CRAC Team / CRAC-Strat_2017_fin_premier_match

code de start qui marche a la fin du premier match, base pour la suite

Fork of CRAC-Strat_2017_homologation_petit_rob by CRAC Team

Strategie/Strategie.cpp@22:a466d08ac42b, 2017-05-25 (annotated)

Committer:
clementlignie
Date:
Thu May 25 14:40:49 2017 +0000
Revision:
22:a466d08ac42b
Parent:
21:590cdacb6a35 
code de strart qui marche, le 25-05, a 16h40, apres le premier match

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ClementBreteau 14:c8fc06c4887f 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
ClementBreteau 14:c8fc06c4887f 16 char modeTelemetre; // Si à 1, indique que l'on attend une reponse du telemetre
ClementBreteau 21:590cdacb6a35 17 unsigned short telemetreDistance = 0;
antbig 0:ad97421fb1fb 18 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
antbig 0:ad97421fb1fb 19
antbig 0:ad97421fb1fb 20 signed short x_robot,y_robot,theta_robot;//La position du robot
antbig 0:ad97421fb1fb 21
antbig 12:14729d584500 22 signed short start_move_x,start_move_y,start_move_theta;//La position du robot lors du début d'un mouvement, utilisé pour reprendre le mouvement apres stop balise
antbig 12:14729d584500 23
antbig 5:dcd817534b57 24 #ifdef ROBOT_BIG
ClementBreteau 14:c8fc06c4887f 25 //unsigned short id_check[NOMBRE_CARTES]= {CHECK_BALISE,CHECK_MOTEUR,CHECK_ACTIONNEURS,CHECK_AX12,CHECK_POMPES};
ClementBreteau 14:c8fc06c4887f 26 //unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_BALISE,ALIVE_MOTEUR,ALIVE_ACTIONNEURS,ALIVE_AX12,ALIVE_POMPES};
ClementBreteau 14:c8fc06c4887f 27
ClementBreteau 15:c2fc239e85df 28 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_MOTEUR};
ClementBreteau 15:c2fc239e85df 29 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_MOTEUR};
ClementBreteau 15:c2fc239e85df 30
ClementBreteau 15:c2fc239e85df 31 InterruptIn jack(p25); // entrée analogique en interruption pour le jack
ClementBreteau 15:c2fc239e85df 32 #else
ClementBreteau 15:c2fc239e85df 33 //unsigned short id_check[NOMBRE_CARTES]= {CHECK_BALISE,CHECK_MOTEUR,CHECK_ACTIONNEURS};
ClementBreteau 15:c2fc239e85df 34 //unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_BALISE,ALIVE_MOTEUR,ALIVE_ACTIONNEURS};
ClementBreteau 15:c2fc239e85df 35
ClementBreteau 14:c8fc06c4887f 36 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR};
ClementBreteau 14:c8fc06c4887f 37 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR};
ClementBreteau 14:c8fc06c4887f 38
ClementBreteau 18:cc5fec34ed9c 39 InterruptIn jack(p25); // entrée analogique en interruption pour le jack
antbig 5:dcd817534b57 40 #endif
antbig 0:ad97421fb1fb 41 unsigned char checkCurrent = 0;
antbig 0:ad97421fb1fb 42 unsigned char countAliveCard = 0;
antbig 0:ad97421fb1fb 43
antbig 2:8d8e2cf798a3 44 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 45
ClementBreteau 14:c8fc06c4887f 46 unsigned char ModeDemo = 0; // Si à 1, indique que l'on est dans le mode demo
ClementBreteau 14:c8fc06c4887f 47
antbig 5:dcd817534b57 48 unsigned char countRobotNear = 0;//Le nombre de robot à proximité
antbig 5:dcd817534b57 49
antbig 12:14729d584500 50 unsigned char ingnorBaliseOnce = 0;
antbig 12:14729d584500 51
ClementBreteau 14:c8fc06c4887f 52
antbig 4:88431b537477 53 /****************************************************************************************/
antbig 4:88431b537477 54 /* FUNCTION NAME: chronometre_ISR */
antbig 4:88431b537477 55 /* DESCRIPTION : Interruption à la fin des 90s du match */
antbig 4:88431b537477 56 /****************************************************************************************/
antbig 0:ad97421fb1fb 57 void chronometre_ISR (void)
antbig 0:ad97421fb1fb 58 {
antbig 0:ad97421fb1fb 59 SendRawId(ASSERVISSEMENT_STOP);//On stope les moteurs
antbig 0:ad97421fb1fb 60 SendRawId(GLOBAL_GAME_END);//Indication fin de match
antbig 0:ad97421fb1fb 61 gameTimer.stop();//Arret du timer
antbig 0:ad97421fb1fb 62
antbig 1:116040d14164 63 #ifdef ROBOT_BIG
antbig 12:14729d584500 64 wait_ms(2000);
antbig 0:ad97421fb1fb 65 doFunnyAction();
antbig 0:ad97421fb1fb 66 #endif
antbig 0:ad97421fb1fb 67
antbig 1:116040d14164 68 while(1);//On bloque la programme dans l'interruption
antbig 0:ad97421fb1fb 69 }
antbig 0:ad97421fb1fb 70
antbig 4:88431b537477 71 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 72 /* FUNCTION NAME: jack_ISR */
antbig 8:0edc7dfb7f7e 73 /* DESCRIPTION : Interruption en changement d'état sur le Jack */
antbig 8:0edc7dfb7f7e 74 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 75 void jack_ISR (void)
antbig 8:0edc7dfb7f7e 76 {
antbig 8:0edc7dfb7f7e 77 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 8:0edc7dfb7f7e 78 led4=1;
antbig 8:0edc7dfb7f7e 79 gameEtat = ETAT_GAME_START;//On débute le match
antbig 8:0edc7dfb7f7e 80 }
antbig 8:0edc7dfb7f7e 81 }
antbig 8:0edc7dfb7f7e 82
antbig 8:0edc7dfb7f7e 83 /****************************************************************************************/
antbig 4:88431b537477 84 /* FUNCTION NAME: automate_process */
antbig 4:88431b537477 85 /* DESCRIPTION : Automate de gestion de la stratégie du robot */
antbig 4:88431b537477 86 /****************************************************************************************/
antbig 0:ad97421fb1fb 87 void automate_process(void)
antbig 0:ad97421fb1fb 88 {
antbig 0:ad97421fb1fb 89 static struct S_Instruction instruction;
antbig 1:116040d14164 90 static unsigned char AX12_enchainement = 0;
antbig 1:116040d14164 91 static unsigned char MV_enchainement = 0;
antbig 0:ad97421fb1fb 92 signed char localData1 = 0;
antbig 0:ad97421fb1fb 93 signed short localData2 = 0;
antbig 0:ad97421fb1fb 94 unsigned short localData3 = 0;
ClementBreteau 14:c8fc06c4887f 95 //signed short localData4 = 0;
antbig 1:116040d14164 96 unsigned char localData5 = 0;
antbig 0:ad97421fb1fb 97
antbig 12:14729d584500 98 if(gameTimer.read_ms() >= 89000) {//Fin du match (On autorise 2s pour déposer des éléments
antbig 0:ad97421fb1fb 99 gameTimer.stop();
antbig 0:ad97421fb1fb 100 gameTimer.reset();
antbig 0:ad97421fb1fb 101 gameEtat = ETAT_END;//Fin du temps
antbig 0:ad97421fb1fb 102 }
antbig 0:ad97421fb1fb 103
antbig 0:ad97421fb1fb 104 if(lastEtat != gameEtat || debugetatTimer.read_ms() >= 1000) {
antbig 0:ad97421fb1fb 105 lastEtat = gameEtat;
antbig 0:ad97421fb1fb 106 debugetatTimer.reset();
antbig 11:ed13a480ddca 107 sendStratEtat((unsigned char)gameEtat, (unsigned char)actual_instruction);
antbig 0:ad97421fb1fb 108 }
antbig 0:ad97421fb1fb 109
antbig 0:ad97421fb1fb 110 switch(gameEtat)
antbig 0:ad97421fb1fb 111 {
antbig 0:ad97421fb1fb 112 case ETAT_CHECK_CARTE_SCREEN:
antbig 0:ad97421fb1fb 113 /*
antbig 0:ad97421fb1fb 114 Verification de l'état de la carte ecran
antbig 0:ad97421fb1fb 115 */
antbig 0:ad97421fb1fb 116 waitingAckFrom = ALIVE_IHM;//On indique que l'on attend un ack de la carte IHM
antbig 0:ad97421fb1fb 117 SendRawId(CHECK_IHM);//On demande à la carte IHM d'insiquer ça présence
antbig 0:ad97421fb1fb 118
antbig 0:ad97421fb1fb 119 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 120 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 121 cartesCheker.start();//On lance le timer pour le timeout
antbig 0:ad97421fb1fb 122 gameEtat = ETAT_CHECK_CARTE_SCREEN_WAIT_ACK;
antbig 0:ad97421fb1fb 123
ClementBreteau 14:c8fc06c4887f 124 //gameEtat = ETAT_GAME_START;
ClementBreteau 14:c8fc06c4887f 125
antbig 0:ad97421fb1fb 126 break;
antbig 0:ad97421fb1fb 127 case ETAT_CHECK_CARTE_SCREEN_WAIT_ACK:
antbig 0:ad97421fb1fb 128 /*
antbig 0:ad97421fb1fb 129 Attente du ALIVE de la carte écran.
antbig 0:ad97421fb1fb 130
antbig 0:ad97421fb1fb 131 Si la carte ne répond pas apres 10ms, on retoune dans l'etat ETAT_CHECK_CARTE_SCREEN
antbig 0:ad97421fb1fb 132 maximum 3 tentatives
antbig 0:ad97421fb1fb 133 Si pas de réponse, clignotement de toutes les leds possible
antbig 0:ad97421fb1fb 134 */
antbig 0:ad97421fb1fb 135 if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
antbig 0:ad97421fb1fb 136 cartesCheker.stop();
antbig 0:ad97421fb1fb 137 screenChecktry = 0;
antbig 0:ad97421fb1fb 138 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 139 } else if(cartesCheker.read_ms () > 100) {
antbig 0:ad97421fb1fb 140 cartesCheker.stop();
antbig 0:ad97421fb1fb 141 if(screenChecktry >=3) {
antbig 0:ad97421fb1fb 142 errorLoop();//Erreur La carte IHM n'est pas en ligne
antbig 0:ad97421fb1fb 143 } else {
antbig 0:ad97421fb1fb 144 gameEtat = ETAT_CHECK_CARTE_SCREEN;
antbig 0:ad97421fb1fb 145 }
antbig 0:ad97421fb1fb 146 }
antbig 0:ad97421fb1fb 147 break;
antbig 0:ad97421fb1fb 148 case ETAT_CHECK_CARTES:
antbig 0:ad97421fb1fb 149 /*
antbig 0:ad97421fb1fb 150 Il faut faire une boucle pour verifier toutes les cartes les une apres les autres
antbig 0:ad97421fb1fb 151 */
antbig 0:ad97421fb1fb 152 waitingAckFrom = id_alive[checkCurrent];//On indique que l'on attend un ack de la carte IHM
antbig 11:ed13a480ddca 153 SendRawId(id_check[checkCurrent]);//On demande à la carte d'indiquer ça présence
antbig 0:ad97421fb1fb 154
antbig 0:ad97421fb1fb 155 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 156 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 157 cartesCheker.start();//On lance le timer pour le timeout
antbig 0:ad97421fb1fb 158 gameEtat = ETAT_CHECK_CARTES_WAIT_ACK;
ClementBreteau 14:c8fc06c4887f 159
ClementBreteau 14:c8fc06c4887f 160
ClementBreteau 14:c8fc06c4887f 161
ClementBreteau 14:c8fc06c4887f 162
antbig 0:ad97421fb1fb 163 break;
antbig 0:ad97421fb1fb 164 case ETAT_CHECK_CARTES_WAIT_ACK:
antbig 0:ad97421fb1fb 165 /*
antbig 0:ad97421fb1fb 166 On attend l'ack de la carte en cours de vérification
antbig 0:ad97421fb1fb 167 */
antbig 0:ad97421fb1fb 168 //printf("cartesCheker = %d waitingAckFrom = %d\n",cartesCheker.read_ms(), waitingAckFrom);
antbig 0:ad97421fb1fb 169 if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
antbig 0:ad97421fb1fb 170 cartesCheker.stop();
antbig 0:ad97421fb1fb 171 screenChecktry = 0;
antbig 0:ad97421fb1fb 172 countAliveCard++;
antbig 11:ed13a480ddca 173 checkCurrent++;
antbig 0:ad97421fb1fb 174 if(checkCurrent >= NOMBRE_CARTES) {
antbig 12:14729d584500 175 //printf("all card check, missing %d cards\n",(NOMBRE_CARTES-countAliveCard));
antbig 0:ad97421fb1fb 176 if(countAliveCard >= NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 177 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 178 SendRawId(ECRAN_ALL_CHECK);//On dit à l'IHM que toutes les cartes sont en ligne
antbig 5:dcd817534b57 179 tactile_printf("Selection couleur et strategie");
antbig 0:ad97421fb1fb 180 } else {
antbig 0:ad97421fb1fb 181 gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
antbig 0:ad97421fb1fb 182 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 183 }
antbig 0:ad97421fb1fb 184 } else {
antbig 0:ad97421fb1fb 185 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 186 }
antbig 0:ad97421fb1fb 187 } else if(cartesCheker.read_ms () > 100) {
antbig 0:ad97421fb1fb 188 cartesCheker.stop();
antbig 0:ad97421fb1fb 189 if(screenChecktry >=3) {
antbig 12:14729d584500 190 //printf("missing card %d\n",id_check[checkCurrent]);
antbig 0:ad97421fb1fb 191 screenChecktry = 0;
antbig 11:ed13a480ddca 192 checkCurrent++;
antbig 12:14729d584500 193
antbig 0:ad97421fb1fb 194 if(checkCurrent >= NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 195 if(countAliveCard == NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 196 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 197 SendRawId(ECRAN_ALL_CHECK);//On dit à l'IHM que toutes les cartes sont en ligne
antbig 0:ad97421fb1fb 198 } else {
antbig 0:ad97421fb1fb 199 gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
antbig 0:ad97421fb1fb 200 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 201 }
antbig 0:ad97421fb1fb 202 } else {
antbig 0:ad97421fb1fb 203 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 204 }
antbig 0:ad97421fb1fb 205 } else {
antbig 0:ad97421fb1fb 206 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 207 }
antbig 0:ad97421fb1fb 208 }
antbig 0:ad97421fb1fb 209 break;
antbig 0:ad97421fb1fb 210 case ETAT_WAIT_FORCE:
antbig 0:ad97421fb1fb 211 /*
antbig 0:ad97421fb1fb 212 Attente du forçage de la part de la carte IHM
antbig 0:ad97421fb1fb 213 */
antbig 0:ad97421fb1fb 214 if(waitingAckFrom == 0) {
antbig 0:ad97421fb1fb 215 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 216 }
antbig 0:ad97421fb1fb 217 break;
antbig 0:ad97421fb1fb 218 case ETAT_CONFIG:
antbig 0:ad97421fb1fb 219 /*
antbig 0:ad97421fb1fb 220 Attente de l'odre de choix de mode,
antbig 0:ad97421fb1fb 221 Il est possible de modifier la couleur et l'id de la stratégie
antbig 0:ad97421fb1fb 222 Il est aussi possible d'envoyer les ordres de debug
antbig 0:ad97421fb1fb 223 */
ClementBreteau 14:c8fc06c4887f 224 modeTelemetre = 0;
antbig 0:ad97421fb1fb 225 break;
antbig 1:116040d14164 226 case ETAT_GAME_INIT:
antbig 0:ad97421fb1fb 227 //On charge la liste des instructions
antbig 0:ad97421fb1fb 228 loadAllInstruction();//Mise en cache de toute les instructions
ClementBreteau 14:c8fc06c4887f 229
antbig 0:ad97421fb1fb 230 gameEtat = ETAT_GAME_WAIT_FOR_JACK;
antbig 0:ad97421fb1fb 231 SendRawId(ECRAN_ACK_START_MATCH);
antbig 0:ad97421fb1fb 232 tactile_printf("Attente du JACK.");
antbig 12:14729d584500 233 setAsservissementEtat(1);//On réactive l'asservissement
antbig 12:14729d584500 234 jack.mode(PullDown); // désactivation de la résistance interne du jack
antbig 8:0edc7dfb7f7e 235 jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
antbig 12:14729d584500 236
antbig 12:14729d584500 237 #ifdef ROBOT_BIG //le gros robot n'a pas de recalage bordure pour ce placer au début, on lui envoit donc ça position
antbig 12:14729d584500 238 localData2 = POSITION_DEBUT_T;
antbig 12:14729d584500 239 localData3 = POSITION_DEBUT_Y;
antbig 12:14729d584500 240 if(InversStrat == 1) {
antbig 12:14729d584500 241 localData2 = -localData2;//Inversion theta
antbig 12:14729d584500 242 localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
antbig 12:14729d584500 243 }
antbig 12:14729d584500 244 SetOdometrie(ODOMETRIE_BIG_POSITION, POSITION_DEBUT_X,localData3,localData2);
ClementBreteau 18:cc5fec34ed9c 245 #endif
ClementBreteau 18:cc5fec34ed9c 246 #ifdef ROBOT_SMALL
clementlignie 22:a466d08ac42b 247 localData2 = POSITION_DEBUT_T;
clementlignie 22:a466d08ac42b 248 localData3 = POSITION_DEBUT_Y;
clementlignie 22:a466d08ac42b 249 if(InversStrat == 1) {
clementlignie 22:a466d08ac42b 250 localData2 = -localData2;//Inversion theta
clementlignie 22:a466d08ac42b 251 localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
clementlignie 22:a466d08ac42b 252 }
clementlignie 22:a466d08ac42b 253 SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,localData3,localData2);
ClementBreteau 18:cc5fec34ed9c 254 #endif
antbig 0:ad97421fb1fb 255 break;
antbig 0:ad97421fb1fb 256 case ETAT_GAME_WAIT_FOR_JACK:
antbig 12:14729d584500 257 //On attend le jack
antbig 1:116040d14164 258 break;
antbig 1:116040d14164 259 case ETAT_GAME_START:
antbig 1:116040d14164 260 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 14:c8fc06c4887f 261
ClementBreteau 14:c8fc06c4887f 262 if (ModeDemo == 0){
ClementBreteau 14:c8fc06c4887f 263 chronoEnd.attach(&chronometre_ISR,90);//On lance le chrono de 90s
ClementBreteau 14:c8fc06c4887f 264 gameTimer.start();
ClementBreteau 14:c8fc06c4887f 265 }
antbig 1:116040d14164 266 gameTimer.reset();
antbig 12:14729d584500 267 jack.fall(NULL);//On désactive l'interruption du jack
antbig 10:a788d9cf60f2 268 SendRawId(GLOBAL_START);
antbig 12:14729d584500 269 tactile_printf("Start");//Pas vraiment util mais bon
antbig 0:ad97421fb1fb 270 break;
antbig 0:ad97421fb1fb 271 case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
antbig 0:ad97421fb1fb 272 /*
antbig 0:ad97421fb1fb 273 Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
antbig 0:ad97421fb1fb 274 */
antbig 0:ad97421fb1fb 275 //printf("load next instruction\n");
ClementBreteau 14:c8fc06c4887f 276
antbig 0:ad97421fb1fb 277 if(actual_instruction >= nb_instructions || actual_instruction == 255) {
antbig 0:ad97421fb1fb 278 gameEtat = ETAT_END;
antbig 0:ad97421fb1fb 279 //Il n'y a plus d'instruction, fin du jeu
antbig 0:ad97421fb1fb 280 } else {
antbig 0:ad97421fb1fb 281 instruction = strat_instructions[actual_instruction];
antbig 0:ad97421fb1fb 282 //On effectue le traitement de l'instruction
antbig 0:ad97421fb1fb 283 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
antbig 0:ad97421fb1fb 284 }
antbig 0:ad97421fb1fb 285 screenChecktry = 0;
antbig 0:ad97421fb1fb 286 break;
antbig 0:ad97421fb1fb 287 case ETAT_GAME_PROCESS_INSTRUCTION:
antbig 0:ad97421fb1fb 288 /*
antbig 0:ad97421fb1fb 289 Traitement de l'instruction, envoie de la trame CAN
antbig 0:ad97421fb1fb 290 */
antbig 0:ad97421fb1fb 291 //debug_Instruction(instruction);
antbig 0:ad97421fb1fb 292 switch(instruction.order)
antbig 0:ad97421fb1fb 293 {
antbig 12:14729d584500 294 case MV_COURBURE://C'est un rayon de courbure
antbig 6:eddfa414fd11 295 waitingAckID = ASSERVISSEMENT_COURBURE;
antbig 6:eddfa414fd11 296 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 297 if(instruction.nextActionType == ENCHAINEMENT) {
antbig 6:eddfa414fd11 298 MV_enchainement++;
antbig 6:eddfa414fd11 299 localData5 = 1;
antbig 6:eddfa414fd11 300 } else {
antbig 6:eddfa414fd11 301 if(MV_enchainement > 0) {
antbig 6:eddfa414fd11 302 localData5 = 2;
antbig 6:eddfa414fd11 303 MV_enchainement = 0;
antbig 6:eddfa414fd11 304 } else {
antbig 6:eddfa414fd11 305 localData5 = 0;
antbig 6:eddfa414fd11 306 }
antbig 0:ad97421fb1fb 307 }
antbig 11:ed13a480ddca 308 localData1 = ((instruction.direction == LEFT)?1:-1);
antbig 12:14729d584500 309 if(InversStrat == 1)
antbig 12:14729d584500 310 {
antbig 12:14729d584500 311 localData1 = -localData1;//Inversion de la direction
antbig 12:14729d584500 312 }
ClementBreteau 18:cc5fec34ed9c 313
antbig 9:d0042422d95a 314 BendRadius(instruction.arg1, instruction.arg3, localData1, localData5);
antbig 0:ad97421fb1fb 315 break;
antbig 12:14729d584500 316 case MV_LINE://Ligne droite
antbig 0:ad97421fb1fb 317 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 318 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 319 if(instruction.nextActionType == ENCHAINEMENT) {
antbig 1:116040d14164 320 MV_enchainement++;
antbig 1:116040d14164 321 localData5 = 1;
antbig 1:116040d14164 322 } else {
antbig 12:14729d584500 323 if(MV_enchainement > 0) {//Utilisé en cas d'enchainement,
antbig 1:116040d14164 324 localData5 = 2;
antbig 1:116040d14164 325 MV_enchainement = 0;
antbig 1:116040d14164 326 } else {
antbig 1:116040d14164 327 localData5 = 0;
antbig 1:116040d14164 328 }
antbig 0:ad97421fb1fb 329 }
ClementBreteau 16:7321fb3bb396 330 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 331 if(InversStrat == 1) {
ClementBreteau 15:c2fc239e85df 332 /*if (instruction.direction == FORWARD) instruction.direction = BACKWARD;
ClementBreteau 15:c2fc239e85df 333 else instruction.direction = FORWARD;*/
ClementBreteau 15:c2fc239e85df 334 instruction.direction = ((instruction.direction == FORWARD)?BACKWARD:FORWARD);
ClementBreteau 15:c2fc239e85df 335 }
ClementBreteau 16:7321fb3bb396 336 #endif
antbig 1:116040d14164 337 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
antbig 1:116040d14164 338 GoStraight(localData2, 0, 0, localData5);
ClementBreteau 14:c8fc06c4887f 339
antbig 0:ad97421fb1fb 340 break;
antbig 12:14729d584500 341 case MV_TURN: //Rotation sur place
antbig 0:ad97421fb1fb 342 if(instruction.direction == RELATIVE) {
antbig 0:ad97421fb1fb 343 localData2 = instruction.arg3;
antbig 12:14729d584500 344 } else {//C'est un rotation absolu, il faut la convertir en relative
antbig 12:14729d584500 345 localData2 = instruction.arg3;
antbig 12:14729d584500 346
antbig 12:14729d584500 347 localData2 = (localData2 - theta_robot)%3600;
antbig 12:14729d584500 348 if(localData2 > 1800) {
antbig 12:14729d584500 349 localData2 = localData2-3600;
antbig 12:14729d584500 350 }
antbig 12:14729d584500 351
antbig 0:ad97421fb1fb 352 }
clementlignie 22:a466d08ac42b 353
clementlignie 22:a466d08ac42b 354 if(InversStrat == 1) {
clementlignie 22:a466d08ac42b 355 localData2 = -localData2;
clementlignie 22:a466d08ac42b 356 }
antbig 0:ad97421fb1fb 357 Rotate(localData2);
antbig 0:ad97421fb1fb 358 waitingAckID = ASSERVISSEMENT_ROTATION;
antbig 0:ad97421fb1fb 359 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 360 break;
antbig 0:ad97421fb1fb 361 case MV_XYT:
antbig 0:ad97421fb1fb 362 if(instruction.direction == BACKWARD) {
antbig 0:ad97421fb1fb 363 localData1 = -1;
antbig 0:ad97421fb1fb 364 } else {
antbig 0:ad97421fb1fb 365 localData1 = 1;
antbig 0:ad97421fb1fb 366 }
antbig 2:8d8e2cf798a3 367
antbig 2:8d8e2cf798a3 368 if(InversStrat == 1) {
antbig 12:14729d584500 369 localData2 = -instruction.arg3;
antbig 2:8d8e2cf798a3 370 localData3 = 3000 - instruction.arg2;//Inversion du Y
antbig 2:8d8e2cf798a3 371 } else {
antbig 2:8d8e2cf798a3 372 localData3 = instruction.arg2;
antbig 12:14729d584500 373 localData2 = instruction.arg3;
antbig 2:8d8e2cf798a3 374 }
antbig 12:14729d584500 375 GoToPosition(instruction.arg1,localData3,localData2,localData1);
antbig 0:ad97421fb1fb 376 waitingAckID = ASSERVISSEMENT_XYT;
antbig 0:ad97421fb1fb 377 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 378 break;
antbig 0:ad97421fb1fb 379 case MV_RECALAGE:
antbig 0:ad97421fb1fb 380 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 381 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 11:ed13a480ddca 382 instruction.nextActionType = WAIT;
antbig 12:14729d584500 383 localData2 = (((instruction.direction == FORWARD)?1:-1)*3000);//On indique une distance de 3000 pour etre sur que le robot va ce recaler
antbig 11:ed13a480ddca 384
antbig 11:ed13a480ddca 385 if(instruction.precision == RECALAGE_Y) {
antbig 11:ed13a480ddca 386 localData5 = 2;
antbig 11:ed13a480ddca 387 if(InversStrat == 1) {
antbig 11:ed13a480ddca 388 localData3 = 3000 - instruction.arg1;//Inversion du Y
antbig 11:ed13a480ddca 389 } else {
antbig 11:ed13a480ddca 390 localData3 = instruction.arg1;
antbig 11:ed13a480ddca 391 }
antbig 11:ed13a480ddca 392 } else {
antbig 11:ed13a480ddca 393 localData5 = 1;
antbig 11:ed13a480ddca 394 localData3 = instruction.arg1;
antbig 11:ed13a480ddca 395 }
antbig 11:ed13a480ddca 396
antbig 11:ed13a480ddca 397 GoStraight(localData2, localData5, localData3, 0);
antbig 0:ad97421fb1fb 398 break;
antbig 0:ad97421fb1fb 399 case ACTION:
ClementBreteau 18:cc5fec34ed9c 400 int tempo = 0;
ClementBreteau 18:cc5fec34ed9c 401 waitingAckID= SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 402 waitingAckFrom = ACKNOWLEDGE_AX12;
ClementBreteau 18:cc5fec34ed9c 403 tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
ClementBreteau 18:cc5fec34ed9c 404 if(tempo == 1){
antbig 0:ad97421fb1fb 405 //L'action est spécifique
antbig 11:ed13a480ddca 406 if((waitingAckFrom == 0 && waitingAckID == 0) || instruction.nextActionType == ENCHAINEMENT) {
ClementBreteau 18:cc5fec34ed9c 407
antbig 11:ed13a480ddca 408 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 11:ed13a480ddca 409 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 11:ed13a480ddca 410 } else {
ClementBreteau 15:c2fc239e85df 411 gameEtat = ETAT_GAME_WAIT_ACK;
antbig 11:ed13a480ddca 412 }
ClementBreteau 18:cc5fec34ed9c 413 #ifdef ROBOT_SMALL
ClementBreteau 18:cc5fec34ed9c 414 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 18:cc5fec34ed9c 415 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 18:cc5fec34ed9c 416 #endif
antbig 11:ed13a480ddca 417 return;
ClementBreteau 18:cc5fec34ed9c 418 #ifdef ROBOT_SMALL
ClementBreteau 18:cc5fec34ed9c 419 } else if (tempo == 2) {
ClementBreteau 18:cc5fec34ed9c 420 // on est dans le cas de l'avance selon le telemetre
ClementBreteau 18:cc5fec34ed9c 421 waitingAckID = ASSERVISSEMENT_RECALAGE;
ClementBreteau 18:cc5fec34ed9c 422 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 423
ClementBreteau 18:cc5fec34ed9c 424 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
ClementBreteau 18:cc5fec34ed9c 425 GoStraight(telemetreDistance, 0, 0, 0);
ClementBreteau 18:cc5fec34ed9c 426 // on reset la distance du telemetre à 0
ClementBreteau 18:cc5fec34ed9c 427 telemetreDistance = 5000;
ClementBreteau 18:cc5fec34ed9c 428 #endif
ClementBreteau 18:cc5fec34ed9c 429 }else{
antbig 0:ad97421fb1fb 430 //C'est un AX12 qu'il faut bouger
ClementBreteau 15:c2fc239e85df 431 //AX12_setGoal(instruction.arg1,instruction.arg3/10,instruction.arg2);
ClementBreteau 15:c2fc239e85df 432 //AX12_enchainement++;
ClementBreteau 14:c8fc06c4887f 433
antbig 0:ad97421fb1fb 434 }
antbig 0:ad97421fb1fb 435 break;
antbig 0:ad97421fb1fb 436 default:
antbig 0:ad97421fb1fb 437 //Instruction inconnue, on l'ignore
antbig 0:ad97421fb1fb 438 break;
antbig 0:ad97421fb1fb 439 }
antbig 0:ad97421fb1fb 440
antbig 0:ad97421fb1fb 441
antbig 0:ad97421fb1fb 442
antbig 0:ad97421fb1fb 443 if(instruction.nextActionType == JUMP || instruction.nextActionType == WAIT) {
antbig 0:ad97421fb1fb 444 gameEtat = ETAT_GAME_WAIT_ACK;//Il faut attendre que la carte est bien reçu l'acknowledge
antbig 0:ad97421fb1fb 445 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 446 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 447 cartesCheker.start();
antbig 1:116040d14164 448 if(AX12_enchainement > 0) {
ClementBreteau 15:c2fc239e85df 449 //AX12_processChange();//Il faut lancer le déplacement des AX12
ClementBreteau 15:c2fc239e85df 450 //AX12_enchainement = 0;
antbig 1:116040d14164 451 }
antbig 0:ad97421fb1fb 452 } else {//C'est un enchainement
ClementBreteau 15:c2fc239e85df 453 if(instruction.order == MV_LINE){
ClementBreteau 15:c2fc239e85df 454 gameEtat = ETAT_GAME_WAIT_ACK;
ClementBreteau 15:c2fc239e85df 455
ClementBreteau 15:c2fc239e85df 456 }else{
ClementBreteau 15:c2fc239e85df 457 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 458 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//C'est un enchainement, on charge directement l'instruction suivante
ClementBreteau 15:c2fc239e85df 459 }
antbig 0:ad97421fb1fb 460 }
antbig 0:ad97421fb1fb 461
antbig 0:ad97421fb1fb 462 break;
antbig 0:ad97421fb1fb 463 case ETAT_GAME_WAIT_ACK:
antbig 0:ad97421fb1fb 464 /*
antbig 0:ad97421fb1fb 465 Attente de l'ack de l'instruction
antbig 0:ad97421fb1fb 466 */
ClementBreteau 14:c8fc06c4887f 467 if(waitingAckID == 0 && waitingAckFrom == 0) {//Les ack ont été reset, c'est bon on continu
antbig 0:ad97421fb1fb 468 //if(true) {
antbig 0:ad97421fb1fb 469 cartesCheker.stop();
antbig 0:ad97421fb1fb 470 if(instruction.nextActionType == JUMP) {
antbig 11:ed13a480ddca 471 if(instruction.jumpAction == JUMP_POSITION) {
antbig 11:ed13a480ddca 472 gameEtat = ETAT_GAME_JUMP_POSITION;
antbig 11:ed13a480ddca 473 } else {//Pour eviter les erreurs, on dit que c'est par défaut un jump time
antbig 0:ad97421fb1fb 474 gameEtat = ETAT_GAME_JUMP_TIME;
antbig 0:ad97421fb1fb 475 cartesCheker.reset();//On reset le timeOut
antbig 11:ed13a480ddca 476 cartesCheker.start();
antbig 0:ad97421fb1fb 477 }
antbig 0:ad97421fb1fb 478 } else if(instruction.nextActionType == WAIT) {
antbig 0:ad97421fb1fb 479 gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION;
antbig 0:ad97421fb1fb 480 switch(instruction.order)
antbig 0:ad97421fb1fb 481 {
antbig 0:ad97421fb1fb 482 case MV_COURBURE:
antbig 0:ad97421fb1fb 483 waitingAckID = ASSERVISSEMENT_COURBURE;
antbig 0:ad97421fb1fb 484 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 485 break;
antbig 0:ad97421fb1fb 486 case MV_LINE:
antbig 0:ad97421fb1fb 487 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 488 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 489 break;
antbig 0:ad97421fb1fb 490 case MV_TURN:
antbig 0:ad97421fb1fb 491 waitingAckID = ASSERVISSEMENT_ROTATION;
antbig 0:ad97421fb1fb 492 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 493 break;
antbig 0:ad97421fb1fb 494 case MV_XYT:
antbig 0:ad97421fb1fb 495 waitingAckID = ASSERVISSEMENT_XYT;
antbig 0:ad97421fb1fb 496 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 497 break;
antbig 0:ad97421fb1fb 498 case MV_RECALAGE:
antbig 0:ad97421fb1fb 499 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 500 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 501 break;
antbig 0:ad97421fb1fb 502 case ACTION:
ClementBreteau 15:c2fc239e85df 503
ClementBreteau 15:c2fc239e85df 504 if (modeTelemetre == 0){
ClementBreteau 18:cc5fec34ed9c 505 if (telemetreDistance == 0){
ClementBreteau 18:cc5fec34ed9c 506 waitingAckID = SERVO_AX12_ACTION;// instruction.arg1;
ClementBreteau 18:cc5fec34ed9c 507 waitingAckFrom = INSTRUCTION_END_AX12; //SERVO_AX12_DONE;
ClementBreteau 18:cc5fec34ed9c 508 }else if(telemetreDistance == 5000){
ClementBreteau 18:cc5fec34ed9c 509 // on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
ClementBreteau 18:cc5fec34ed9c 510 waitingAckID = ASSERVISSEMENT_RECALAGE;
ClementBreteau 18:cc5fec34ed9c 511 waitingAckFrom = INSTRUCTION_END_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 512 telemetreDistance = 0;
ClementBreteau 18:cc5fec34ed9c 513 }
ClementBreteau 15:c2fc239e85df 514 }else{ // si on attend la reponse du telemetre
ClementBreteau 15:c2fc239e85df 515 //modeTelemetre = 1;
ClementBreteau 15:c2fc239e85df 516 waitingAckID = OBJET_SUR_TABLE;
ClementBreteau 15:c2fc239e85df 517 waitingAckFrom = 0;
ClementBreteau 15:c2fc239e85df 518 }
antbig 0:ad97421fb1fb 519 break;
antbig 0:ad97421fb1fb 520 default:
antbig 0:ad97421fb1fb 521 break;
antbig 0:ad97421fb1fb 522 }
antbig 0:ad97421fb1fb 523 } else {
antbig 0:ad97421fb1fb 524 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 0:ad97421fb1fb 525 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 526 }
antbig 0:ad97421fb1fb 527 } else if(cartesCheker.read_ms () > 50){
antbig 0:ad97421fb1fb 528 cartesCheker.stop();
antbig 0:ad97421fb1fb 529 if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur
antbig 0:ad97421fb1fb 530 actual_instruction = instruction.nextLineError;
antbig 0:ad97421fb1fb 531 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 0:ad97421fb1fb 532 } else {
antbig 0:ad97421fb1fb 533 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
antbig 0:ad97421fb1fb 534 }
antbig 0:ad97421fb1fb 535 }
antbig 0:ad97421fb1fb 536 break;
antbig 0:ad97421fb1fb 537
antbig 0:ad97421fb1fb 538 case ETAT_GAME_JUMP_TIME:
antbig 0:ad97421fb1fb 539 if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) {
antbig 0:ad97421fb1fb 540 cartesCheker.stop();//On arrete le timer
antbig 0:ad97421fb1fb 541 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 542 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 543 }
antbig 0:ad97421fb1fb 544 break;
ClementBreteau 15:c2fc239e85df 545
ClementBreteau 15:c2fc239e85df 546 case ETAT_GAME_JUMP_CONFIG:
ClementBreteau 15:c2fc239e85df 547 signed int depasX = 1, depasY = 1; // servent à indiquer le sens de dépassement des coordonnées
ClementBreteau 15:c2fc239e85df 548 // 1 si l'instruction est plus grande que la position du robot
ClementBreteau 15:c2fc239e85df 549 // -1 si l'instruction est plus petite que la position du robot
ClementBreteau 15:c2fc239e85df 550 // 0 si l'instruction et position du robot sont proche de moins de 1cm
ClementBreteau 15:c2fc239e85df 551 if (abs(x_robot-instruction.JumpTimeOrX)<10){
ClementBreteau 15:c2fc239e85df 552 depasX = 0;
ClementBreteau 15:c2fc239e85df 553 }else if(x_robot > instruction.JumpTimeOrX){
ClementBreteau 15:c2fc239e85df 554 depasX = -1;
ClementBreteau 15:c2fc239e85df 555 }
ClementBreteau 15:c2fc239e85df 556
ClementBreteau 15:c2fc239e85df 557 if(abs(y_robot-instruction.JumpY)<10){
ClementBreteau 15:c2fc239e85df 558 depasY = 0;
ClementBreteau 15:c2fc239e85df 559 }else if(y_robot > instruction.JumpY){
ClementBreteau 15:c2fc239e85df 560 depasY = -1;
ClementBreteau 15:c2fc239e85df 561 }
ClementBreteau 15:c2fc239e85df 562
ClementBreteau 15:c2fc239e85df 563 gameEtat = ETAT_GAME_JUMP_POSITION;
ClementBreteau 15:c2fc239e85df 564 break;
antbig 0:ad97421fb1fb 565 case ETAT_GAME_JUMP_POSITION:
ClementBreteau 15:c2fc239e85df 566 bool Xok = false, Yok = false;
ClementBreteau 15:c2fc239e85df 567
ClementBreteau 15:c2fc239e85df 568 if (depasX == 0){
ClementBreteau 15:c2fc239e85df 569 Xok = true;
ClementBreteau 15:c2fc239e85df 570 }else if ((instruction.JumpTimeOrX - x_robot)*depasX < -5){
ClementBreteau 15:c2fc239e85df 571 Xok = true;
ClementBreteau 15:c2fc239e85df 572 }
ClementBreteau 15:c2fc239e85df 573
ClementBreteau 15:c2fc239e85df 574 if (depasY == 0){
ClementBreteau 15:c2fc239e85df 575 Yok = true;
ClementBreteau 15:c2fc239e85df 576 }else if ((instruction.JumpY - y_robot)*depasY < -5){
ClementBreteau 15:c2fc239e85df 577 Yok = true;
ClementBreteau 15:c2fc239e85df 578 }
ClementBreteau 15:c2fc239e85df 579
ClementBreteau 15:c2fc239e85df 580 // on teste si les deux coordonnées ont été dépassées, si oui on lance l'instruction suivante
ClementBreteau 15:c2fc239e85df 581 if (Xok && Yok){
ClementBreteau 15:c2fc239e85df 582 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 583 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
ClementBreteau 15:c2fc239e85df 584 }
ClementBreteau 15:c2fc239e85df 585
antbig 0:ad97421fb1fb 586 break;
antbig 0:ad97421fb1fb 587 case ETAT_GAME_WAIT_END_INSTRUCTION:
antbig 0:ad97421fb1fb 588 if(waitingAckID == 0 && waitingAckFrom ==0) {//On attend que la carte nous indique que l'instruction est terminée
antbig 0:ad97421fb1fb 589 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 590 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 591 }
antbig 0:ad97421fb1fb 592 break;
antbig 0:ad97421fb1fb 593
antbig 0:ad97421fb1fb 594
antbig 5:dcd817534b57 595 case ETAT_WARNING_TIMEOUT://Attente de la trame fin de danger ou du timeout de 2s
antbig 12:14729d584500 596 if(timeoutWarning.read_ms() >= BALISE_TIMEOUT)//ça fait plus de 2s, il faut changer de stratégie
antbig 5:dcd817534b57 597 {
antbig 5:dcd817534b57 598 gameEtat = ETAT_WARNING_SWITCH_STRATEGIE;
antbig 5:dcd817534b57 599 }
antbig 5:dcd817534b57 600 break;
antbig 5:dcd817534b57 601 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 12:14729d584500 602 if(timeoutWarningWaitEnd.read_ms() >= 1000) {//c'est bon, on repart
antbig 12:14729d584500 603 //actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 604 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
antbig 12:14729d584500 605 }
antbig 5:dcd817534b57 606 break;
antbig 5:dcd817534b57 607 case ETAT_WARNING_END_LAST_INSTRUCTION://trouver le meilleur moyen de reprendre l'instruction en cours
antbig 12:14729d584500 608 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 609 actual_instruction = instruction.nextLineError;// 2 //Modification directe... c'est pas bien mais ça marchait pour le match 5
antbig 12:14729d584500 610 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 611 #else
antbig 12:14729d584500 612 actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 613 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 614 #endif
ClementBreteau 20:de595e4ff01d 615 gameEtat = ETAT_END;
ClementBreteau 21:590cdacb6a35 616
antbig 5:dcd817534b57 617 break;
antbig 5:dcd817534b57 618 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 619 actual_instruction = instruction.nextLineError;
antbig 5:dcd817534b57 620 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 12:14729d584500 621 ingnorBaliseOnce = 1;
antbig 5:dcd817534b57 622 break;
ClementBreteau 20:de595e4ff01d 623
ClementBreteau 20:de595e4ff01d 624
ClementBreteau 20:de595e4ff01d 625
ClementBreteau 14:c8fc06c4887f 626 case ETAT_END:
ClementBreteau 14:c8fc06c4887f 627 if (ModeDemo){
ClementBreteau 14:c8fc06c4887f 628 gameEtat = ETAT_CHECK_CARTE_SCREEN;
ClementBreteau 14:c8fc06c4887f 629 ModeDemo = 1;
ClementBreteau 14:c8fc06c4887f 630 } else {
ClementBreteau 14:c8fc06c4887f 631 gameEtat = ETAT_END_LOOP;
ClementBreteau 14:c8fc06c4887f 632 }
antbig 0:ad97421fb1fb 633 break;
antbig 0:ad97421fb1fb 634 case ETAT_END_LOOP:
antbig 0:ad97421fb1fb 635 //Rien, on tourne en rond
ClementBreteau 18:cc5fec34ed9c 636
antbig 0:ad97421fb1fb 637 break;
antbig 0:ad97421fb1fb 638 default:
ClementBreteau 20:de595e4ff01d 639
antbig 0:ad97421fb1fb 640 break;
ClementBreteau 20:de595e4ff01d 641 }
ClementBreteau 20:de595e4ff01d 642 }
ClementBreteau 20:de595e4ff01d 643
antbig 4:88431b537477 644 /****************************************************************************************/
antbig 4:88431b537477 645 /* FUNCTION NAME: canProcessRx */
antbig 4:88431b537477 646 /* DESCRIPTION : Fonction de traitement des messages CAN */
antbig 4:88431b537477 647 /****************************************************************************************/
antbig 0:ad97421fb1fb 648 void canProcessRx(void)
ClementBreteau 20:de595e4ff01d 649 {
antbig 0:ad97421fb1fb 650 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
antbig 4:88431b537477 651 CANMessage msgTx=CANMessage();
antbig 0:ad97421fb1fb 652 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
antbig 0:ad97421fb1fb 653 if(FIFO_occupation<0)
antbig 0:ad97421fb1fb 654 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
antbig 0:ad97421fb1fb 655 if(FIFO_max_occupation<FIFO_occupation)
antbig 0:ad97421fb1fb 656 FIFO_max_occupation=FIFO_occupation;
antbig 0:ad97421fb1fb 657 if(FIFO_occupation!=0) {
antbig 0:ad97421fb1fb 658
antbig 0:ad97421fb1fb 659 switch(msgRxBuffer[FIFO_lecture].id) {
antbig 4:88431b537477 660 case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
antbig 1:116040d14164 661 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 1:116040d14164 662 gameEtat = ETAT_GAME_START;
antbig 1:116040d14164 663 }
antbig 1:116040d14164 664 break;
antbig 1:116040d14164 665
antbig 0:ad97421fb1fb 666 case ALIVE_BALISE:
antbig 0:ad97421fb1fb 667 case ALIVE_MOTEUR:
antbig 0:ad97421fb1fb 668 case ALIVE_IHM:
antbig 11:ed13a480ddca 669 case ALIVE_ACTIONNEURS:
antbig 11:ed13a480ddca 670 case ALIVE_POMPES:
antbig 12:14729d584500 671 case ALIVE_AX12:
antbig 0:ad97421fb1fb 672 case ECRAN_ALL_CHECK:
antbig 0:ad97421fb1fb 673 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
antbig 0:ad97421fb1fb 674 waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
antbig 0:ad97421fb1fb 675 }
ClementBreteau 15:c2fc239e85df 676 break;
antbig 0:ad97421fb1fb 677
antbig 0:ad97421fb1fb 678 case ACKNOWLEDGE_BALISE:
antbig 0:ad97421fb1fb 679 case ACKNOWLEDGE_MOTEUR:
antbig 0:ad97421fb1fb 680 case ACKNOWLEDGE_IHM:
ClementBreteau 14:c8fc06c4887f 681 case ACKNOWLEDGE_TELEMETRE:
ClementBreteau 15:c2fc239e85df 682 case ACKNOWLEDGE_AX12:
antbig 0:ad97421fb1fb 683 case INSTRUCTION_END_BALISE:
antbig 0:ad97421fb1fb 684 case INSTRUCTION_END_MOTEUR:
antbig 0:ad97421fb1fb 685 case INSTRUCTION_END_IHM:
ClementBreteau 15:c2fc239e85df 686 case INSTRUCTION_END_AX12:
ClementBreteau 18:cc5fec34ed9c 687
antbig 11:ed13a480ddca 688 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id && ((unsigned short)msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID)) {
antbig 0:ad97421fb1fb 689 waitingAckFrom = 0;
antbig 0:ad97421fb1fb 690 waitingAckID = 0;
antbig 0:ad97421fb1fb 691 }
antbig 0:ad97421fb1fb 692 break;
antbig 1:116040d14164 693 #ifdef ROBOT_BIG
antbig 0:ad97421fb1fb 694 case ODOMETRIE_BIG_POSITION:
antbig 0:ad97421fb1fb 695 #else
antbig 0:ad97421fb1fb 696 case ODOMETRIE_SMALL_POSITION:
antbig 0:ad97421fb1fb 697 #endif
antbig 0:ad97421fb1fb 698 x_robot=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
antbig 0:ad97421fb1fb 699 y_robot=msgRxBuffer[FIFO_lecture].data[2]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
antbig 0:ad97421fb1fb 700 theta_robot=msgRxBuffer[FIFO_lecture].data[4]|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
antbig 0:ad97421fb1fb 701 break;
antbig 0:ad97421fb1fb 702
antbig 0:ad97421fb1fb 703 case ECRAN_START_MATCH:
antbig 0:ad97421fb1fb 704 if(gameEtat == ETAT_CONFIG) {
antbig 1:116040d14164 705 gameEtat = ETAT_GAME_INIT;
antbig 0:ad97421fb1fb 706 }
antbig 0:ad97421fb1fb 707 break;
antbig 0:ad97421fb1fb 708 case SERVO_AX12_SETGOAL:
antbig 9:d0042422d95a 709 //SendAck(0x114, SERVO_AX12_SETGOAL);
ClementBreteau 14:c8fc06c4887f 710 //if(AX12_isLocal(msgRxBuffer[FIFO_lecture].data[0]))
ClementBreteau 14:c8fc06c4887f 711 //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 712
antbig 0:ad97421fb1fb 713 break;
ClementBreteau 14:c8fc06c4887f 714
antbig 0:ad97421fb1fb 715 case SERVO_AX12_PROCESS:
ClementBreteau 14:c8fc06c4887f 716 SendAck(0x114, SERVO_AX12_PROCESS);
ClementBreteau 14:c8fc06c4887f 717 //AX12_processChange(1);
antbig 0:ad97421fb1fb 718 break;
ClementBreteau 14:c8fc06c4887f 719
antbig 1:116040d14164 720 case SERVO_AX12_DONE:
ClementBreteau 15:c2fc239e85df 721 SendRawId(POMPE_PWM);
ClementBreteau 14:c8fc06c4887f 722 /*//SendAck(0x114, SERVO_AX12_DONE);
antbig 1:116040d14164 723 AX12_notifyCANEnd(((unsigned short)(msgRxBuffer[FIFO_lecture].data[0])));
ClementBreteau 14:c8fc06c4887f 724
ClementBreteau 15:c2fc239e85df 725 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 14:c8fc06c4887f 726 waitingAckFrom = 0;
ClementBreteau 14:c8fc06c4887f 727 waitingAckID = 0;*/
ClementBreteau 14:c8fc06c4887f 728
antbig 1:116040d14164 729 break;
antbig 2:8d8e2cf798a3 730 case ECRAN_CHOICE_COLOR://Choix de la couleur
antbig 4:88431b537477 731 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 2:8d8e2cf798a3 732 if(msgRxBuffer[FIFO_lecture].data[0] == 0)
antbig 2:8d8e2cf798a3 733 InversStrat = 0;//Pas d'inversion de la couleur
antbig 2:8d8e2cf798a3 734 else
antbig 2:8d8e2cf798a3 735 InversStrat = 1;//Inversion de la couleur
antbig 4:88431b537477 736
antbig 4:88431b537477 737 msgTx.id=ECRAN_ACK_COLOR; // tx ack de la couleur
antbig 4:88431b537477 738 msgTx.len=1;
antbig 4:88431b537477 739 msgTx.format=CANStandard;
antbig 4:88431b537477 740 msgTx.type=CANData;
antbig 4:88431b537477 741 // couleur sur 1 octet
antbig 4:88431b537477 742 msgTx.data[0]=msgRxBuffer[FIFO_lecture].data[0];
antbig 4:88431b537477 743 can1.write(msgTx);
antbig 9:d0042422d95a 744
antbig 2:8d8e2cf798a3 745 }
antbig 2:8d8e2cf798a3 746 break;
ClementBreteau 14:c8fc06c4887f 747
antbig 2:8d8e2cf798a3 748 case ECRAN_CHOICE_STRAT://Choix du fichier de stratégie à utiliser
antbig 4:88431b537477 749 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 4:88431b537477 750 msgTx.id=ECRAN_ACK_STRAT; // tx ack de la couleur
antbig 4:88431b537477 751 msgTx.len=1;
antbig 4:88431b537477 752 msgTx.format=CANStandard;
antbig 4:88431b537477 753 msgTx.type=CANData;
antbig 4:88431b537477 754 if(SelectStrategy(msgRxBuffer[FIFO_lecture].data[0])) {
antbig 4:88431b537477 755 // id de la stratégie sur 1 octet
ClementBreteau 16:7321fb3bb396 756 if (msgRxBuffer[FIFO_lecture].data[0] < 0x10){ // Si la strat est une strat de match, on desactive le mode demo
ClementBreteau 14:c8fc06c4887f 757 ModeDemo = 0;
ClementBreteau 16:7321fb3bb396 758 } else { // sinon, on active le mode demo, utile pour la fin de la demo
ClementBreteau 14:c8fc06c4887f 759 ModeDemo = 1;
ClementBreteau 14:c8fc06c4887f 760 }
ClementBreteau 14:c8fc06c4887f 761
antbig 4:88431b537477 762 msgTx.data[0]=msgRxBuffer[FIFO_lecture].data[0];
antbig 4:88431b537477 763 } else {
antbig 4:88431b537477 764 //erreur sur 1 octet
antbig 4:88431b537477 765 msgTx.data[0]=0;
antbig 4:88431b537477 766 }
antbig 4:88431b537477 767 can1.write(msgTx);
antbig 9:d0042422d95a 768 wait_ms(10);
antbig 12:14729d584500 769 setAsservissementEtat(0);//Désactivation de l'asservissement pour repositionner le robot dans le zone de départ
antbig 12:14729d584500 770 tactile_printf("Strat %d, Asser desactive",msgTx.data[0]);
antbig 2:8d8e2cf798a3 771 }
antbig 2:8d8e2cf798a3 772 break;
ClementBreteau 16:7321fb3bb396 773 case BALISE_DANGER :
ClementBreteau 16:7321fb3bb396 774 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
ClementBreteau 16:7321fb3bb396 775 break;
ClementBreteau 16:7321fb3bb396 776
antbig 5:dcd817534b57 777 case BALISE_STOP:
antbig 5:dcd817534b57 778 SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
ClementBreteau 18:cc5fec34ed9c 779 //if (instruction[actual_instruction].order != MV_TURN){ //J'ai rajouté cette ligne mais il faut tester avec et sans pour voir le comportement du robot,
ClementBreteau 16:7321fb3bb396 780 if(needToStop() != 0 && ingnorBaliseOnce ==0) {
ClementBreteau 16:7321fb3bb396 781 if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT)
ClementBreteau 16:7321fb3bb396 782 {
ClementBreteau 16:7321fb3bb396 783 SendRawId(ASSERVISSEMENT_STOP);
ClementBreteau 21:590cdacb6a35 784 while(1); // ligne à décommenter si on est en homologation
ClementBreteau 16:7321fb3bb396 785 gameEtat = ETAT_WARNING_TIMEOUT;
ClementBreteau 16:7321fb3bb396 786 if(gameEtat != ETAT_WARING_END_BALISE_WAIT) {
ClementBreteau 16:7321fb3bb396 787 timeoutWarning.reset();
ClementBreteau 16:7321fb3bb396 788 timeoutWarning.start();//Reset du timer utiliser par le timeout
ClementBreteau 16:7321fb3bb396 789 }
antbig 12:14729d584500 790 }
antbig 12:14729d584500 791 }
ClementBreteau 18:cc5fec34ed9c 792 //}
antbig 12:14729d584500 793 ingnorBaliseOnce = 0;
antbig 5:dcd817534b57 794 break;
ClementBreteau 16:7321fb3bb396 795
antbig 5:dcd817534b57 796 case BALISE_END_DANGER:
ClementBreteau 16:7321fb3bb396 797 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
antbig 5:dcd817534b57 798 if(gameEtat == ETAT_WARNING_TIMEOUT) {
antbig 5:dcd817534b57 799 timeoutWarningWaitEnd.reset();
antbig 5:dcd817534b57 800 timeoutWarningWaitEnd.start();
antbig 5:dcd817534b57 801 gameEtat = ETAT_WARING_END_BALISE_WAIT;
antbig 5:dcd817534b57 802 }
antbig 5:dcd817534b57 803 break;
antbig 12:14729d584500 804
antbig 12:14729d584500 805 case ECRAN_CHOICE_START_ACTION:
antbig 12:14729d584500 806 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 12:14729d584500 807 if(msgRxBuffer[FIFO_lecture].data[0] == 1) {
antbig 12:14729d584500 808 runRobotTest();
antbig 12:14729d584500 809 } else {
antbig 12:14729d584500 810 initRobotActionneur();
antbig 12:14729d584500 811 }
antbig 12:14729d584500 812 wait_ms(500);
antbig 12:14729d584500 813 SendRawId(ECRAN_ACK_CHOICE_START_ACTION);
antbig 12:14729d584500 814 }
antbig 12:14729d584500 815 break;
ClementBreteau 14:c8fc06c4887f 816
ClementBreteau 14:c8fc06c4887f 817 case OBJET_SUR_TABLE:
ClementBreteau 15:c2fc239e85df 818 if (msgRxBuffer[FIFO_lecture].data[1] == 0xff){
ClementBreteau 15:c2fc239e85df 819
ClementBreteau 15:c2fc239e85df 820 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
ClementBreteau 15:c2fc239e85df 821 }
ClementBreteau 15:c2fc239e85df 822 else{
ClementBreteau 15:c2fc239e85df 823
ClementBreteau 15:c2fc239e85df 824 waitingAckFrom = 0;
ClementBreteau 15:c2fc239e85df 825 waitingAckID = 0;
ClementBreteau 15:c2fc239e85df 826
ClementBreteau 15:c2fc239e85df 827 strat_instructions[actual_instruction+1].arg1 = returnX(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 828 strat_instructions[actual_instruction+1].arg2 = returnY(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 829 }
ClementBreteau 15:c2fc239e85df 830 modeTelemetre = 0;
ClementBreteau 14:c8fc06c4887f 831 break;
antbig 0:ad97421fb1fb 832 }
antbig 0:ad97421fb1fb 833
antbig 0:ad97421fb1fb 834 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
antbig 0:ad97421fb1fb 835 }
antbig 0:ad97421fb1fb 836 }