CRAC Team / Strategie_13h30

Strategie_13h30

Fork of CRAC-Strat_2017_homologation_gros_rob by CRAC Team

Strategie/Strategie.cpp@21:65ba6e4d53fa, 2017-05-25 (annotated)

Committer:
ClementBreteau
Date:
Thu May 25 06:35:42 2017 +0000
Revision:
21:65ba6e4d53fa
Parent:
20:de595e4ff01d
Child:
22:8dec8824a6f7
homologation gros robot

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 18:cc5fec34ed9c 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 21:65ba6e4d53fa 28 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE,CHECK_POMPES,CHECK_ACTIONNEURS};
ClementBreteau 21:65ba6e4d53fa 29 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE,ALIVE_POMPES,ALIVE_ACTIONNEURS};
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;
ClementBreteau 21:65ba6e4d53fa 225 telemetreDistance = 0;
antbig 0:ad97421fb1fb 226 break;
antbig 1:116040d14164 227 case ETAT_GAME_INIT:
antbig 0:ad97421fb1fb 228 //On charge la liste des instructions
antbig 0:ad97421fb1fb 229 loadAllInstruction();//Mise en cache de toute les instructions
ClementBreteau 14:c8fc06c4887f 230
antbig 0:ad97421fb1fb 231 gameEtat = ETAT_GAME_WAIT_FOR_JACK;
antbig 0:ad97421fb1fb 232 SendRawId(ECRAN_ACK_START_MATCH);
antbig 0:ad97421fb1fb 233 tactile_printf("Attente du JACK.");
antbig 12:14729d584500 234 setAsservissementEtat(1);//On réactive l'asservissement
antbig 12:14729d584500 235 jack.mode(PullDown); // désactivation de la résistance interne du jack
antbig 8:0edc7dfb7f7e 236 jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
antbig 12:14729d584500 237
antbig 12:14729d584500 238 #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 239 localData2 = POSITION_DEBUT_T;
antbig 12:14729d584500 240 localData3 = POSITION_DEBUT_Y;
antbig 12:14729d584500 241 if(InversStrat == 1) {
antbig 12:14729d584500 242 localData2 = -localData2;//Inversion theta
antbig 12:14729d584500 243 localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
antbig 12:14729d584500 244 }
antbig 12:14729d584500 245 SetOdometrie(ODOMETRIE_BIG_POSITION, POSITION_DEBUT_X,localData3,localData2);
ClementBreteau 18:cc5fec34ed9c 246 #endif
ClementBreteau 18:cc5fec34ed9c 247 #ifdef ROBOT_SMALL
antbig 9:d0042422d95a 248 SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,POSITION_DEBUT_Y,POSITION_DEBUT_T);
ClementBreteau 18:cc5fec34ed9c 249 #endif
antbig 0:ad97421fb1fb 250 break;
antbig 0:ad97421fb1fb 251 case ETAT_GAME_WAIT_FOR_JACK:
antbig 12:14729d584500 252 //On attend le jack
antbig 1:116040d14164 253 break;
antbig 1:116040d14164 254 case ETAT_GAME_START:
antbig 1:116040d14164 255 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 14:c8fc06c4887f 256
ClementBreteau 14:c8fc06c4887f 257 if (ModeDemo == 0){
ClementBreteau 14:c8fc06c4887f 258 chronoEnd.attach(&chronometre_ISR,90);//On lance le chrono de 90s
ClementBreteau 14:c8fc06c4887f 259 gameTimer.start();
ClementBreteau 14:c8fc06c4887f 260 }
antbig 1:116040d14164 261 gameTimer.reset();
antbig 12:14729d584500 262 jack.fall(NULL);//On désactive l'interruption du jack
antbig 10:a788d9cf60f2 263 SendRawId(GLOBAL_START);
antbig 12:14729d584500 264 tactile_printf("Start");//Pas vraiment util mais bon
antbig 0:ad97421fb1fb 265 break;
antbig 0:ad97421fb1fb 266 case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
antbig 0:ad97421fb1fb 267 /*
antbig 0:ad97421fb1fb 268 Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
antbig 0:ad97421fb1fb 269 */
antbig 0:ad97421fb1fb 270 //printf("load next instruction\n");
ClementBreteau 14:c8fc06c4887f 271
antbig 0:ad97421fb1fb 272 if(actual_instruction >= nb_instructions || actual_instruction == 255) {
antbig 0:ad97421fb1fb 273 gameEtat = ETAT_END;
antbig 0:ad97421fb1fb 274 //Il n'y a plus d'instruction, fin du jeu
antbig 0:ad97421fb1fb 275 } else {
antbig 0:ad97421fb1fb 276 instruction = strat_instructions[actual_instruction];
antbig 0:ad97421fb1fb 277 //On effectue le traitement de l'instruction
antbig 0:ad97421fb1fb 278 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
antbig 0:ad97421fb1fb 279 }
antbig 0:ad97421fb1fb 280 screenChecktry = 0;
antbig 0:ad97421fb1fb 281 break;
antbig 0:ad97421fb1fb 282 case ETAT_GAME_PROCESS_INSTRUCTION:
antbig 0:ad97421fb1fb 283 /*
antbig 0:ad97421fb1fb 284 Traitement de l'instruction, envoie de la trame CAN
antbig 0:ad97421fb1fb 285 */
antbig 0:ad97421fb1fb 286 //debug_Instruction(instruction);
antbig 0:ad97421fb1fb 287 switch(instruction.order)
antbig 0:ad97421fb1fb 288 {
antbig 12:14729d584500 289 case MV_COURBURE://C'est un rayon de courbure
antbig 6:eddfa414fd11 290 waitingAckID = ASSERVISSEMENT_COURBURE;
antbig 6:eddfa414fd11 291 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 292 if(instruction.nextActionType == ENCHAINEMENT) {
antbig 6:eddfa414fd11 293 MV_enchainement++;
antbig 6:eddfa414fd11 294 localData5 = 1;
antbig 6:eddfa414fd11 295 } else {
antbig 6:eddfa414fd11 296 if(MV_enchainement > 0) {
antbig 6:eddfa414fd11 297 localData5 = 2;
antbig 6:eddfa414fd11 298 MV_enchainement = 0;
antbig 6:eddfa414fd11 299 } else {
antbig 6:eddfa414fd11 300 localData5 = 0;
antbig 6:eddfa414fd11 301 }
antbig 0:ad97421fb1fb 302 }
antbig 11:ed13a480ddca 303 localData1 = ((instruction.direction == LEFT)?1:-1);
antbig 12:14729d584500 304 if(InversStrat == 1)
antbig 12:14729d584500 305 {
antbig 12:14729d584500 306 localData1 = -localData1;//Inversion de la direction
antbig 12:14729d584500 307 }
ClementBreteau 18:cc5fec34ed9c 308
antbig 9:d0042422d95a 309 BendRadius(instruction.arg1, instruction.arg3, localData1, localData5);
antbig 0:ad97421fb1fb 310 break;
antbig 12:14729d584500 311 case MV_LINE://Ligne droite
antbig 0:ad97421fb1fb 312 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 313 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 314 if(instruction.nextActionType == ENCHAINEMENT) {
antbig 1:116040d14164 315 MV_enchainement++;
antbig 1:116040d14164 316 localData5 = 1;
antbig 1:116040d14164 317 } else {
antbig 12:14729d584500 318 if(MV_enchainement > 0) {//Utilisé en cas d'enchainement,
antbig 1:116040d14164 319 localData5 = 2;
antbig 1:116040d14164 320 MV_enchainement = 0;
antbig 1:116040d14164 321 } else {
antbig 1:116040d14164 322 localData5 = 0;
antbig 1:116040d14164 323 }
antbig 0:ad97421fb1fb 324 }
ClementBreteau 16:7321fb3bb396 325 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 326 if(InversStrat == 1) {
ClementBreteau 15:c2fc239e85df 327 /*if (instruction.direction == FORWARD) instruction.direction = BACKWARD;
ClementBreteau 15:c2fc239e85df 328 else instruction.direction = FORWARD;*/
ClementBreteau 15:c2fc239e85df 329 instruction.direction = ((instruction.direction == FORWARD)?BACKWARD:FORWARD);
ClementBreteau 15:c2fc239e85df 330 }
ClementBreteau 16:7321fb3bb396 331 #endif
antbig 1:116040d14164 332 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
antbig 1:116040d14164 333 GoStraight(localData2, 0, 0, localData5);
ClementBreteau 14:c8fc06c4887f 334
antbig 0:ad97421fb1fb 335 break;
antbig 12:14729d584500 336 case MV_TURN: //Rotation sur place
antbig 0:ad97421fb1fb 337 if(instruction.direction == RELATIVE) {
antbig 0:ad97421fb1fb 338 localData2 = instruction.arg3;
antbig 12:14729d584500 339 } else {//C'est un rotation absolu, il faut la convertir en relative
antbig 12:14729d584500 340 localData2 = instruction.arg3;
antbig 12:14729d584500 341
antbig 12:14729d584500 342 if(InversStrat == 1) {
antbig 12:14729d584500 343 localData2 = -localData2;
antbig 0:ad97421fb1fb 344 }
antbig 12:14729d584500 345
antbig 12:14729d584500 346 localData2 = (localData2 - theta_robot)%3600;
antbig 12:14729d584500 347 if(localData2 > 1800) {
antbig 12:14729d584500 348 localData2 = localData2-3600;
antbig 12:14729d584500 349 }
antbig 12:14729d584500 350
antbig 0:ad97421fb1fb 351 }
antbig 12:14729d584500 352
antbig 0:ad97421fb1fb 353 Rotate(localData2);
antbig 0:ad97421fb1fb 354 waitingAckID = ASSERVISSEMENT_ROTATION;
antbig 0:ad97421fb1fb 355 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 356 break;
antbig 0:ad97421fb1fb 357 case MV_XYT:
antbig 0:ad97421fb1fb 358 if(instruction.direction == BACKWARD) {
antbig 0:ad97421fb1fb 359 localData1 = -1;
antbig 0:ad97421fb1fb 360 } else {
antbig 0:ad97421fb1fb 361 localData1 = 1;
antbig 0:ad97421fb1fb 362 }
antbig 2:8d8e2cf798a3 363
antbig 2:8d8e2cf798a3 364 if(InversStrat == 1) {
antbig 12:14729d584500 365 localData2 = -instruction.arg3;
antbig 2:8d8e2cf798a3 366 localData3 = 3000 - instruction.arg2;//Inversion du Y
antbig 2:8d8e2cf798a3 367 } else {
antbig 2:8d8e2cf798a3 368 localData3 = instruction.arg2;
antbig 12:14729d584500 369 localData2 = instruction.arg3;
antbig 2:8d8e2cf798a3 370 }
antbig 12:14729d584500 371 GoToPosition(instruction.arg1,localData3,localData2,localData1);
antbig 0:ad97421fb1fb 372 waitingAckID = ASSERVISSEMENT_XYT;
antbig 0:ad97421fb1fb 373 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 374 break;
antbig 0:ad97421fb1fb 375 case MV_RECALAGE:
antbig 0:ad97421fb1fb 376 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 377 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 11:ed13a480ddca 378 instruction.nextActionType = WAIT;
antbig 12:14729d584500 379 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 380
antbig 11:ed13a480ddca 381 if(instruction.precision == RECALAGE_Y) {
antbig 11:ed13a480ddca 382 localData5 = 2;
antbig 11:ed13a480ddca 383 if(InversStrat == 1) {
antbig 11:ed13a480ddca 384 localData3 = 3000 - instruction.arg1;//Inversion du Y
antbig 11:ed13a480ddca 385 } else {
antbig 11:ed13a480ddca 386 localData3 = instruction.arg1;
antbig 11:ed13a480ddca 387 }
antbig 11:ed13a480ddca 388 } else {
antbig 11:ed13a480ddca 389 localData5 = 1;
antbig 11:ed13a480ddca 390 localData3 = instruction.arg1;
antbig 11:ed13a480ddca 391 }
antbig 11:ed13a480ddca 392
antbig 11:ed13a480ddca 393 GoStraight(localData2, localData5, localData3, 0);
antbig 0:ad97421fb1fb 394 break;
antbig 0:ad97421fb1fb 395 case ACTION:
ClementBreteau 18:cc5fec34ed9c 396 int tempo = 0;
ClementBreteau 18:cc5fec34ed9c 397 waitingAckID= SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 398 waitingAckFrom = ACKNOWLEDGE_AX12;
ClementBreteau 18:cc5fec34ed9c 399 tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
ClementBreteau 18:cc5fec34ed9c 400 if(tempo == 1){
antbig 0:ad97421fb1fb 401 //L'action est spécifique
antbig 11:ed13a480ddca 402 if((waitingAckFrom == 0 && waitingAckID == 0) || instruction.nextActionType == ENCHAINEMENT) {
ClementBreteau 18:cc5fec34ed9c 403
antbig 11:ed13a480ddca 404 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 11:ed13a480ddca 405 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 11:ed13a480ddca 406 } else {
ClementBreteau 15:c2fc239e85df 407 gameEtat = ETAT_GAME_WAIT_ACK;
antbig 11:ed13a480ddca 408 }
ClementBreteau 18:cc5fec34ed9c 409 #ifdef ROBOT_SMALL
ClementBreteau 18:cc5fec34ed9c 410 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 18:cc5fec34ed9c 411 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 18:cc5fec34ed9c 412 #endif
antbig 11:ed13a480ddca 413 return;
ClementBreteau 18:cc5fec34ed9c 414 #ifdef ROBOT_SMALL
ClementBreteau 18:cc5fec34ed9c 415 } else if (tempo == 2) {
ClementBreteau 18:cc5fec34ed9c 416 // on est dans le cas de l'avance selon le telemetre
ClementBreteau 18:cc5fec34ed9c 417 waitingAckID = ASSERVISSEMENT_RECALAGE;
ClementBreteau 18:cc5fec34ed9c 418 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 419
ClementBreteau 18:cc5fec34ed9c 420 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
ClementBreteau 18:cc5fec34ed9c 421 GoStraight(telemetreDistance, 0, 0, 0);
ClementBreteau 18:cc5fec34ed9c 422 // on reset la distance du telemetre à 0
ClementBreteau 18:cc5fec34ed9c 423 telemetreDistance = 5000;
ClementBreteau 18:cc5fec34ed9c 424 #endif
ClementBreteau 18:cc5fec34ed9c 425 }else{
antbig 0:ad97421fb1fb 426 //C'est un AX12 qu'il faut bouger
ClementBreteau 15:c2fc239e85df 427 //AX12_setGoal(instruction.arg1,instruction.arg3/10,instruction.arg2);
ClementBreteau 15:c2fc239e85df 428 //AX12_enchainement++;
ClementBreteau 14:c8fc06c4887f 429
antbig 0:ad97421fb1fb 430 }
antbig 0:ad97421fb1fb 431 break;
antbig 0:ad97421fb1fb 432 default:
antbig 0:ad97421fb1fb 433 //Instruction inconnue, on l'ignore
antbig 0:ad97421fb1fb 434 break;
antbig 0:ad97421fb1fb 435 }
antbig 0:ad97421fb1fb 436
antbig 0:ad97421fb1fb 437
antbig 0:ad97421fb1fb 438
antbig 0:ad97421fb1fb 439 if(instruction.nextActionType == JUMP || instruction.nextActionType == WAIT) {
antbig 0:ad97421fb1fb 440 gameEtat = ETAT_GAME_WAIT_ACK;//Il faut attendre que la carte est bien reçu l'acknowledge
antbig 0:ad97421fb1fb 441 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 442 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 443 cartesCheker.start();
antbig 1:116040d14164 444 if(AX12_enchainement > 0) {
ClementBreteau 15:c2fc239e85df 445 //AX12_processChange();//Il faut lancer le déplacement des AX12
ClementBreteau 15:c2fc239e85df 446 //AX12_enchainement = 0;
antbig 1:116040d14164 447 }
antbig 0:ad97421fb1fb 448 } else {//C'est un enchainement
ClementBreteau 15:c2fc239e85df 449 if(instruction.order == MV_LINE){
ClementBreteau 15:c2fc239e85df 450 gameEtat = ETAT_GAME_WAIT_ACK;
ClementBreteau 15:c2fc239e85df 451
ClementBreteau 15:c2fc239e85df 452 }else{
ClementBreteau 15:c2fc239e85df 453 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 454 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//C'est un enchainement, on charge directement l'instruction suivante
ClementBreteau 15:c2fc239e85df 455 }
antbig 0:ad97421fb1fb 456 }
antbig 0:ad97421fb1fb 457
antbig 0:ad97421fb1fb 458 break;
antbig 0:ad97421fb1fb 459 case ETAT_GAME_WAIT_ACK:
antbig 0:ad97421fb1fb 460 /*
antbig 0:ad97421fb1fb 461 Attente de l'ack de l'instruction
antbig 0:ad97421fb1fb 462 */
ClementBreteau 14:c8fc06c4887f 463 if(waitingAckID == 0 && waitingAckFrom == 0) {//Les ack ont été reset, c'est bon on continu
antbig 0:ad97421fb1fb 464 //if(true) {
antbig 0:ad97421fb1fb 465 cartesCheker.stop();
antbig 0:ad97421fb1fb 466 if(instruction.nextActionType == JUMP) {
antbig 11:ed13a480ddca 467 if(instruction.jumpAction == JUMP_POSITION) {
antbig 11:ed13a480ddca 468 gameEtat = ETAT_GAME_JUMP_POSITION;
antbig 11:ed13a480ddca 469 } else {//Pour eviter les erreurs, on dit que c'est par défaut un jump time
antbig 0:ad97421fb1fb 470 gameEtat = ETAT_GAME_JUMP_TIME;
antbig 0:ad97421fb1fb 471 cartesCheker.reset();//On reset le timeOut
antbig 11:ed13a480ddca 472 cartesCheker.start();
antbig 0:ad97421fb1fb 473 }
antbig 0:ad97421fb1fb 474 } else if(instruction.nextActionType == WAIT) {
antbig 0:ad97421fb1fb 475 gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION;
antbig 0:ad97421fb1fb 476 switch(instruction.order)
antbig 0:ad97421fb1fb 477 {
antbig 0:ad97421fb1fb 478 case MV_COURBURE:
antbig 0:ad97421fb1fb 479 waitingAckID = ASSERVISSEMENT_COURBURE;
antbig 0:ad97421fb1fb 480 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 481 break;
antbig 0:ad97421fb1fb 482 case MV_LINE:
antbig 0:ad97421fb1fb 483 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 484 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 485 break;
antbig 0:ad97421fb1fb 486 case MV_TURN:
antbig 0:ad97421fb1fb 487 waitingAckID = ASSERVISSEMENT_ROTATION;
antbig 0:ad97421fb1fb 488 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 489 break;
antbig 0:ad97421fb1fb 490 case MV_XYT:
antbig 0:ad97421fb1fb 491 waitingAckID = ASSERVISSEMENT_XYT;
antbig 0:ad97421fb1fb 492 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 493 break;
antbig 0:ad97421fb1fb 494 case MV_RECALAGE:
antbig 0:ad97421fb1fb 495 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 496 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 497 break;
antbig 0:ad97421fb1fb 498 case ACTION:
ClementBreteau 15:c2fc239e85df 499
ClementBreteau 15:c2fc239e85df 500 if (modeTelemetre == 0){
ClementBreteau 18:cc5fec34ed9c 501 if (telemetreDistance == 0){
ClementBreteau 18:cc5fec34ed9c 502 waitingAckID = SERVO_AX12_ACTION;// instruction.arg1;
ClementBreteau 18:cc5fec34ed9c 503 waitingAckFrom = INSTRUCTION_END_AX12; //SERVO_AX12_DONE;
ClementBreteau 18:cc5fec34ed9c 504 }else if(telemetreDistance == 5000){
ClementBreteau 18:cc5fec34ed9c 505 // on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
ClementBreteau 18:cc5fec34ed9c 506 waitingAckID = ASSERVISSEMENT_RECALAGE;
ClementBreteau 18:cc5fec34ed9c 507 waitingAckFrom = INSTRUCTION_END_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 508 telemetreDistance = 0;
ClementBreteau 18:cc5fec34ed9c 509 }
ClementBreteau 15:c2fc239e85df 510 }else{ // si on attend la reponse du telemetre
ClementBreteau 15:c2fc239e85df 511 //modeTelemetre = 1;
ClementBreteau 15:c2fc239e85df 512 waitingAckID = OBJET_SUR_TABLE;
ClementBreteau 15:c2fc239e85df 513 waitingAckFrom = 0;
ClementBreteau 15:c2fc239e85df 514 }
antbig 0:ad97421fb1fb 515 break;
antbig 0:ad97421fb1fb 516 default:
antbig 0:ad97421fb1fb 517 break;
antbig 0:ad97421fb1fb 518 }
antbig 0:ad97421fb1fb 519 } else {
antbig 0:ad97421fb1fb 520 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 0:ad97421fb1fb 521 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 522 }
antbig 0:ad97421fb1fb 523 } else if(cartesCheker.read_ms () > 50){
antbig 0:ad97421fb1fb 524 cartesCheker.stop();
antbig 0:ad97421fb1fb 525 if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur
antbig 0:ad97421fb1fb 526 actual_instruction = instruction.nextLineError;
antbig 0:ad97421fb1fb 527 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 0:ad97421fb1fb 528 } else {
antbig 0:ad97421fb1fb 529 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
antbig 0:ad97421fb1fb 530 }
antbig 0:ad97421fb1fb 531 }
antbig 0:ad97421fb1fb 532 break;
antbig 0:ad97421fb1fb 533
antbig 0:ad97421fb1fb 534 case ETAT_GAME_JUMP_TIME:
antbig 0:ad97421fb1fb 535 if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) {
antbig 0:ad97421fb1fb 536 cartesCheker.stop();//On arrete le timer
antbig 0:ad97421fb1fb 537 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 538 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 539 }
antbig 0:ad97421fb1fb 540 break;
ClementBreteau 15:c2fc239e85df 541
ClementBreteau 15:c2fc239e85df 542 case ETAT_GAME_JUMP_CONFIG:
ClementBreteau 15:c2fc239e85df 543 signed int depasX = 1, depasY = 1; // servent à indiquer le sens de dépassement des coordonnées
ClementBreteau 15:c2fc239e85df 544 // 1 si l'instruction est plus grande que la position du robot
ClementBreteau 15:c2fc239e85df 545 // -1 si l'instruction est plus petite que la position du robot
ClementBreteau 15:c2fc239e85df 546 // 0 si l'instruction et position du robot sont proche de moins de 1cm
ClementBreteau 15:c2fc239e85df 547 if (abs(x_robot-instruction.JumpTimeOrX)<10){
ClementBreteau 15:c2fc239e85df 548 depasX = 0;
ClementBreteau 15:c2fc239e85df 549 }else if(x_robot > instruction.JumpTimeOrX){
ClementBreteau 15:c2fc239e85df 550 depasX = -1;
ClementBreteau 15:c2fc239e85df 551 }
ClementBreteau 15:c2fc239e85df 552
ClementBreteau 15:c2fc239e85df 553 if(abs(y_robot-instruction.JumpY)<10){
ClementBreteau 15:c2fc239e85df 554 depasY = 0;
ClementBreteau 15:c2fc239e85df 555 }else if(y_robot > instruction.JumpY){
ClementBreteau 15:c2fc239e85df 556 depasY = -1;
ClementBreteau 15:c2fc239e85df 557 }
ClementBreteau 15:c2fc239e85df 558
ClementBreteau 15:c2fc239e85df 559 gameEtat = ETAT_GAME_JUMP_POSITION;
ClementBreteau 15:c2fc239e85df 560 break;
antbig 0:ad97421fb1fb 561 case ETAT_GAME_JUMP_POSITION:
ClementBreteau 15:c2fc239e85df 562 bool Xok = false, Yok = false;
ClementBreteau 15:c2fc239e85df 563
ClementBreteau 15:c2fc239e85df 564 if (depasX == 0){
ClementBreteau 15:c2fc239e85df 565 Xok = true;
ClementBreteau 15:c2fc239e85df 566 }else if ((instruction.JumpTimeOrX - x_robot)*depasX < -5){
ClementBreteau 15:c2fc239e85df 567 Xok = true;
ClementBreteau 15:c2fc239e85df 568 }
ClementBreteau 15:c2fc239e85df 569
ClementBreteau 15:c2fc239e85df 570 if (depasY == 0){
ClementBreteau 15:c2fc239e85df 571 Yok = true;
ClementBreteau 15:c2fc239e85df 572 }else if ((instruction.JumpY - y_robot)*depasY < -5){
ClementBreteau 15:c2fc239e85df 573 Yok = true;
ClementBreteau 15:c2fc239e85df 574 }
ClementBreteau 15:c2fc239e85df 575
ClementBreteau 15:c2fc239e85df 576 // on teste si les deux coordonnées ont été dépassées, si oui on lance l'instruction suivante
ClementBreteau 15:c2fc239e85df 577 if (Xok && Yok){
ClementBreteau 15:c2fc239e85df 578 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 579 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
ClementBreteau 15:c2fc239e85df 580 }
ClementBreteau 15:c2fc239e85df 581
antbig 0:ad97421fb1fb 582 break;
antbig 0:ad97421fb1fb 583 case ETAT_GAME_WAIT_END_INSTRUCTION:
antbig 0:ad97421fb1fb 584 if(waitingAckID == 0 && waitingAckFrom ==0) {//On attend que la carte nous indique que l'instruction est terminée
antbig 0:ad97421fb1fb 585 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 586 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 587 }
antbig 0:ad97421fb1fb 588 break;
antbig 0:ad97421fb1fb 589
antbig 0:ad97421fb1fb 590
antbig 5:dcd817534b57 591 case ETAT_WARNING_TIMEOUT://Attente de la trame fin de danger ou du timeout de 2s
antbig 12:14729d584500 592 if(timeoutWarning.read_ms() >= BALISE_TIMEOUT)//ça fait plus de 2s, il faut changer de stratégie
antbig 5:dcd817534b57 593 {
antbig 5:dcd817534b57 594 gameEtat = ETAT_WARNING_SWITCH_STRATEGIE;
antbig 5:dcd817534b57 595 }
antbig 5:dcd817534b57 596 break;
antbig 5:dcd817534b57 597 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 598 if(timeoutWarningWaitEnd.read_ms() >= 1000) {//c'est bon, on repart
antbig 12:14729d584500 599 //actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 600 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
antbig 12:14729d584500 601 }
antbig 5:dcd817534b57 602 break;
antbig 5:dcd817534b57 603 case ETAT_WARNING_END_LAST_INSTRUCTION://trouver le meilleur moyen de reprendre l'instruction en cours
antbig 12:14729d584500 604 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 605 actual_instruction = instruction.nextLineError;// 2 //Modification directe... c'est pas bien mais ça marchait pour le match 5
antbig 12:14729d584500 606 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 607 #else
antbig 12:14729d584500 608 actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 609 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 610 #endif
ClementBreteau 20:de595e4ff01d 611 gameEtat = ETAT_END;
antbig 5:dcd817534b57 612 break;
antbig 5:dcd817534b57 613 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 614 actual_instruction = instruction.nextLineError;
antbig 5:dcd817534b57 615 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 12:14729d584500 616 ingnorBaliseOnce = 1;
antbig 5:dcd817534b57 617 break;
ClementBreteau 20:de595e4ff01d 618
ClementBreteau 20:de595e4ff01d 619
ClementBreteau 20:de595e4ff01d 620
ClementBreteau 14:c8fc06c4887f 621 case ETAT_END:
ClementBreteau 14:c8fc06c4887f 622 if (ModeDemo){
ClementBreteau 14:c8fc06c4887f 623 gameEtat = ETAT_CHECK_CARTE_SCREEN;
ClementBreteau 14:c8fc06c4887f 624 ModeDemo = 1;
ClementBreteau 14:c8fc06c4887f 625 } else {
ClementBreteau 14:c8fc06c4887f 626 gameEtat = ETAT_END_LOOP;
ClementBreteau 14:c8fc06c4887f 627 }
antbig 0:ad97421fb1fb 628 break;
antbig 0:ad97421fb1fb 629 case ETAT_END_LOOP:
antbig 0:ad97421fb1fb 630 //Rien, on tourne en rond
ClementBreteau 18:cc5fec34ed9c 631
antbig 0:ad97421fb1fb 632 break;
antbig 0:ad97421fb1fb 633 default:
ClementBreteau 20:de595e4ff01d 634
antbig 0:ad97421fb1fb 635 break;
ClementBreteau 20:de595e4ff01d 636 }
ClementBreteau 20:de595e4ff01d 637 }
ClementBreteau 20:de595e4ff01d 638
antbig 4:88431b537477 639 /****************************************************************************************/
antbig 4:88431b537477 640 /* FUNCTION NAME: canProcessRx */
antbig 4:88431b537477 641 /* DESCRIPTION : Fonction de traitement des messages CAN */
antbig 4:88431b537477 642 /****************************************************************************************/
antbig 0:ad97421fb1fb 643 void canProcessRx(void)
ClementBreteau 20:de595e4ff01d 644 {
antbig 0:ad97421fb1fb 645 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
antbig 4:88431b537477 646 CANMessage msgTx=CANMessage();
antbig 0:ad97421fb1fb 647 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
antbig 0:ad97421fb1fb 648 if(FIFO_occupation<0)
antbig 0:ad97421fb1fb 649 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
antbig 0:ad97421fb1fb 650 if(FIFO_max_occupation<FIFO_occupation)
antbig 0:ad97421fb1fb 651 FIFO_max_occupation=FIFO_occupation;
antbig 0:ad97421fb1fb 652 if(FIFO_occupation!=0) {
antbig 0:ad97421fb1fb 653
antbig 0:ad97421fb1fb 654 switch(msgRxBuffer[FIFO_lecture].id) {
antbig 4:88431b537477 655 case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
ClementBreteau 21:65ba6e4d53fa 656 case GLOBAL_JACK:
antbig 1:116040d14164 657 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 1:116040d14164 658 gameEtat = ETAT_GAME_START;
ClementBreteau 21:65ba6e4d53fa 659 SendRawId(ACKNOWLEDGE_JACK);
antbig 1:116040d14164 660 }
antbig 1:116040d14164 661 break;
antbig 1:116040d14164 662
antbig 0:ad97421fb1fb 663 case ALIVE_BALISE:
antbig 0:ad97421fb1fb 664 case ALIVE_MOTEUR:
antbig 0:ad97421fb1fb 665 case ALIVE_IHM:
antbig 11:ed13a480ddca 666 case ALIVE_ACTIONNEURS:
antbig 11:ed13a480ddca 667 case ALIVE_POMPES:
antbig 12:14729d584500 668 case ALIVE_AX12:
antbig 0:ad97421fb1fb 669 case ECRAN_ALL_CHECK:
antbig 0:ad97421fb1fb 670 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
antbig 0:ad97421fb1fb 671 waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
antbig 0:ad97421fb1fb 672 }
ClementBreteau 15:c2fc239e85df 673 break;
antbig 0:ad97421fb1fb 674
antbig 0:ad97421fb1fb 675 case ACKNOWLEDGE_BALISE:
antbig 0:ad97421fb1fb 676 case ACKNOWLEDGE_MOTEUR:
antbig 0:ad97421fb1fb 677 case ACKNOWLEDGE_IHM:
ClementBreteau 14:c8fc06c4887f 678 case ACKNOWLEDGE_TELEMETRE:
ClementBreteau 15:c2fc239e85df 679 case ACKNOWLEDGE_AX12:
antbig 0:ad97421fb1fb 680 case INSTRUCTION_END_BALISE:
antbig 0:ad97421fb1fb 681 case INSTRUCTION_END_MOTEUR:
antbig 0:ad97421fb1fb 682 case INSTRUCTION_END_IHM:
ClementBreteau 15:c2fc239e85df 683 case INSTRUCTION_END_AX12:
ClementBreteau 18:cc5fec34ed9c 684
antbig 11:ed13a480ddca 685 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 686 waitingAckFrom = 0;
antbig 0:ad97421fb1fb 687 waitingAckID = 0;
antbig 0:ad97421fb1fb 688 }
antbig 0:ad97421fb1fb 689 break;
antbig 1:116040d14164 690 #ifdef ROBOT_BIG
antbig 0:ad97421fb1fb 691 case ODOMETRIE_BIG_POSITION:
antbig 0:ad97421fb1fb 692 #else
antbig 0:ad97421fb1fb 693 case ODOMETRIE_SMALL_POSITION:
antbig 0:ad97421fb1fb 694 #endif
antbig 0:ad97421fb1fb 695 x_robot=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
antbig 0:ad97421fb1fb 696 y_robot=msgRxBuffer[FIFO_lecture].data[2]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
antbig 0:ad97421fb1fb 697 theta_robot=msgRxBuffer[FIFO_lecture].data[4]|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
antbig 0:ad97421fb1fb 698 break;
antbig 0:ad97421fb1fb 699
antbig 0:ad97421fb1fb 700 case ECRAN_START_MATCH:
antbig 0:ad97421fb1fb 701 if(gameEtat == ETAT_CONFIG) {
antbig 1:116040d14164 702 gameEtat = ETAT_GAME_INIT;
antbig 0:ad97421fb1fb 703 }
antbig 0:ad97421fb1fb 704 break;
antbig 0:ad97421fb1fb 705 case SERVO_AX12_SETGOAL:
antbig 9:d0042422d95a 706 //SendAck(0x114, SERVO_AX12_SETGOAL);
ClementBreteau 14:c8fc06c4887f 707 //if(AX12_isLocal(msgRxBuffer[FIFO_lecture].data[0]))
ClementBreteau 14:c8fc06c4887f 708 //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 709
antbig 0:ad97421fb1fb 710 break;
ClementBreteau 14:c8fc06c4887f 711
antbig 0:ad97421fb1fb 712 case SERVO_AX12_PROCESS:
ClementBreteau 14:c8fc06c4887f 713 SendAck(0x114, SERVO_AX12_PROCESS);
ClementBreteau 14:c8fc06c4887f 714 //AX12_processChange(1);
antbig 0:ad97421fb1fb 715 break;
ClementBreteau 14:c8fc06c4887f 716
antbig 1:116040d14164 717 case SERVO_AX12_DONE:
ClementBreteau 15:c2fc239e85df 718 SendRawId(POMPE_PWM);
ClementBreteau 14:c8fc06c4887f 719 /*//SendAck(0x114, SERVO_AX12_DONE);
antbig 1:116040d14164 720 AX12_notifyCANEnd(((unsigned short)(msgRxBuffer[FIFO_lecture].data[0])));
ClementBreteau 14:c8fc06c4887f 721
ClementBreteau 15:c2fc239e85df 722 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 14:c8fc06c4887f 723 waitingAckFrom = 0;
ClementBreteau 14:c8fc06c4887f 724 waitingAckID = 0;*/
ClementBreteau 14:c8fc06c4887f 725
antbig 1:116040d14164 726 break;
antbig 2:8d8e2cf798a3 727 case ECRAN_CHOICE_COLOR://Choix de la couleur
antbig 4:88431b537477 728 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 2:8d8e2cf798a3 729 if(msgRxBuffer[FIFO_lecture].data[0] == 0)
antbig 2:8d8e2cf798a3 730 InversStrat = 0;//Pas d'inversion de la couleur
antbig 2:8d8e2cf798a3 731 else
antbig 2:8d8e2cf798a3 732 InversStrat = 1;//Inversion de la couleur
antbig 4:88431b537477 733
antbig 4:88431b537477 734 msgTx.id=ECRAN_ACK_COLOR; // tx ack de la couleur
antbig 4:88431b537477 735 msgTx.len=1;
antbig 4:88431b537477 736 msgTx.format=CANStandard;
antbig 4:88431b537477 737 msgTx.type=CANData;
antbig 4:88431b537477 738 // couleur sur 1 octet
antbig 4:88431b537477 739 msgTx.data[0]=msgRxBuffer[FIFO_lecture].data[0];
antbig 4:88431b537477 740 can1.write(msgTx);
antbig 9:d0042422d95a 741
antbig 2:8d8e2cf798a3 742 }
antbig 2:8d8e2cf798a3 743 break;
ClementBreteau 14:c8fc06c4887f 744
antbig 2:8d8e2cf798a3 745 case ECRAN_CHOICE_STRAT://Choix du fichier de stratégie à utiliser
antbig 4:88431b537477 746 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 4:88431b537477 747 msgTx.id=ECRAN_ACK_STRAT; // tx ack de la couleur
antbig 4:88431b537477 748 msgTx.len=1;
antbig 4:88431b537477 749 msgTx.format=CANStandard;
antbig 4:88431b537477 750 msgTx.type=CANData;
antbig 4:88431b537477 751 if(SelectStrategy(msgRxBuffer[FIFO_lecture].data[0])) {
antbig 4:88431b537477 752 // id de la stratégie sur 1 octet
ClementBreteau 16:7321fb3bb396 753 if (msgRxBuffer[FIFO_lecture].data[0] < 0x10){ // Si la strat est une strat de match, on desactive le mode demo
ClementBreteau 14:c8fc06c4887f 754 ModeDemo = 0;
ClementBreteau 16:7321fb3bb396 755 } else { // sinon, on active le mode demo, utile pour la fin de la demo
ClementBreteau 14:c8fc06c4887f 756 ModeDemo = 1;
ClementBreteau 14:c8fc06c4887f 757 }
ClementBreteau 14:c8fc06c4887f 758
antbig 4:88431b537477 759 msgTx.data[0]=msgRxBuffer[FIFO_lecture].data[0];
antbig 4:88431b537477 760 } else {
antbig 4:88431b537477 761 //erreur sur 1 octet
antbig 4:88431b537477 762 msgTx.data[0]=0;
antbig 4:88431b537477 763 }
antbig 4:88431b537477 764 can1.write(msgTx);
antbig 9:d0042422d95a 765 wait_ms(10);
antbig 12:14729d584500 766 setAsservissementEtat(0);//Désactivation de l'asservissement pour repositionner le robot dans le zone de départ
antbig 12:14729d584500 767 tactile_printf("Strat %d, Asser desactive",msgTx.data[0]);
antbig 2:8d8e2cf798a3 768 }
antbig 2:8d8e2cf798a3 769 break;
ClementBreteau 16:7321fb3bb396 770 case BALISE_DANGER :
ClementBreteau 16:7321fb3bb396 771 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
ClementBreteau 16:7321fb3bb396 772 break;
ClementBreteau 16:7321fb3bb396 773
antbig 5:dcd817534b57 774 case BALISE_STOP:
antbig 5:dcd817534b57 775 SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
ClementBreteau 18:cc5fec34ed9c 776 //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 777 if(needToStop() != 0 && ingnorBaliseOnce ==0) {
ClementBreteau 16:7321fb3bb396 778 if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT)
ClementBreteau 16:7321fb3bb396 779 {
ClementBreteau 16:7321fb3bb396 780 SendRawId(ASSERVISSEMENT_STOP);
ClementBreteau 16:7321fb3bb396 781 //while(1);
ClementBreteau 16:7321fb3bb396 782 gameEtat = ETAT_WARNING_TIMEOUT;
ClementBreteau 16:7321fb3bb396 783 if(gameEtat != ETAT_WARING_END_BALISE_WAIT) {
ClementBreteau 16:7321fb3bb396 784 timeoutWarning.reset();
ClementBreteau 16:7321fb3bb396 785 timeoutWarning.start();//Reset du timer utiliser par le timeout
ClementBreteau 16:7321fb3bb396 786 }
antbig 12:14729d584500 787 }
antbig 12:14729d584500 788 }
ClementBreteau 18:cc5fec34ed9c 789 //}
antbig 12:14729d584500 790 ingnorBaliseOnce = 0;
antbig 5:dcd817534b57 791 break;
ClementBreteau 16:7321fb3bb396 792
antbig 5:dcd817534b57 793 case BALISE_END_DANGER:
ClementBreteau 16:7321fb3bb396 794 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
antbig 5:dcd817534b57 795 if(gameEtat == ETAT_WARNING_TIMEOUT) {
antbig 5:dcd817534b57 796 timeoutWarningWaitEnd.reset();
antbig 5:dcd817534b57 797 timeoutWarningWaitEnd.start();
antbig 5:dcd817534b57 798 gameEtat = ETAT_WARING_END_BALISE_WAIT;
antbig 5:dcd817534b57 799 }
antbig 5:dcd817534b57 800 break;
antbig 12:14729d584500 801
antbig 12:14729d584500 802 case ECRAN_CHOICE_START_ACTION:
antbig 12:14729d584500 803 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 12:14729d584500 804 if(msgRxBuffer[FIFO_lecture].data[0] == 1) {
antbig 12:14729d584500 805 runRobotTest();
antbig 12:14729d584500 806 } else {
antbig 12:14729d584500 807 initRobotActionneur();
antbig 12:14729d584500 808 }
antbig 12:14729d584500 809 wait_ms(500);
antbig 12:14729d584500 810 SendRawId(ECRAN_ACK_CHOICE_START_ACTION);
antbig 12:14729d584500 811 }
antbig 12:14729d584500 812 break;
ClementBreteau 14:c8fc06c4887f 813
ClementBreteau 14:c8fc06c4887f 814 case OBJET_SUR_TABLE:
ClementBreteau 15:c2fc239e85df 815 if (msgRxBuffer[FIFO_lecture].data[1] == 0xff){
ClementBreteau 15:c2fc239e85df 816
ClementBreteau 15:c2fc239e85df 817 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
ClementBreteau 15:c2fc239e85df 818 }
ClementBreteau 15:c2fc239e85df 819 else{
ClementBreteau 15:c2fc239e85df 820
ClementBreteau 15:c2fc239e85df 821 waitingAckFrom = 0;
ClementBreteau 15:c2fc239e85df 822 waitingAckID = 0;
ClementBreteau 15:c2fc239e85df 823
ClementBreteau 15:c2fc239e85df 824 strat_instructions[actual_instruction+1].arg1 = returnX(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 825 strat_instructions[actual_instruction+1].arg2 = returnY(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 826 }
ClementBreteau 15:c2fc239e85df 827 modeTelemetre = 0;
ClementBreteau 14:c8fc06c4887f 828 break;
antbig 0:ad97421fb1fb 829 }
antbig 0:ad97421fb1fb 830
antbig 0:ad97421fb1fb 831 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
antbig 0:ad97421fb1fb 832 }
antbig 0:ad97421fb1fb 833 }