CRAC Team / Strategie_13h30

Strategie_13h30

Fork of CRAC-Strat_2017_homologation_gros_rob by CRAC Team

Strategie/Strategie.cpp@22:8dec8824a6f7, 2017-05-25 (annotated)

Committer:
matthieuvignon
Date:
Thu May 25 11:30:31 2017 +0000
Revision:
22:8dec8824a6f7
Parent:
21:65ba6e4d53fa 
13h30_Strategie

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
matthieuvignon 22:8dec8824a6f7 21 signed short target_x_robot, target_y_robot, target_theta_robot;//La position cible du robot utilisé pour continuer une ligne droite
antbig 0:ad97421fb1fb 22
antbig 12:14729d584500 23 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 24
antbig 5:dcd817534b57 25 #ifdef ROBOT_BIG
ClementBreteau 14:c8fc06c4887f 26 //unsigned short id_check[NOMBRE_CARTES]= {CHECK_BALISE,CHECK_MOTEUR,CHECK_ACTIONNEURS,CHECK_AX12,CHECK_POMPES};
ClementBreteau 14:c8fc06c4887f 27 //unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_BALISE,ALIVE_MOTEUR,ALIVE_ACTIONNEURS,ALIVE_AX12,ALIVE_POMPES};
ClementBreteau 14:c8fc06c4887f 28
ClementBreteau 21:65ba6e4d53fa 29 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE,CHECK_POMPES,CHECK_ACTIONNEURS};
ClementBreteau 21:65ba6e4d53fa 30 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE,ALIVE_POMPES,ALIVE_ACTIONNEURS};
ClementBreteau 15:c2fc239e85df 31
ClementBreteau 15:c2fc239e85df 32 InterruptIn jack(p25); // entrée analogique en interruption pour le jack
ClementBreteau 15:c2fc239e85df 33 #else
ClementBreteau 15:c2fc239e85df 34 //unsigned short id_check[NOMBRE_CARTES]= {CHECK_BALISE,CHECK_MOTEUR,CHECK_ACTIONNEURS};
ClementBreteau 15:c2fc239e85df 35 //unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_BALISE,ALIVE_MOTEUR,ALIVE_ACTIONNEURS};
ClementBreteau 15:c2fc239e85df 36
ClementBreteau 14:c8fc06c4887f 37 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR};
ClementBreteau 14:c8fc06c4887f 38 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR};
ClementBreteau 14:c8fc06c4887f 39
ClementBreteau 18:cc5fec34ed9c 40 InterruptIn jack(p25); // entrée analogique en interruption pour le jack
antbig 5:dcd817534b57 41 #endif
antbig 0:ad97421fb1fb 42 unsigned char checkCurrent = 0;
antbig 0:ad97421fb1fb 43 unsigned char countAliveCard = 0;
antbig 0:ad97421fb1fb 44
antbig 2:8d8e2cf798a3 45 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 46
ClementBreteau 14:c8fc06c4887f 47 unsigned char ModeDemo = 0; // Si à 1, indique que l'on est dans le mode demo
ClementBreteau 14:c8fc06c4887f 48
antbig 5:dcd817534b57 49 unsigned char countRobotNear = 0;//Le nombre de robot à proximité
antbig 5:dcd817534b57 50
antbig 12:14729d584500 51 unsigned char ingnorBaliseOnce = 0;
antbig 12:14729d584500 52
ClementBreteau 14:c8fc06c4887f 53
antbig 4:88431b537477 54 /****************************************************************************************/
antbig 4:88431b537477 55 /* FUNCTION NAME: chronometre_ISR */
antbig 4:88431b537477 56 /* DESCRIPTION : Interruption à la fin des 90s du match */
antbig 4:88431b537477 57 /****************************************************************************************/
antbig 0:ad97421fb1fb 58 void chronometre_ISR (void)
antbig 0:ad97421fb1fb 59 {
antbig 0:ad97421fb1fb 60 SendRawId(ASSERVISSEMENT_STOP);//On stope les moteurs
antbig 0:ad97421fb1fb 61 SendRawId(GLOBAL_GAME_END);//Indication fin de match
antbig 0:ad97421fb1fb 62 gameTimer.stop();//Arret du timer
antbig 0:ad97421fb1fb 63
antbig 1:116040d14164 64 #ifdef ROBOT_BIG
antbig 12:14729d584500 65 wait_ms(2000);
antbig 0:ad97421fb1fb 66 doFunnyAction();
antbig 0:ad97421fb1fb 67 #endif
antbig 0:ad97421fb1fb 68
antbig 1:116040d14164 69 while(1);//On bloque la programme dans l'interruption
antbig 0:ad97421fb1fb 70 }
antbig 0:ad97421fb1fb 71
antbig 4:88431b537477 72 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 73 /* FUNCTION NAME: jack_ISR */
antbig 8:0edc7dfb7f7e 74 /* DESCRIPTION : Interruption en changement d'état sur le Jack */
antbig 8:0edc7dfb7f7e 75 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 76 void jack_ISR (void)
antbig 8:0edc7dfb7f7e 77 {
antbig 8:0edc7dfb7f7e 78 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 8:0edc7dfb7f7e 79 led4=1;
antbig 8:0edc7dfb7f7e 80 gameEtat = ETAT_GAME_START;//On débute le match
antbig 8:0edc7dfb7f7e 81 }
antbig 8:0edc7dfb7f7e 82 }
antbig 8:0edc7dfb7f7e 83
antbig 8:0edc7dfb7f7e 84 /****************************************************************************************/
antbig 4:88431b537477 85 /* FUNCTION NAME: automate_process */
antbig 4:88431b537477 86 /* DESCRIPTION : Automate de gestion de la stratégie du robot */
antbig 4:88431b537477 87 /****************************************************************************************/
antbig 0:ad97421fb1fb 88 void automate_process(void)
antbig 0:ad97421fb1fb 89 {
antbig 0:ad97421fb1fb 90 static struct S_Instruction instruction;
antbig 1:116040d14164 91 static unsigned char AX12_enchainement = 0;
antbig 1:116040d14164 92 static unsigned char MV_enchainement = 0;
antbig 0:ad97421fb1fb 93 signed char localData1 = 0;
antbig 0:ad97421fb1fb 94 signed short localData2 = 0;
antbig 0:ad97421fb1fb 95 unsigned short localData3 = 0;
ClementBreteau 14:c8fc06c4887f 96 //signed short localData4 = 0;
antbig 1:116040d14164 97 unsigned char localData5 = 0;
antbig 0:ad97421fb1fb 98
antbig 12:14729d584500 99 if(gameTimer.read_ms() >= 89000) {//Fin du match (On autorise 2s pour déposer des éléments
antbig 0:ad97421fb1fb 100 gameTimer.stop();
antbig 0:ad97421fb1fb 101 gameTimer.reset();
antbig 0:ad97421fb1fb 102 gameEtat = ETAT_END;//Fin du temps
antbig 0:ad97421fb1fb 103 }
antbig 0:ad97421fb1fb 104
antbig 0:ad97421fb1fb 105 if(lastEtat != gameEtat || debugetatTimer.read_ms() >= 1000) {
antbig 0:ad97421fb1fb 106 lastEtat = gameEtat;
antbig 0:ad97421fb1fb 107 debugetatTimer.reset();
antbig 11:ed13a480ddca 108 sendStratEtat((unsigned char)gameEtat, (unsigned char)actual_instruction);
antbig 0:ad97421fb1fb 109 }
antbig 0:ad97421fb1fb 110
antbig 0:ad97421fb1fb 111 switch(gameEtat)
antbig 0:ad97421fb1fb 112 {
antbig 0:ad97421fb1fb 113 case ETAT_CHECK_CARTE_SCREEN:
antbig 0:ad97421fb1fb 114 /*
antbig 0:ad97421fb1fb 115 Verification de l'état de la carte ecran
antbig 0:ad97421fb1fb 116 */
antbig 0:ad97421fb1fb 117 waitingAckFrom = ALIVE_IHM;//On indique que l'on attend un ack de la carte IHM
antbig 0:ad97421fb1fb 118 SendRawId(CHECK_IHM);//On demande à la carte IHM d'insiquer ça présence
antbig 0:ad97421fb1fb 119
antbig 0:ad97421fb1fb 120 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 121 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 122 cartesCheker.start();//On lance le timer pour le timeout
antbig 0:ad97421fb1fb 123 gameEtat = ETAT_CHECK_CARTE_SCREEN_WAIT_ACK;
antbig 0:ad97421fb1fb 124
ClementBreteau 14:c8fc06c4887f 125 //gameEtat = ETAT_GAME_START;
ClementBreteau 14:c8fc06c4887f 126
antbig 0:ad97421fb1fb 127 break;
antbig 0:ad97421fb1fb 128 case ETAT_CHECK_CARTE_SCREEN_WAIT_ACK:
antbig 0:ad97421fb1fb 129 /*
antbig 0:ad97421fb1fb 130 Attente du ALIVE de la carte écran.
antbig 0:ad97421fb1fb 131
antbig 0:ad97421fb1fb 132 Si la carte ne répond pas apres 10ms, on retoune dans l'etat ETAT_CHECK_CARTE_SCREEN
antbig 0:ad97421fb1fb 133 maximum 3 tentatives
antbig 0:ad97421fb1fb 134 Si pas de réponse, clignotement de toutes les leds possible
antbig 0:ad97421fb1fb 135 */
antbig 0:ad97421fb1fb 136 if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
antbig 0:ad97421fb1fb 137 cartesCheker.stop();
antbig 0:ad97421fb1fb 138 screenChecktry = 0;
antbig 0:ad97421fb1fb 139 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 140 } else if(cartesCheker.read_ms () > 100) {
antbig 0:ad97421fb1fb 141 cartesCheker.stop();
antbig 0:ad97421fb1fb 142 if(screenChecktry >=3) {
antbig 0:ad97421fb1fb 143 errorLoop();//Erreur La carte IHM n'est pas en ligne
antbig 0:ad97421fb1fb 144 } else {
antbig 0:ad97421fb1fb 145 gameEtat = ETAT_CHECK_CARTE_SCREEN;
antbig 0:ad97421fb1fb 146 }
antbig 0:ad97421fb1fb 147 }
antbig 0:ad97421fb1fb 148 break;
antbig 0:ad97421fb1fb 149 case ETAT_CHECK_CARTES:
antbig 0:ad97421fb1fb 150 /*
antbig 0:ad97421fb1fb 151 Il faut faire une boucle pour verifier toutes les cartes les une apres les autres
antbig 0:ad97421fb1fb 152 */
antbig 0:ad97421fb1fb 153 waitingAckFrom = id_alive[checkCurrent];//On indique que l'on attend un ack de la carte IHM
antbig 11:ed13a480ddca 154 SendRawId(id_check[checkCurrent]);//On demande à la carte d'indiquer ça présence
antbig 0:ad97421fb1fb 155
antbig 0:ad97421fb1fb 156 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 157 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 158 cartesCheker.start();//On lance le timer pour le timeout
antbig 0:ad97421fb1fb 159 gameEtat = ETAT_CHECK_CARTES_WAIT_ACK;
ClementBreteau 14:c8fc06c4887f 160
ClementBreteau 14:c8fc06c4887f 161
ClementBreteau 14:c8fc06c4887f 162
ClementBreteau 14:c8fc06c4887f 163
antbig 0:ad97421fb1fb 164 break;
antbig 0:ad97421fb1fb 165 case ETAT_CHECK_CARTES_WAIT_ACK:
antbig 0:ad97421fb1fb 166 /*
antbig 0:ad97421fb1fb 167 On attend l'ack de la carte en cours de vérification
antbig 0:ad97421fb1fb 168 */
antbig 0:ad97421fb1fb 169 //printf("cartesCheker = %d waitingAckFrom = %d\n",cartesCheker.read_ms(), waitingAckFrom);
antbig 0:ad97421fb1fb 170 if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
antbig 0:ad97421fb1fb 171 cartesCheker.stop();
antbig 0:ad97421fb1fb 172 screenChecktry = 0;
antbig 0:ad97421fb1fb 173 countAliveCard++;
antbig 11:ed13a480ddca 174 checkCurrent++;
antbig 0:ad97421fb1fb 175 if(checkCurrent >= NOMBRE_CARTES) {
antbig 12:14729d584500 176 //printf("all card check, missing %d cards\n",(NOMBRE_CARTES-countAliveCard));
antbig 0:ad97421fb1fb 177 if(countAliveCard >= NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 178 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 179 SendRawId(ECRAN_ALL_CHECK);//On dit à l'IHM que toutes les cartes sont en ligne
antbig 5:dcd817534b57 180 tactile_printf("Selection couleur et strategie");
antbig 0:ad97421fb1fb 181 } else {
antbig 0:ad97421fb1fb 182 gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
antbig 0:ad97421fb1fb 183 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 184 }
antbig 0:ad97421fb1fb 185 } else {
antbig 0:ad97421fb1fb 186 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 187 }
antbig 0:ad97421fb1fb 188 } else if(cartesCheker.read_ms () > 100) {
antbig 0:ad97421fb1fb 189 cartesCheker.stop();
antbig 0:ad97421fb1fb 190 if(screenChecktry >=3) {
antbig 12:14729d584500 191 //printf("missing card %d\n",id_check[checkCurrent]);
antbig 0:ad97421fb1fb 192 screenChecktry = 0;
antbig 11:ed13a480ddca 193 checkCurrent++;
antbig 12:14729d584500 194
antbig 0:ad97421fb1fb 195 if(checkCurrent >= NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 196 if(countAliveCard == NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 197 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 198 SendRawId(ECRAN_ALL_CHECK);//On dit à l'IHM que toutes les cartes sont en ligne
antbig 0:ad97421fb1fb 199 } else {
antbig 0:ad97421fb1fb 200 gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
antbig 0:ad97421fb1fb 201 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 202 }
antbig 0:ad97421fb1fb 203 } else {
antbig 0:ad97421fb1fb 204 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 205 }
antbig 0:ad97421fb1fb 206 } else {
antbig 0:ad97421fb1fb 207 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 208 }
antbig 0:ad97421fb1fb 209 }
antbig 0:ad97421fb1fb 210 break;
antbig 0:ad97421fb1fb 211 case ETAT_WAIT_FORCE:
antbig 0:ad97421fb1fb 212 /*
antbig 0:ad97421fb1fb 213 Attente du forçage de la part de la carte IHM
antbig 0:ad97421fb1fb 214 */
antbig 0:ad97421fb1fb 215 if(waitingAckFrom == 0) {
antbig 0:ad97421fb1fb 216 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 217 }
antbig 0:ad97421fb1fb 218 break;
antbig 0:ad97421fb1fb 219 case ETAT_CONFIG:
antbig 0:ad97421fb1fb 220 /*
antbig 0:ad97421fb1fb 221 Attente de l'odre de choix de mode,
antbig 0:ad97421fb1fb 222 Il est possible de modifier la couleur et l'id de la stratégie
antbig 0:ad97421fb1fb 223 Il est aussi possible d'envoyer les ordres de debug
antbig 0:ad97421fb1fb 224 */
ClementBreteau 14:c8fc06c4887f 225 modeTelemetre = 0;
ClementBreteau 21:65ba6e4d53fa 226 telemetreDistance = 0;
antbig 0:ad97421fb1fb 227 break;
antbig 1:116040d14164 228 case ETAT_GAME_INIT:
antbig 0:ad97421fb1fb 229 //On charge la liste des instructions
antbig 0:ad97421fb1fb 230 loadAllInstruction();//Mise en cache de toute les instructions
ClementBreteau 14:c8fc06c4887f 231
antbig 0:ad97421fb1fb 232 gameEtat = ETAT_GAME_WAIT_FOR_JACK;
antbig 0:ad97421fb1fb 233 SendRawId(ECRAN_ACK_START_MATCH);
antbig 0:ad97421fb1fb 234 tactile_printf("Attente du JACK.");
antbig 12:14729d584500 235 setAsservissementEtat(1);//On réactive l'asservissement
antbig 12:14729d584500 236 jack.mode(PullDown); // désactivation de la résistance interne du jack
antbig 8:0edc7dfb7f7e 237 jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
antbig 12:14729d584500 238
antbig 12:14729d584500 239 #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 240 localData2 = POSITION_DEBUT_T;
antbig 12:14729d584500 241 localData3 = POSITION_DEBUT_Y;
antbig 12:14729d584500 242 if(InversStrat == 1) {
antbig 12:14729d584500 243 localData2 = -localData2;//Inversion theta
antbig 12:14729d584500 244 localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
antbig 12:14729d584500 245 }
antbig 12:14729d584500 246 SetOdometrie(ODOMETRIE_BIG_POSITION, POSITION_DEBUT_X,localData3,localData2);
ClementBreteau 18:cc5fec34ed9c 247 #endif
ClementBreteau 18:cc5fec34ed9c 248 #ifdef ROBOT_SMALL
antbig 9:d0042422d95a 249 SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,POSITION_DEBUT_Y,POSITION_DEBUT_T);
ClementBreteau 18:cc5fec34ed9c 250 #endif
antbig 0:ad97421fb1fb 251 break;
antbig 0:ad97421fb1fb 252 case ETAT_GAME_WAIT_FOR_JACK:
antbig 12:14729d584500 253 //On attend le jack
antbig 1:116040d14164 254 break;
antbig 1:116040d14164 255 case ETAT_GAME_START:
antbig 1:116040d14164 256 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 14:c8fc06c4887f 257
ClementBreteau 14:c8fc06c4887f 258 if (ModeDemo == 0){
ClementBreteau 14:c8fc06c4887f 259 chronoEnd.attach(&chronometre_ISR,90);//On lance le chrono de 90s
ClementBreteau 14:c8fc06c4887f 260 gameTimer.start();
ClementBreteau 14:c8fc06c4887f 261 }
antbig 1:116040d14164 262 gameTimer.reset();
antbig 12:14729d584500 263 jack.fall(NULL);//On désactive l'interruption du jack
antbig 10:a788d9cf60f2 264 SendRawId(GLOBAL_START);
antbig 12:14729d584500 265 tactile_printf("Start");//Pas vraiment util mais bon
antbig 0:ad97421fb1fb 266 break;
antbig 0:ad97421fb1fb 267 case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
antbig 0:ad97421fb1fb 268 /*
antbig 0:ad97421fb1fb 269 Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
antbig 0:ad97421fb1fb 270 */
antbig 0:ad97421fb1fb 271 //printf("load next instruction\n");
ClementBreteau 14:c8fc06c4887f 272
antbig 0:ad97421fb1fb 273 if(actual_instruction >= nb_instructions || actual_instruction == 255) {
antbig 0:ad97421fb1fb 274 gameEtat = ETAT_END;
antbig 0:ad97421fb1fb 275 //Il n'y a plus d'instruction, fin du jeu
antbig 0:ad97421fb1fb 276 } else {
antbig 0:ad97421fb1fb 277 instruction = strat_instructions[actual_instruction];
antbig 0:ad97421fb1fb 278 //On effectue le traitement de l'instruction
antbig 0:ad97421fb1fb 279 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
antbig 0:ad97421fb1fb 280 }
antbig 0:ad97421fb1fb 281 screenChecktry = 0;
antbig 0:ad97421fb1fb 282 break;
antbig 0:ad97421fb1fb 283 case ETAT_GAME_PROCESS_INSTRUCTION:
antbig 0:ad97421fb1fb 284 /*
antbig 0:ad97421fb1fb 285 Traitement de l'instruction, envoie de la trame CAN
antbig 0:ad97421fb1fb 286 */
antbig 0:ad97421fb1fb 287 //debug_Instruction(instruction);
antbig 0:ad97421fb1fb 288 switch(instruction.order)
antbig 0:ad97421fb1fb 289 {
antbig 12:14729d584500 290 case MV_COURBURE://C'est un rayon de courbure
antbig 6:eddfa414fd11 291 waitingAckID = ASSERVISSEMENT_COURBURE;
antbig 6:eddfa414fd11 292 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 293 if(instruction.nextActionType == ENCHAINEMENT) {
antbig 6:eddfa414fd11 294 MV_enchainement++;
antbig 6:eddfa414fd11 295 localData5 = 1;
antbig 6:eddfa414fd11 296 } else {
antbig 6:eddfa414fd11 297 if(MV_enchainement > 0) {
antbig 6:eddfa414fd11 298 localData5 = 2;
antbig 6:eddfa414fd11 299 MV_enchainement = 0;
antbig 6:eddfa414fd11 300 } else {
antbig 6:eddfa414fd11 301 localData5 = 0;
antbig 6:eddfa414fd11 302 }
antbig 0:ad97421fb1fb 303 }
antbig 11:ed13a480ddca 304 localData1 = ((instruction.direction == LEFT)?1:-1);
antbig 12:14729d584500 305 if(InversStrat == 1)
antbig 12:14729d584500 306 {
antbig 12:14729d584500 307 localData1 = -localData1;//Inversion de la direction
antbig 12:14729d584500 308 }
ClementBreteau 18:cc5fec34ed9c 309
antbig 9:d0042422d95a 310 BendRadius(instruction.arg1, instruction.arg3, localData1, localData5);
antbig 0:ad97421fb1fb 311 break;
antbig 12:14729d584500 312 case MV_LINE://Ligne droite
antbig 0:ad97421fb1fb 313 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 314 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 315 if(instruction.nextActionType == ENCHAINEMENT) {
antbig 1:116040d14164 316 MV_enchainement++;
antbig 1:116040d14164 317 localData5 = 1;
antbig 1:116040d14164 318 } else {
antbig 12:14729d584500 319 if(MV_enchainement > 0) {//Utilisé en cas d'enchainement,
antbig 1:116040d14164 320 localData5 = 2;
antbig 1:116040d14164 321 MV_enchainement = 0;
antbig 1:116040d14164 322 } else {
antbig 1:116040d14164 323 localData5 = 0;
antbig 1:116040d14164 324 }
antbig 0:ad97421fb1fb 325 }
ClementBreteau 16:7321fb3bb396 326 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 327 if(InversStrat == 1) {
ClementBreteau 15:c2fc239e85df 328 /*if (instruction.direction == FORWARD) instruction.direction = BACKWARD;
ClementBreteau 15:c2fc239e85df 329 else instruction.direction = FORWARD;*/
ClementBreteau 15:c2fc239e85df 330 instruction.direction = ((instruction.direction == FORWARD)?BACKWARD:FORWARD);
ClementBreteau 15:c2fc239e85df 331 }
ClementBreteau 16:7321fb3bb396 332 #endif
antbig 1:116040d14164 333 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
antbig 1:116040d14164 334 GoStraight(localData2, 0, 0, localData5);
matthieuvignon 22:8dec8824a6f7 335 //target_x_robot = x_robot + cos((double)theta_robot)*localData1
matthieuvignon 22:8dec8824a6f7 336 //target_y_robot =
matthieuvignon 22:8dec8824a6f7 337 //target_theta_robot = theta_robot;
ClementBreteau 14:c8fc06c4887f 338
antbig 0:ad97421fb1fb 339 break;
antbig 12:14729d584500 340 case MV_TURN: //Rotation sur place
antbig 0:ad97421fb1fb 341 if(instruction.direction == RELATIVE) {
antbig 0:ad97421fb1fb 342 localData2 = instruction.arg3;
antbig 12:14729d584500 343 } else {//C'est un rotation absolu, il faut la convertir en relative
antbig 12:14729d584500 344 localData2 = instruction.arg3;
antbig 12:14729d584500 345
antbig 12:14729d584500 346 if(InversStrat == 1) {
antbig 12:14729d584500 347 localData2 = -localData2;
antbig 0:ad97421fb1fb 348 }
antbig 12:14729d584500 349
antbig 12:14729d584500 350 localData2 = (localData2 - theta_robot)%3600;
antbig 12:14729d584500 351 if(localData2 > 1800) {
antbig 12:14729d584500 352 localData2 = localData2-3600;
antbig 12:14729d584500 353 }
antbig 12:14729d584500 354
antbig 0:ad97421fb1fb 355 }
antbig 12:14729d584500 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
matthieuvignon 22:8dec8824a6f7 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;
matthieuvignon 22:8dec8824a6f7 508
matthieuvignon 22:8dec8824a6f7 509 /////////////////////////////////////////////////////////jhjfhfgjfgh
ClementBreteau 18:cc5fec34ed9c 510 }else if(telemetreDistance == 5000){
ClementBreteau 18:cc5fec34ed9c 511 // on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
ClementBreteau 18:cc5fec34ed9c 512 waitingAckID = ASSERVISSEMENT_RECALAGE;
ClementBreteau 18:cc5fec34ed9c 513 waitingAckFrom = INSTRUCTION_END_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 514 telemetreDistance = 0;
ClementBreteau 18:cc5fec34ed9c 515 }
ClementBreteau 15:c2fc239e85df 516 }else{ // si on attend la reponse du telemetre
ClementBreteau 15:c2fc239e85df 517 //modeTelemetre = 1;
ClementBreteau 15:c2fc239e85df 518 waitingAckID = OBJET_SUR_TABLE;
ClementBreteau 15:c2fc239e85df 519 waitingAckFrom = 0;
ClementBreteau 15:c2fc239e85df 520 }
antbig 0:ad97421fb1fb 521 break;
antbig 0:ad97421fb1fb 522 default:
antbig 0:ad97421fb1fb 523 break;
antbig 0:ad97421fb1fb 524 }
antbig 0:ad97421fb1fb 525 } else {
antbig 0:ad97421fb1fb 526 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 0:ad97421fb1fb 527 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 528 }
antbig 0:ad97421fb1fb 529 } else if(cartesCheker.read_ms () > 50){
antbig 0:ad97421fb1fb 530 cartesCheker.stop();
antbig 0:ad97421fb1fb 531 if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur
antbig 0:ad97421fb1fb 532 actual_instruction = instruction.nextLineError;
antbig 0:ad97421fb1fb 533 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 0:ad97421fb1fb 534 } else {
antbig 0:ad97421fb1fb 535 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
antbig 0:ad97421fb1fb 536 }
antbig 0:ad97421fb1fb 537 }
antbig 0:ad97421fb1fb 538 break;
antbig 0:ad97421fb1fb 539
antbig 0:ad97421fb1fb 540 case ETAT_GAME_JUMP_TIME:
antbig 0:ad97421fb1fb 541 if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) {
antbig 0:ad97421fb1fb 542 cartesCheker.stop();//On arrete le timer
antbig 0:ad97421fb1fb 543 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 544 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 545 }
antbig 0:ad97421fb1fb 546 break;
ClementBreteau 15:c2fc239e85df 547
ClementBreteau 15:c2fc239e85df 548 case ETAT_GAME_JUMP_CONFIG:
ClementBreteau 15:c2fc239e85df 549 signed int depasX = 1, depasY = 1; // servent à indiquer le sens de dépassement des coordonnées
ClementBreteau 15:c2fc239e85df 550 // 1 si l'instruction est plus grande que la position du robot
ClementBreteau 15:c2fc239e85df 551 // -1 si l'instruction est plus petite que la position du robot
ClementBreteau 15:c2fc239e85df 552 // 0 si l'instruction et position du robot sont proche de moins de 1cm
ClementBreteau 15:c2fc239e85df 553 if (abs(x_robot-instruction.JumpTimeOrX)<10){
ClementBreteau 15:c2fc239e85df 554 depasX = 0;
ClementBreteau 15:c2fc239e85df 555 }else if(x_robot > instruction.JumpTimeOrX){
ClementBreteau 15:c2fc239e85df 556 depasX = -1;
ClementBreteau 15:c2fc239e85df 557 }
ClementBreteau 15:c2fc239e85df 558
ClementBreteau 15:c2fc239e85df 559 if(abs(y_robot-instruction.JumpY)<10){
ClementBreteau 15:c2fc239e85df 560 depasY = 0;
ClementBreteau 15:c2fc239e85df 561 }else if(y_robot > instruction.JumpY){
ClementBreteau 15:c2fc239e85df 562 depasY = -1;
ClementBreteau 15:c2fc239e85df 563 }
ClementBreteau 15:c2fc239e85df 564
ClementBreteau 15:c2fc239e85df 565 gameEtat = ETAT_GAME_JUMP_POSITION;
ClementBreteau 15:c2fc239e85df 566 break;
antbig 0:ad97421fb1fb 567 case ETAT_GAME_JUMP_POSITION:
ClementBreteau 15:c2fc239e85df 568 bool Xok = false, Yok = false;
ClementBreteau 15:c2fc239e85df 569
ClementBreteau 15:c2fc239e85df 570 if (depasX == 0){
ClementBreteau 15:c2fc239e85df 571 Xok = true;
ClementBreteau 15:c2fc239e85df 572 }else if ((instruction.JumpTimeOrX - x_robot)*depasX < -5){
ClementBreteau 15:c2fc239e85df 573 Xok = true;
ClementBreteau 15:c2fc239e85df 574 }
ClementBreteau 15:c2fc239e85df 575
ClementBreteau 15:c2fc239e85df 576 if (depasY == 0){
ClementBreteau 15:c2fc239e85df 577 Yok = true;
ClementBreteau 15:c2fc239e85df 578 }else if ((instruction.JumpY - y_robot)*depasY < -5){
ClementBreteau 15:c2fc239e85df 579 Yok = true;
ClementBreteau 15:c2fc239e85df 580 }
ClementBreteau 15:c2fc239e85df 581
ClementBreteau 15:c2fc239e85df 582 // on teste si les deux coordonnées ont été dépassées, si oui on lance l'instruction suivante
ClementBreteau 15:c2fc239e85df 583 if (Xok && Yok){
ClementBreteau 15:c2fc239e85df 584 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 585 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
ClementBreteau 15:c2fc239e85df 586 }
ClementBreteau 15:c2fc239e85df 587
antbig 0:ad97421fb1fb 588 break;
antbig 0:ad97421fb1fb 589 case ETAT_GAME_WAIT_END_INSTRUCTION:
antbig 0:ad97421fb1fb 590 if(waitingAckID == 0 && waitingAckFrom ==0) {//On attend que la carte nous indique que l'instruction est terminée
antbig 0:ad97421fb1fb 591 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 592 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 593 }
antbig 0:ad97421fb1fb 594 break;
antbig 0:ad97421fb1fb 595
antbig 0:ad97421fb1fb 596
antbig 5:dcd817534b57 597 case ETAT_WARNING_TIMEOUT://Attente de la trame fin de danger ou du timeout de 2s
antbig 12:14729d584500 598 if(timeoutWarning.read_ms() >= BALISE_TIMEOUT)//ça fait plus de 2s, il faut changer de stratégie
antbig 5:dcd817534b57 599 {
antbig 5:dcd817534b57 600 gameEtat = ETAT_WARNING_SWITCH_STRATEGIE;
antbig 5:dcd817534b57 601 }
antbig 5:dcd817534b57 602 break;
matthieuvignon 22:8dec8824a6f7 603
antbig 5:dcd817534b57 604 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 605 if(timeoutWarningWaitEnd.read_ms() >= 1000) {//c'est bon, on repart
antbig 12:14729d584500 606 //actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 607 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
antbig 12:14729d584500 608 }
antbig 5:dcd817534b57 609 break;
antbig 5:dcd817534b57 610 case ETAT_WARNING_END_LAST_INSTRUCTION://trouver le meilleur moyen de reprendre l'instruction en cours
matthieuvignon 22:8dec8824a6f7 611 /*#ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 612 actual_instruction = instruction.nextLineError;// 2 //Modification directe... c'est pas bien mais ça marchait pour le match 5
antbig 12:14729d584500 613 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 614 #else
antbig 12:14729d584500 615 actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 616 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
matthieuvignon 22:8dec8824a6f7 617 #endif */
matthieuvignon 22:8dec8824a6f7 618 //gameEtat = ETAT_END;
matthieuvignon 22:8dec8824a6f7 619 switch(instruction.order)
matthieuvignon 22:8dec8824a6f7 620 {
matthieuvignon 22:8dec8824a6f7 621 case MV_COURBURE:
matthieuvignon 22:8dec8824a6f7 622 //TODO
matthieuvignon 22:8dec8824a6f7 623 gameEtat = ETAT_END;
matthieuvignon 22:8dec8824a6f7 624 break;
matthieuvignon 22:8dec8824a6f7 625 case MV_LINE:
matthieuvignon 22:8dec8824a6f7 626 //Il faut modifier l'instruction pour la transformer en xyT
matthieuvignon 22:8dec8824a6f7 627 localData1 = instruction.arg1;//On sauvegarde la distance à parcourir
matthieuvignon 22:8dec8824a6f7 628 instruction.arg1 = target_x_robot;
matthieuvignon 22:8dec8824a6f7 629 //x_robot + cos((double)theta_robot)*localData1;//On crée la nouvelle position en X
matthieuvignon 22:8dec8824a6f7 630 instruction.arg2 = target_y_robot;
matthieuvignon 22:8dec8824a6f7 631 //y_robot + sin((double)theta_robot)*localData1;//On crée la nouvelle position en y
matthieuvignon 22:8dec8824a6f7 632 instruction.arg3 = theta_robot;
matthieuvignon 22:8dec8824a6f7 633 instruction.order = MV_XYT;
matthieuvignon 22:8dec8824a6f7 634 //instruction.arg1 = 300;//On crée la nouvelle position en X
matthieuvignon 22:8dec8824a6f7 635 //instruction.arg2 = ;//On crée la nouvelle position en y
matthieuvignon 22:8dec8824a6f7 636 //instruction.arg3 = theta_robot;
matthieuvignon 22:8dec8824a6f7 637 //instruction.order = MV_XYT;
matthieuvignon 22:8dec8824a6f7 638 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
matthieuvignon 22:8dec8824a6f7 639 break;
matthieuvignon 22:8dec8824a6f7 640 case MV_TURN:
matthieuvignon 22:8dec8824a6f7 641 //TODO
matthieuvignon 22:8dec8824a6f7 642 gameEtat = ETAT_END;
matthieuvignon 22:8dec8824a6f7 643 break;
matthieuvignon 22:8dec8824a6f7 644 case MV_XYT:
matthieuvignon 22:8dec8824a6f7 645 //TODO envoyer l'instruction de nouveau
matthieuvignon 22:8dec8824a6f7 646 gameEtat = ETAT_END;
matthieuvignon 22:8dec8824a6f7 647 break;
matthieuvignon 22:8dec8824a6f7 648
matthieuvignon 22:8dec8824a6f7 649 default:
matthieuvignon 22:8dec8824a6f7 650 gameEtat = ETAT_END;
matthieuvignon 22:8dec8824a6f7 651 break;
matthieuvignon 22:8dec8824a6f7 652 }
matthieuvignon 22:8dec8824a6f7 653
antbig 5:dcd817534b57 654 break;
antbig 5:dcd817534b57 655 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 656 actual_instruction = instruction.nextLineError;
antbig 5:dcd817534b57 657 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 12:14729d584500 658 ingnorBaliseOnce = 1;
antbig 5:dcd817534b57 659 break;
ClementBreteau 20:de595e4ff01d 660
ClementBreteau 20:de595e4ff01d 661
ClementBreteau 20:de595e4ff01d 662
ClementBreteau 14:c8fc06c4887f 663 case ETAT_END:
ClementBreteau 14:c8fc06c4887f 664 if (ModeDemo){
ClementBreteau 14:c8fc06c4887f 665 gameEtat = ETAT_CHECK_CARTE_SCREEN;
ClementBreteau 14:c8fc06c4887f 666 ModeDemo = 1;
ClementBreteau 14:c8fc06c4887f 667 } else {
ClementBreteau 14:c8fc06c4887f 668 gameEtat = ETAT_END_LOOP;
ClementBreteau 14:c8fc06c4887f 669 }
antbig 0:ad97421fb1fb 670 break;
antbig 0:ad97421fb1fb 671 case ETAT_END_LOOP:
antbig 0:ad97421fb1fb 672 //Rien, on tourne en rond
ClementBreteau 18:cc5fec34ed9c 673
antbig 0:ad97421fb1fb 674 break;
antbig 0:ad97421fb1fb 675 default:
ClementBreteau 20:de595e4ff01d 676
antbig 0:ad97421fb1fb 677 break;
ClementBreteau 20:de595e4ff01d 678 }
ClementBreteau 20:de595e4ff01d 679 }
ClementBreteau 20:de595e4ff01d 680
antbig 4:88431b537477 681 /****************************************************************************************/
antbig 4:88431b537477 682 /* FUNCTION NAME: canProcessRx */
antbig 4:88431b537477 683 /* DESCRIPTION : Fonction de traitement des messages CAN */
antbig 4:88431b537477 684 /****************************************************************************************/
antbig 0:ad97421fb1fb 685 void canProcessRx(void)
ClementBreteau 20:de595e4ff01d 686 {
antbig 0:ad97421fb1fb 687 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
antbig 4:88431b537477 688 CANMessage msgTx=CANMessage();
antbig 0:ad97421fb1fb 689 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
antbig 0:ad97421fb1fb 690 if(FIFO_occupation<0)
antbig 0:ad97421fb1fb 691 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
antbig 0:ad97421fb1fb 692 if(FIFO_max_occupation<FIFO_occupation)
antbig 0:ad97421fb1fb 693 FIFO_max_occupation=FIFO_occupation;
antbig 0:ad97421fb1fb 694 if(FIFO_occupation!=0) {
antbig 0:ad97421fb1fb 695
antbig 0:ad97421fb1fb 696 switch(msgRxBuffer[FIFO_lecture].id) {
antbig 4:88431b537477 697 case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
ClementBreteau 21:65ba6e4d53fa 698 case GLOBAL_JACK:
antbig 1:116040d14164 699 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 1:116040d14164 700 gameEtat = ETAT_GAME_START;
ClementBreteau 21:65ba6e4d53fa 701 SendRawId(ACKNOWLEDGE_JACK);
antbig 1:116040d14164 702 }
antbig 1:116040d14164 703 break;
antbig 1:116040d14164 704
antbig 0:ad97421fb1fb 705 case ALIVE_BALISE:
antbig 0:ad97421fb1fb 706 case ALIVE_MOTEUR:
antbig 0:ad97421fb1fb 707 case ALIVE_IHM:
antbig 11:ed13a480ddca 708 case ALIVE_ACTIONNEURS:
antbig 11:ed13a480ddca 709 case ALIVE_POMPES:
antbig 12:14729d584500 710 case ALIVE_AX12:
antbig 0:ad97421fb1fb 711 case ECRAN_ALL_CHECK:
antbig 0:ad97421fb1fb 712 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
antbig 0:ad97421fb1fb 713 waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
antbig 0:ad97421fb1fb 714 }
ClementBreteau 15:c2fc239e85df 715 break;
antbig 0:ad97421fb1fb 716
antbig 0:ad97421fb1fb 717 case ACKNOWLEDGE_BALISE:
antbig 0:ad97421fb1fb 718 case ACKNOWLEDGE_MOTEUR:
antbig 0:ad97421fb1fb 719 case ACKNOWLEDGE_IHM:
ClementBreteau 14:c8fc06c4887f 720 case ACKNOWLEDGE_TELEMETRE:
ClementBreteau 15:c2fc239e85df 721 case ACKNOWLEDGE_AX12:
antbig 0:ad97421fb1fb 722 case INSTRUCTION_END_BALISE:
antbig 0:ad97421fb1fb 723 case INSTRUCTION_END_MOTEUR:
antbig 0:ad97421fb1fb 724 case INSTRUCTION_END_IHM:
ClementBreteau 15:c2fc239e85df 725 case INSTRUCTION_END_AX12:
ClementBreteau 18:cc5fec34ed9c 726
antbig 11:ed13a480ddca 727 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 728 waitingAckFrom = 0;
antbig 0:ad97421fb1fb 729 waitingAckID = 0;
antbig 0:ad97421fb1fb 730 }
antbig 0:ad97421fb1fb 731 break;
antbig 1:116040d14164 732 #ifdef ROBOT_BIG
antbig 0:ad97421fb1fb 733 case ODOMETRIE_BIG_POSITION:
antbig 0:ad97421fb1fb 734 #else
antbig 0:ad97421fb1fb 735 case ODOMETRIE_SMALL_POSITION:
antbig 0:ad97421fb1fb 736 #endif
antbig 0:ad97421fb1fb 737 x_robot=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
antbig 0:ad97421fb1fb 738 y_robot=msgRxBuffer[FIFO_lecture].data[2]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
antbig 0:ad97421fb1fb 739 theta_robot=msgRxBuffer[FIFO_lecture].data[4]|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
antbig 0:ad97421fb1fb 740 break;
antbig 0:ad97421fb1fb 741
antbig 0:ad97421fb1fb 742 case ECRAN_START_MATCH:
antbig 0:ad97421fb1fb 743 if(gameEtat == ETAT_CONFIG) {
antbig 1:116040d14164 744 gameEtat = ETAT_GAME_INIT;
antbig 0:ad97421fb1fb 745 }
antbig 0:ad97421fb1fb 746 break;
antbig 0:ad97421fb1fb 747 case SERVO_AX12_SETGOAL:
antbig 9:d0042422d95a 748 //SendAck(0x114, SERVO_AX12_SETGOAL);
ClementBreteau 14:c8fc06c4887f 749 //if(AX12_isLocal(msgRxBuffer[FIFO_lecture].data[0]))
ClementBreteau 14:c8fc06c4887f 750 //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 751
antbig 0:ad97421fb1fb 752 break;
ClementBreteau 14:c8fc06c4887f 753
antbig 0:ad97421fb1fb 754 case SERVO_AX12_PROCESS:
ClementBreteau 14:c8fc06c4887f 755 SendAck(0x114, SERVO_AX12_PROCESS);
ClementBreteau 14:c8fc06c4887f 756 //AX12_processChange(1);
antbig 0:ad97421fb1fb 757 break;
ClementBreteau 14:c8fc06c4887f 758
antbig 1:116040d14164 759 case SERVO_AX12_DONE:
ClementBreteau 15:c2fc239e85df 760 SendRawId(POMPE_PWM);
ClementBreteau 14:c8fc06c4887f 761 /*//SendAck(0x114, SERVO_AX12_DONE);
antbig 1:116040d14164 762 AX12_notifyCANEnd(((unsigned short)(msgRxBuffer[FIFO_lecture].data[0])));
ClementBreteau 14:c8fc06c4887f 763
ClementBreteau 15:c2fc239e85df 764 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 14:c8fc06c4887f 765 waitingAckFrom = 0;
ClementBreteau 14:c8fc06c4887f 766 waitingAckID = 0;*/
ClementBreteau 14:c8fc06c4887f 767
antbig 1:116040d14164 768 break;
antbig 2:8d8e2cf798a3 769 case ECRAN_CHOICE_COLOR://Choix de la couleur
antbig 4:88431b537477 770 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 2:8d8e2cf798a3 771 if(msgRxBuffer[FIFO_lecture].data[0] == 0)
antbig 2:8d8e2cf798a3 772 InversStrat = 0;//Pas d'inversion de la couleur
antbig 2:8d8e2cf798a3 773 else
antbig 2:8d8e2cf798a3 774 InversStrat = 1;//Inversion de la couleur
antbig 4:88431b537477 775
antbig 4:88431b537477 776 msgTx.id=ECRAN_ACK_COLOR; // tx ack de la couleur
antbig 4:88431b537477 777 msgTx.len=1;
antbig 4:88431b537477 778 msgTx.format=CANStandard;
antbig 4:88431b537477 779 msgTx.type=CANData;
antbig 4:88431b537477 780 // couleur sur 1 octet
antbig 4:88431b537477 781 msgTx.data[0]=msgRxBuffer[FIFO_lecture].data[0];
antbig 4:88431b537477 782 can1.write(msgTx);
antbig 9:d0042422d95a 783
antbig 2:8d8e2cf798a3 784 }
antbig 2:8d8e2cf798a3 785 break;
ClementBreteau 14:c8fc06c4887f 786
antbig 2:8d8e2cf798a3 787 case ECRAN_CHOICE_STRAT://Choix du fichier de stratégie à utiliser
antbig 4:88431b537477 788 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 4:88431b537477 789 msgTx.id=ECRAN_ACK_STRAT; // tx ack de la couleur
antbig 4:88431b537477 790 msgTx.len=1;
antbig 4:88431b537477 791 msgTx.format=CANStandard;
antbig 4:88431b537477 792 msgTx.type=CANData;
antbig 4:88431b537477 793 if(SelectStrategy(msgRxBuffer[FIFO_lecture].data[0])) {
antbig 4:88431b537477 794 // id de la stratégie sur 1 octet
ClementBreteau 16:7321fb3bb396 795 if (msgRxBuffer[FIFO_lecture].data[0] < 0x10){ // Si la strat est une strat de match, on desactive le mode demo
ClementBreteau 14:c8fc06c4887f 796 ModeDemo = 0;
ClementBreteau 16:7321fb3bb396 797 } else { // sinon, on active le mode demo, utile pour la fin de la demo
ClementBreteau 14:c8fc06c4887f 798 ModeDemo = 1;
ClementBreteau 14:c8fc06c4887f 799 }
ClementBreteau 14:c8fc06c4887f 800
antbig 4:88431b537477 801 msgTx.data[0]=msgRxBuffer[FIFO_lecture].data[0];
antbig 4:88431b537477 802 } else {
antbig 4:88431b537477 803 //erreur sur 1 octet
antbig 4:88431b537477 804 msgTx.data[0]=0;
antbig 4:88431b537477 805 }
antbig 4:88431b537477 806 can1.write(msgTx);
antbig 9:d0042422d95a 807 wait_ms(10);
antbig 12:14729d584500 808 setAsservissementEtat(0);//Désactivation de l'asservissement pour repositionner le robot dans le zone de départ
antbig 12:14729d584500 809 tactile_printf("Strat %d, Asser desactive",msgTx.data[0]);
antbig 2:8d8e2cf798a3 810 }
antbig 2:8d8e2cf798a3 811 break;
ClementBreteau 16:7321fb3bb396 812 case BALISE_DANGER :
ClementBreteau 16:7321fb3bb396 813 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
ClementBreteau 16:7321fb3bb396 814 break;
ClementBreteau 16:7321fb3bb396 815
antbig 5:dcd817534b57 816 case BALISE_STOP:
antbig 5:dcd817534b57 817 SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
ClementBreteau 18:cc5fec34ed9c 818 //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 819 if(needToStop() != 0 && ingnorBaliseOnce ==0) {
ClementBreteau 16:7321fb3bb396 820 if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT)
ClementBreteau 16:7321fb3bb396 821 {
ClementBreteau 16:7321fb3bb396 822 SendRawId(ASSERVISSEMENT_STOP);
ClementBreteau 16:7321fb3bb396 823 //while(1);
ClementBreteau 16:7321fb3bb396 824 gameEtat = ETAT_WARNING_TIMEOUT;
ClementBreteau 16:7321fb3bb396 825 if(gameEtat != ETAT_WARING_END_BALISE_WAIT) {
ClementBreteau 16:7321fb3bb396 826 timeoutWarning.reset();
ClementBreteau 16:7321fb3bb396 827 timeoutWarning.start();//Reset du timer utiliser par le timeout
ClementBreteau 16:7321fb3bb396 828 }
antbig 12:14729d584500 829 }
antbig 12:14729d584500 830 }
ClementBreteau 18:cc5fec34ed9c 831 //}
antbig 12:14729d584500 832 ingnorBaliseOnce = 0;
antbig 5:dcd817534b57 833 break;
ClementBreteau 16:7321fb3bb396 834
antbig 5:dcd817534b57 835 case BALISE_END_DANGER:
ClementBreteau 16:7321fb3bb396 836 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
antbig 5:dcd817534b57 837 if(gameEtat == ETAT_WARNING_TIMEOUT) {
antbig 5:dcd817534b57 838 timeoutWarningWaitEnd.reset();
antbig 5:dcd817534b57 839 timeoutWarningWaitEnd.start();
antbig 5:dcd817534b57 840 gameEtat = ETAT_WARING_END_BALISE_WAIT;
antbig 5:dcd817534b57 841 }
antbig 5:dcd817534b57 842 break;
antbig 12:14729d584500 843
antbig 12:14729d584500 844 case ECRAN_CHOICE_START_ACTION:
antbig 12:14729d584500 845 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 12:14729d584500 846 if(msgRxBuffer[FIFO_lecture].data[0] == 1) {
antbig 12:14729d584500 847 runRobotTest();
antbig 12:14729d584500 848 } else {
antbig 12:14729d584500 849 initRobotActionneur();
antbig 12:14729d584500 850 }
antbig 12:14729d584500 851 wait_ms(500);
antbig 12:14729d584500 852 SendRawId(ECRAN_ACK_CHOICE_START_ACTION);
antbig 12:14729d584500 853 }
antbig 12:14729d584500 854 break;
ClementBreteau 14:c8fc06c4887f 855
ClementBreteau 14:c8fc06c4887f 856 case OBJET_SUR_TABLE:
ClementBreteau 15:c2fc239e85df 857 if (msgRxBuffer[FIFO_lecture].data[1] == 0xff){
ClementBreteau 15:c2fc239e85df 858
ClementBreteau 15:c2fc239e85df 859 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
ClementBreteau 15:c2fc239e85df 860 }
ClementBreteau 15:c2fc239e85df 861 else{
ClementBreteau 15:c2fc239e85df 862
ClementBreteau 15:c2fc239e85df 863 waitingAckFrom = 0;
ClementBreteau 15:c2fc239e85df 864 waitingAckID = 0;
ClementBreteau 15:c2fc239e85df 865
ClementBreteau 15:c2fc239e85df 866 strat_instructions[actual_instruction+1].arg1 = returnX(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 867 strat_instructions[actual_instruction+1].arg2 = returnY(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 868 }
ClementBreteau 15:c2fc239e85df 869 modeTelemetre = 0;
ClementBreteau 14:c8fc06c4887f 870 break;
antbig 0:ad97421fb1fb 871 }
antbig 0:ad97421fb1fb 872
antbig 0:ad97421fb1fb 873 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
antbig 0:ad97421fb1fb 874 }
antbig 0:ad97421fb1fb 875 }