antbig 0:ad97421fb1fb 208 case ETAT_GAME_WAIT_FOR_JACK:
antbig 0:ad97421fb1fb 209 //TODO Attendre le jack
antbig 1:116040d14164 210 break;
antbig 1:116040d14164 211 case ETAT_GAME_START:
antbig 8:0edc7dfb7f7e 212 chronoEnd.attach(&chronometre_ISR,90);
antbig 1:116040d14164 213 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 1:116040d14164 214 gameTimer.reset();
antbig 1:116040d14164 215 gameTimer.start();
antbig 8:0edc7dfb7f7e 216 jack.fall(NULL);
antbig 0:ad97421fb1fb 217 break;
antbig 0:ad97421fb1fb 218 case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
antbig 0:ad97421fb1fb 219 /*
antbig 0:ad97421fb1fb 220 Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
antbig 0:ad97421fb1fb 221 */
antbig 0:ad97421fb1fb 222 //printf("load next instruction\n");
antbig 0:ad97421fb1fb 223 if(actual_instruction >= nb_instructions || actual_instruction == 255) {
antbig 0:ad97421fb1fb 224 gameEtat = ETAT_END;
antbig 0:ad97421fb1fb 225 //Il n'y a plus d'instruction, fin du jeu
antbig 0:ad97421fb1fb 226 } else {
antbig 0:ad97421fb1fb 227 instruction = strat_instructions[actual_instruction];
antbig 0:ad97421fb1fb 228 //On effectue le traitement de l'instruction
antbig 0:ad97421fb1fb 229 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
antbig 0:ad97421fb1fb 230 //actual_instruction++;
antbig 0:ad97421fb1fb 231 }
antbig 0:ad97421fb1fb 232 screenChecktry = 0;
antbig 1:116040d14164 233 wait_ms(100);
antbig 0:ad97421fb1fb 234 break;
antbig 0:ad97421fb1fb 235 case ETAT_GAME_PROCESS_INSTRUCTION:
antbig 0:ad97421fb1fb 236 /*
antbig 0:ad97421fb1fb 237 Traitement de l'instruction, envoie de la trame CAN
antbig 0:ad97421fb1fb 238 */
antbig 0:ad97421fb1fb 239 //debug_Instruction(instruction);
antbig 0:ad97421fb1fb 240 switch(instruction.order)
antbig 0:ad97421fb1fb 241 {
antbig 0:ad97421fb1fb 242 case MV_COURBURE:
antbig 6:eddfa414fd11 243 waitingAckID = ASSERVISSEMENT_COURBURE;
antbig 6:eddfa414fd11 244 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 245 if(instruction.nextActionType == ENCHAINEMENT) {
antbig 6:eddfa414fd11 246 MV_enchainement++;
antbig 6:eddfa414fd11 247 localData5 = 1;
antbig 6:eddfa414fd11 248 } else {
antbig 6:eddfa414fd11 249 if(MV_enchainement > 0) {
antbig 6:eddfa414fd11 250 localData5 = 2;
antbig 6:eddfa414fd11 251 MV_enchainement = 0;
antbig 6:eddfa414fd11 252 } else {
antbig 6:eddfa414fd11 253 localData5 = 0;
antbig 6:eddfa414fd11 254 }
antbig 0:ad97421fb1fb 255 }
antbig 6:eddfa414fd11 256
antbig 6:eddfa414fd11 257 localData1 = ((instruction.direction == FORWARD)?1:-1);
antbig 6:eddfa414fd11 258 BendRadius (instruction.arg1, instruction.arg3, localData1, localData5);
antbig 0:ad97421fb1fb 259 break;
antbig 0:ad97421fb1fb 260 case MV_LINE:
antbig 0:ad97421fb1fb 261 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 262 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 263 if(instruction.nextActionType == ENCHAINEMENT) {
antbig 1:116040d14164 264 MV_enchainement++;
antbig 1:116040d14164 265 localData5 = 1;
antbig 1:116040d14164 266 } else {
antbig 1:116040d14164 267 if(MV_enchainement > 0) {
antbig 1:116040d14164 268 localData5 = 2;
antbig 1:116040d14164 269 MV_enchainement = 0;
antbig 1:116040d14164 270 } else {
antbig 1:116040d14164 271 localData5 = 0;
antbig 1:116040d14164 272 }
antbig 0:ad97421fb1fb 273 }
antbig 1:116040d14164 274 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
antbig 1:116040d14164 275 GoStraight(localData2, 0, 0, localData5);
antbig 0:ad97421fb1fb 276 break;
antbig 0:ad97421fb1fb 277 case MV_TURN:
antbig 0:ad97421fb1fb 278 if(instruction.direction == RELATIVE) {
antbig 0:ad97421fb1fb 279 localData2 = instruction.arg3;
antbig 0:ad97421fb1fb 280 } else {
antbig 0:ad97421fb1fb 281 if(abs(instruction.arg3 - theta_robot) > 180) {
antbig 0:ad97421fb1fb 282 localData2 = 360 - instruction.arg3 - theta_robot;
antbig 0:ad97421fb1fb 283 } else {
antbig 0:ad97421fb1fb 284 localData2 = instruction.arg3 - theta_robot;
antbig 0:ad97421fb1fb 285 }
antbig 0:ad97421fb1fb 286 }
antbig 2:8d8e2cf798a3 287 if(InversStrat == 1) {
antbig 2:8d8e2cf798a3 288 localData2 = -localData2;
antbig 2:8d8e2cf798a3 289 }
antbig 0:ad97421fb1fb 290 Rotate(localData2);
antbig 0:ad97421fb1fb 291 waitingAckID = ASSERVISSEMENT_ROTATION;
antbig 0:ad97421fb1fb 292 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 293 break;
antbig 0:ad97421fb1fb 294 case MV_XYT:
antbig 0:ad97421fb1fb 295 if(instruction.direction == BACKWARD) {
antbig 0:ad97421fb1fb 296 localData1 = -1;
antbig 0:ad97421fb1fb 297 } else {
antbig 0:ad97421fb1fb 298 localData1 = 1;
antbig 0:ad97421fb1fb 299 }
antbig 2:8d8e2cf798a3 300
antbig 2:8d8e2cf798a3 301 if(InversStrat == 1) {
antbig 2:8d8e2cf798a3 302 //localData2 = 360 - instruction.arg3
antbig 2:8d8e2cf798a3 303 localData3 = 3000 - instruction.arg2;//Inversion du Y
antbig 2:8d8e2cf798a3 304 } else {
antbig 2:8d8e2cf798a3 305 localData3 = instruction.arg2;
antbig 2:8d8e2cf798a3 306 }
antbig 2:8d8e2cf798a3 307 GoToPosition(instruction.arg1,localData3,instruction.arg3,localData1);
antbig 0:ad97421fb1fb 308 waitingAckID = ASSERVISSEMENT_XYT;
antbig 0:ad97421fb1fb 309 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 310 break;
antbig 0:ad97421fb1fb 311 case MV_RECALAGE:
antbig 0:ad97421fb1fb 312 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 313 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 314 //TODO - mettre l'ACK à jour
antbig 0:ad97421fb1fb 315 break;
antbig 0:ad97421fb1fb 316 case ACTION:
antbig 0:ad97421fb1fb 317 if(doAction(instruction.arg1,instruction.arg2,instruction.arg3)) {
antbig 0:ad97421fb1fb 318 //L'action est spécifique
antbig 0:ad97421fb1fb 319 } else {
antbig 0:ad97421fb1fb 320 //C'est un AX12 qu'il faut bouger
antbig 2:8d8e2cf798a3 321 AX12_setGoal(instruction.arg1,instruction.arg3/10,instruction.arg2);
antbig 1:116040d14164 322 AX12_enchainement++;
antbig 0:ad97421fb1fb 323 }
antbig 1:116040d14164 324 waitingAckFrom = 0;
antbig 1:116040d14164 325 waitingAckID = 0;
antbig 0:ad97421fb1fb 326 break;
antbig 0:ad97421fb1fb 327 default:
antbig 0:ad97421fb1fb 328 //Instruction inconnue, on l'ignore
antbig 0:ad97421fb1fb 329 break;
antbig 0:ad97421fb1fb 330 }
antbig 0:ad97421fb1fb 331
antbig 0:ad97421fb1fb 332
antbig 0:ad97421fb1fb 333
antbig 0:ad97421fb1fb 334 if(instruction.nextActionType == JUMP || instruction.nextActionType == WAIT) {
antbig 0:ad97421fb1fb 335 gameEtat = ETAT_GAME_WAIT_ACK;//Il faut attendre que la carte est bien reçu l'acknowledge
antbig 0:ad97421fb1fb 336 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 337 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 338 cartesCheker.start();
antbig 1:116040d14164 339 if(AX12_enchainement > 0) {
antbig 1:116040d14164 340 AX12_processChange();//Il faut lancer le déplacement des AX12
antbig 1:116040d14164 341 AX12_enchainement = 0;
antbig 1:116040d14164 342 }
antbig 0:ad97421fb1fb 343 } else {//C'est un enchainement
antbig 0:ad97421fb1fb 344 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 345 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//C'est un enchainement, on charge directement l'instruction suivante
antbig 0:ad97421fb1fb 346 }
antbig 0:ad97421fb1fb 347
antbig 0:ad97421fb1fb 348 break;
antbig 0:ad97421fb1fb 349 case ETAT_GAME_WAIT_ACK:
antbig 0:ad97421fb1fb 350 /*
antbig 0:ad97421fb1fb 351 Attente de l'ack de l'instruction
antbig 0:ad97421fb1fb 352 */
antbig 0:ad97421fb1fb 353 if(waitingAckID == 0 && waitingAckFrom ==0) {//Les ack ont été reset, c'est bon on continu
antbig 0:ad97421fb1fb 354 //if(true) {
antbig 0:ad97421fb1fb 355 cartesCheker.stop();
antbig 0:ad97421fb1fb 356 if(instruction.nextActionType == JUMP) {
antbig 0:ad97421fb1fb 357 if(instruction.jumpAction == JUMP_TIME) {
antbig 0:ad97421fb1fb 358 gameEtat = ETAT_GAME_JUMP_TIME;
antbig 0:ad97421fb1fb 359 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 360 cartesCheker.start();
antbig 0:ad97421fb1fb 361 } else if(instruction.jumpAction == JUMP_POSITION) {
antbig 0:ad97421fb1fb 362 gameEtat = ETAT_GAME_JUMP_POSITION;
antbig 0:ad97421fb1fb 363 } else {
antbig 0:ad97421fb1fb 364 //ERROR
antbig 0:ad97421fb1fb 365 }
antbig 0:ad97421fb1fb 366 } else if(instruction.nextActionType == WAIT) {
antbig 0:ad97421fb1fb 367 gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION;
antbig 0:ad97421fb1fb 368 switch(instruction.order)
antbig 0:ad97421fb1fb 369 {
antbig 0:ad97421fb1fb 370 case MV_COURBURE:
antbig 0:ad97421fb1fb 371 waitingAckID = ASSERVISSEMENT_COURBURE;
antbig 0:ad97421fb1fb 372 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 373 break;
antbig 0:ad97421fb1fb 374 case MV_LINE:
antbig 0:ad97421fb1fb 375 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 376 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 377 break;
antbig 0:ad97421fb1fb 378 case MV_TURN:
antbig 0:ad97421fb1fb 379 waitingAckID = ASSERVISSEMENT_ROTATION;
antbig 0:ad97421fb1fb 380 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 381 break;
antbig 0:ad97421fb1fb 382 case MV_XYT:
antbig 0:ad97421fb1fb 383 waitingAckID = ASSERVISSEMENT_XYT;
antbig 0:ad97421fb1fb 384 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 385 break;
antbig 0:ad97421fb1fb 386 case MV_RECALAGE:
antbig 0:ad97421fb1fb 387 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 388 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 389 break;
antbig 0:ad97421fb1fb 390 case ACTION:
antbig 1:116040d14164 391 waitingAckFrom = SERVO_AX12_DONE;
antbig 1:116040d14164 392 waitingAckID = instruction.arg1;
antbig 0:ad97421fb1fb 393 break;
antbig 0:ad97421fb1fb 394 default:
antbig 0:ad97421fb1fb 395 break;
antbig 0:ad97421fb1fb 396 }
antbig 0:ad97421fb1fb 397 } else {
antbig 0:ad97421fb1fb 398 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 0:ad97421fb1fb 399 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 400 }
antbig 0:ad97421fb1fb 401 } else if(cartesCheker.read_ms () > 50){
antbig 0:ad97421fb1fb 402 cartesCheker.stop();
antbig 0:ad97421fb1fb 403 if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur
antbig 0:ad97421fb1fb 404 actual_instruction = instruction.nextLineError;
antbig 0:ad97421fb1fb 405 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 0:ad97421fb1fb 406 } else {
antbig 0:ad97421fb1fb 407 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
antbig 0:ad97421fb1fb 408 }
antbig 0:ad97421fb1fb 409 }
antbig 0:ad97421fb1fb 410 break;
antbig 0:ad97421fb1fb 411
antbig 0:ad97421fb1fb 412 case ETAT_GAME_JUMP_TIME:
antbig 0:ad97421fb1fb 413 if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) {
antbig 0:ad97421fb1fb 414 cartesCheker.stop();//On arrete le timer
antbig 0:ad97421fb1fb 415 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 416 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 417 }
antbig 0:ad97421fb1fb 418 break;
antbig 0:ad97421fb1fb 419 case ETAT_GAME_JUMP_POSITION:
antbig 0:ad97421fb1fb 420
antbig 0:ad97421fb1fb 421 break;
antbig 0:ad97421fb1fb 422 case ETAT_GAME_WAIT_END_INSTRUCTION:
antbig 0:ad97421fb1fb 423 if(waitingAckID == 0 && waitingAckFrom ==0) {//On attend que la carte nous indique que l'instruction est terminée
antbig 0:ad97421fb1fb 424 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 425 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 426 }
antbig 0:ad97421fb1fb 427 break;
antbig 0:ad97421fb1fb 428
antbig 0:ad97421fb1fb 429
antbig 5:dcd817534b57 430 case ETAT_WARNING_TIMEOUT://Attente de la trame fin de danger ou du timeout de 2s
antbig 5:dcd817534b57 431 if(timeoutWarning.read_ms() >= 2000)//ça fait plus de 2s, il faut changer de stratégie
antbig 5:dcd817534b57 432 {
antbig 5:dcd817534b57 433 gameEtat = ETAT_WARNING_SWITCH_STRATEGIE;
antbig 5:dcd817534b57 434 }
antbig 5:dcd817534b57 435 break;
antbig 5:dcd817534b57 436 case ETAT_WARING_END_BALISE_WAIT://Attente d'une seconde apres la fin d'un End Balise pour etre sur que c'est bon
antbig 5:dcd817534b57 437
antbig 5:dcd817534b57 438 break;
antbig 5:dcd817534b57 439 case ETAT_WARNING_END_LAST_INSTRUCTION://trouver le meilleur moyen de reprendre l'instruction en cours
antbig 5:dcd817534b57 440
antbig 5:dcd817534b57 441 break;
antbig 5:dcd817534b57 442 case ETAT_WARNING_SWITCH_STRATEGIE://Si à la fin du timeout il y a toujours un robot, passer à l'instruction d'erreur
antbig 5:dcd817534b57 443 actual_instruction = instruction.nextLineError;
antbig 5:dcd817534b57 444 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 5:dcd817534b57 445 break;
antbig 5:dcd817534b57 446
antbig 5:dcd817534b57 447
antbig 0:ad97421fb1fb 448
antbig 0:ad97421fb1fb 449 case ETAT_END:
antbig 0:ad97421fb1fb 450
antbig 0:ad97421fb1fb 451 gameEtat = ETAT_END_LOOP;
antbig 0:ad97421fb1fb 452 break;
antbig 0:ad97421fb1fb 453 case ETAT_END_LOOP:
antbig 0:ad97421fb1fb 454 //Rien, on tourne en rond
antbig 0:ad97421fb1fb 455 break;
antbig 0:ad97421fb1fb 456 default:
antbig 0:ad97421fb1fb 457
antbig 0:ad97421fb1fb 458 break;
antbig 0:ad97421fb1fb 459 }
antbig 0:ad97421fb1fb 460 }
antbig 0:ad97421fb1fb 461
antbig 4:88431b537477 462 /****************************************************************************************/
antbig 4:88431b537477 463 /* FUNCTION NAME: canProcessRx */
antbig 4:88431b537477 464 /* DESCRIPTION : Fonction de traitement des messages CAN */
antbig 4:88431b537477 465 /****************************************************************************************/
antbig 0:ad97421fb1fb 466 void canProcessRx(void)
antbig 0:ad97421fb1fb 467 {
antbig 0:ad97421fb1fb 468 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
antbig 4:88431b537477 469 CANMessage msgTx=CANMessage();
antbig 0:ad97421fb1fb 470 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
antbig 0:ad97421fb1fb 471 if(FIFO_occupation<0)
antbig 0:ad97421fb1fb 472 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
antbig 0:ad97421fb1fb 473 if(FIFO_max_occupation<FIFO_occupation)
antbig 0:ad97421fb1fb 474 FIFO_max_occupation=FIFO_occupation;
antbig 0:ad97421fb1fb 475 if(FIFO_occupation!=0) {
antbig 0:ad97421fb1fb 476
antbig 0:ad97421fb1fb 477 switch(msgRxBuffer[FIFO_lecture].id) {
antbig 4:88431b537477 478 case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
antbig 1:116040d14164 479 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 1:116040d14164 480 gameEtat = ETAT_GAME_START;
antbig 1:116040d14164 481 }
antbig 1:116040d14164 482 break;
antbig 1:116040d14164 483
antbig 0:ad97421fb1fb 484 case ALIVE_BALISE:
antbig 0:ad97421fb1fb 485 case ALIVE_MOTEUR:
antbig 0:ad97421fb1fb 486 case ALIVE_IHM:
antbig 0:ad97421fb1fb 487 case ECRAN_ALL_CHECK:
antbig 0:ad97421fb1fb 488 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
antbig 0:ad97421fb1fb 489 waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
antbig 0:ad97421fb1fb 490 }
antbig 0:ad97421fb1fb 491 break;
antbig 0:ad97421fb1fb 492
antbig 0:ad97421fb1fb 493 case ACKNOWLEDGE_BALISE:
antbig 0:ad97421fb1fb 494 case ACKNOWLEDGE_MOTEUR:
antbig 0:ad97421fb1fb 495 case ACKNOWLEDGE_IHM:
antbig 0:ad97421fb1fb 496 case INSTRUCTION_END_BALISE:
antbig 0:ad97421fb1fb 497 case INSTRUCTION_END_MOTEUR:
antbig 0:ad97421fb1fb 498 case INSTRUCTION_END_IHM:
antbig 0:ad97421fb1fb 499 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id && (msgRxBuffer[FIFO_lecture].data[0]|((unsigned int)(msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID)) {
antbig 0:ad97421fb1fb 500 waitingAckFrom = 0;
antbig 0:ad97421fb1fb 501 waitingAckID = 0;
antbig 0:ad97421fb1fb 502 }
antbig 0:ad97421fb1fb 503 break;
antbig 1:116040d14164 504 #ifdef ROBOT_BIG
antbig 0:ad97421fb1fb 505 case ODOMETRIE_BIG_POSITION:
antbig 0:ad97421fb1fb 506 #else
antbig 0:ad97421fb1fb 507 case ODOMETRIE_SMALL_POSITION:
antbig 0:ad97421fb1fb 508 #endif
antbig 0:ad97421fb1fb 509 x_robot=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
antbig 0:ad97421fb1fb 510 y_robot=msgRxBuffer[FIFO_lecture].data[2]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
antbig 0:ad97421fb1fb 511 theta_robot=msgRxBuffer[FIFO_lecture].data[4]|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
antbig 0:ad97421fb1fb 512 break;
antbig 0:ad97421fb1fb 513
antbig 0:ad97421fb1fb 514 case ECRAN_START_MATCH:
antbig 0:ad97421fb1fb 515 if(gameEtat == ETAT_CONFIG) {
antbig 1:116040d14164 516 gameEtat = ETAT_GAME_INIT;
antbig 0:ad97421fb1fb 517 }
antbig 0:ad97421fb1fb 518 break;
antbig 0:ad97421fb1fb 519 case SERVO_AX12_SETGOAL:
antbig 8:0edc7dfb7f7e 520 SendAck(0x114, SERVO_AX12_SETGOAL);
antbig 0:ad97421fb1fb 521 if(AX12_isLocal(msgRxBuffer[FIFO_lecture].data[0]))
antbig 0:ad97421fb1fb 522 AX12_setGoal(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[2])<<8), msgRxBuffer[FIFO_lecture].data[3]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[4])<<8));
antbig 5:dcd817534b57 523
antbig 0:ad97421fb1fb 524 break;
antbig 0:ad97421fb1fb 525 case SERVO_AX12_PROCESS:
antbig 8:0edc7dfb7f7e 526 SendAck(0x114, SERVO_AX12_PROCESS);
antbig 5:dcd817534b57 527 AX12_processChange(1);
antbig 0:ad97421fb1fb 528 break;
antbig 1:116040d14164 529 case SERVO_AX12_DONE:
antbig 8:0edc7dfb7f7e 530 SendAck(0x114, SERVO_AX12_DONE);
antbig 1:116040d14164 531 AX12_notifyCANEnd(((unsigned short)(msgRxBuffer[FIFO_lecture].data[0])));
antbig 1:116040d14164 532 break;
antbig 2:8d8e2cf798a3 533 case ECRAN_CHOICE_COLOR://Choix de la couleur
antbig 4:88431b537477 534 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 2:8d8e2cf798a3 535 if(msgRxBuffer[FIFO_lecture].data[0] == 0)
antbig 2:8d8e2cf798a3 536 InversStrat = 0;//Pas d'inversion de la couleur
antbig 2:8d8e2cf798a3 537 else
antbig 2:8d8e2cf798a3 538 InversStrat = 1;//Inversion de la couleur
antbig 4:88431b537477 539
antbig 4:88431b537477 540 msgTx.id=ECRAN_ACK_COLOR; // tx ack de la couleur
antbig 4:88431b537477 541 msgTx.len=1;
antbig 4:88431b537477 542 msgTx.format=CANStandard;
antbig 4:88431b537477 543 msgTx.type=CANData;
antbig 4:88431b537477 544 // couleur sur 1 octet
antbig 4:88431b537477 545 msgTx.data[0]=msgRxBuffer[FIFO_lecture].data[0];
antbig 4:88431b537477 546 can1.write(msgTx);
antbig 2:8d8e2cf798a3 547 }
antbig 2:8d8e2cf798a3 548 break;
antbig 2:8d8e2cf798a3 549 case ECRAN_CHOICE_STRAT://Choix du fichier de stratégie à utiliser
antbig 4:88431b537477 550 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 4:88431b537477 551 msgTx.id=ECRAN_ACK_STRAT; // tx ack de la couleur
antbig 4:88431b537477 552 msgTx.len=1;
antbig 4:88431b537477 553 msgTx.format=CANStandard;
antbig 4:88431b537477 554 msgTx.type=CANData;
antbig 4:88431b537477 555 if(SelectStrategy(msgRxBuffer[FIFO_lecture].data[0])) {
antbig 4:88431b537477 556 // id de la stratégie sur 1 octet
antbig 4:88431b537477 557 msgTx.data[0]=msgRxBuffer[FIFO_lecture].data[0];
antbig 4:88431b537477 558 } else {
antbig 4:88431b537477 559 //erreur sur 1 octet
antbig 4:88431b537477 560 msgTx.data[0]=0;
antbig 4:88431b537477 561 }
antbig 4:88431b537477 562 can1.write(msgTx);
antbig 2:8d8e2cf798a3 563 }
antbig 2:8d8e2cf798a3 564 break;
antbig 5:dcd817534b57 565 case BALISE_STOP:
antbig 5:dcd817534b57 566 SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
antbig 6:eddfa414fd11 567 if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT)
antbig 6:eddfa414fd11 568 {
antbig 6:eddfa414fd11 569 wait_ms(10);
antbig 6:eddfa414fd11 570 SendRawId(ASSERVISSEMENT_STOP);
antbig 6:eddfa414fd11 571 gameEtat = ETAT_WARNING_TIMEOUT;
antbig 6:eddfa414fd11 572 timeoutWarning.reset();
antbig 6:eddfa414fd11 573 timeoutWarning.start();//Reset du timer utiliser par le timeout
antbig 6:eddfa414fd11 574 }
antbig 5:dcd817534b57 575 break;
antbig 5:dcd817534b57 576 case BALISE_END_DANGER:
antbig 5:dcd817534b57 577 if(gameEtat == ETAT_WARNING_TIMEOUT) {
antbig 5:dcd817534b57 578 timeoutWarningWaitEnd.reset();
antbig 5:dcd817534b57 579 timeoutWarningWaitEnd.start();
antbig 5:dcd817534b57 580 gameEtat = ETAT_WARING_END_BALISE_WAIT;
antbig 5:dcd817534b57 581 }
antbig 5:dcd817534b57 582 break;
antbig 0:ad97421fb1fb 583 }
antbig 0:ad97421fb1fb 584
antbig 0:ad97421fb1fb 585 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
antbig 0:ad97421fb1fb 586 }
antbig 0:ad97421fb1fb 587 }