CRAC Team / Mbed 2 deprecated carte_straegie_2019

Programme carte strategie (disco)

Dependencies:   mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

Strategie/Strategie.cpp@33:388aa0bf6af4, 2018-04-25 (annotated)

Committer:
Sitkah
Date:
Wed Apr 25 12:42:50 2018 +0000
Revision:
33:388aa0bf6af4
Parent:
32:1c9ab15c740e
Child:
34:6aa4b46b102e
all demo;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sitkah 29:41e02746041d 1 #include "global.h"
Sitkah 31:833fc481b002 2 #include <string.h>
Sitkah 31:833fc481b002 3 #include <sstream>
Sitkah 29:41e02746041d 4 //#include "StrategieManager.h"
Sitkah 29:41e02746041d 5
Sitkah 29:41e02746041d 6
Sitkah 29:41e02746041d 7
Sitkah 29:41e02746041d 8 #define M_PI 3.14159265358979323846
Sitkah 29:41e02746041d 9 #define BLEU 0xFF1467E5
Sitkah 29:41e02746041d 10 #define ROUGE 0xFFFF0000
Sitkah 29:41e02746041d 11 #define VERT 0xFF00FF00
Sitkah 29:41e02746041d 12 #define JAUNE 0xFFFEFE00
Sitkah 29:41e02746041d 13 #define BLANC 0xFF000000
Sitkah 31:833fc481b002 14 #define ORANGE 0xFFFFA500
Sitkah 31:833fc481b002 15 #define NOIR 0xFF000000
Sitkah 29:41e02746041d 16 #define DIY_GREY 0xFFDFDFDF
antbig 0:ad97421fb1fb 17
Sitkah 29:41e02746041d 18 char tableau_aff[10][50];
Sitkah 29:41e02746041d 19 char tableau_etat[22][50]=
Sitkah 29:41e02746041d 20 {
Sitkah 29:41e02746041d 21 "Check_carte_screen",
Sitkah 29:41e02746041d 22 "Check_carte_screen_wait_ack",
Sitkah 29:41e02746041d 23 "Check_cartes",
Sitkah 29:41e02746041d 24 "Check_cartes_wait_ack",
Sitkah 29:41e02746041d 25 "Wait_force",
Sitkah 29:41e02746041d 26 "Config",
Sitkah 29:41e02746041d 27 "Game_init",
Sitkah 29:41e02746041d 28 "Game_wait_for_jack",
Sitkah 29:41e02746041d 29 "Game_start",
Sitkah 29:41e02746041d 30 "Game_next_instruction",
Sitkah 29:41e02746041d 31 "Game_instruction",
Sitkah 29:41e02746041d 32 "Game_wait_ack",
Sitkah 29:41e02746041d 33 "Game_jump_time",
Sitkah 29:41e02746041d 34 "Game_jump_config",
Sitkah 29:41e02746041d 35 "Game_jump_position",
Sitkah 29:41e02746041d 36 "Game_wait_end_instruction",
Sitkah 29:41e02746041d 37 "Warning_timeout",
Sitkah 29:41e02746041d 38 "Waring_end_balise_wait",
Sitkah 29:41e02746041d 39 "Warning_end_last_instruction",
Sitkah 29:41e02746041d 40 "Warning_switch_strategie",
Sitkah 29:41e02746041d 41 "End",
Sitkah 29:41e02746041d 42 "End_loop",
Sitkah 29:41e02746041d 43 };
Sitkah 29:41e02746041d 44
Sitkah 29:41e02746041d 45
Sitkah 29:41e02746041d 46
Sitkah 29:41e02746041d 47 Ticker ticker;
Sitkah 29:41e02746041d 48 TS_DISCO_F469NI ts;
Sitkah 29:41e02746041d 49 LCD_DISCO_F469NI lcd;
Sitkah 29:41e02746041d 50
Sitkah 29:41e02746041d 51 TS_StateTypeDef TS_State;
Sitkah 29:41e02746041d 52
Sitkah 29:41e02746041d 53 Ticker chrono;
Sitkah 29:41e02746041d 54 Timeout AffTime;
Sitkah 29:41e02746041d 55 Timer timer;
antbig 0:ad97421fb1fb 56 Timer cartesCheker;//Le timer pour le timeout de la vérification des cartes
antbig 0:ad97421fb1fb 57 Timer gameTimer;
antbig 0:ad97421fb1fb 58 Timer debugetatTimer;
antbig 5:dcd817534b57 59 Timer timeoutWarning;
antbig 5:dcd817534b57 60 Timer timeoutWarningWaitEnd;
antbig 0:ad97421fb1fb 61 Timeout chronoEnd;//permet d'envoyer la trame CAN pour la fin
antbig 0:ad97421fb1fb 62
Sitkah 29:41e02746041d 63 unsigned char screenChecktry = 0;
Sitkah 29:41e02746041d 64 unsigned char test[32] = {32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32};
Sitkah 29:41e02746041d 65
Sitkah 29:41e02746041d 66 char counter = 0;
Sitkah 29:41e02746041d 67 char check;
Sitkah 29:41e02746041d 68 char Jack = 1;
Sitkah 29:41e02746041d 69
Sitkah 29:41e02746041d 70 int flag = 0, flag_strat = 0, flag_timer;
Sitkah 29:41e02746041d 71 char Ack_strat = 0;
Sitkah 29:41e02746041d 72 signed char Strat = 0;
antbig 0:ad97421fb1fb 73 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
antbig 0:ad97421fb1fb 74
antbig 0:ad97421fb1fb 75 signed short x_robot,y_robot,theta_robot;//La position du robot
ClementBreteau 25:f140c93a8666 76 signed short target_x_robot, target_y_robot, target_theta_robot;
ClementBreteau 25:f140c93a8666 77 E_InstructionType actionPrecedente;
antbig 12:14729d584500 78 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
Sitkah 29:41e02746041d 79 //unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
Sitkah 29:41e02746041d 80 int flagSendCan=1;
Sitkah 29:41e02746041d 81 unsigned char Cote = 0; //0 -> bleu | 1 -> jaune
ClementBreteau 15:c2fc239e85df 82
antbig 0:ad97421fb1fb 83 unsigned char checkCurrent = 0;
antbig 0:ad97421fb1fb 84 unsigned char countAliveCard = 0;
antbig 0:ad97421fb1fb 85
Sitkah 29:41e02746041d 86 signed char Strategie = 0; //N° de la strategie (1-10)
antbig 1:116040d14164 87
ClementBreteau 14:c8fc06c4887f 88 unsigned char ModeDemo = 0; // Si à 1, indique que l'on est dans le mode demo
ClementBreteau 14:c8fc06c4887f 89
antbig 5:dcd817534b57 90 unsigned char countRobotNear = 0;//Le nombre de robot à proximité
antbig 5:dcd817534b57 91
antbig 12:14729d584500 92 unsigned char ingnorBaliseOnce = 0;
antbig 12:14729d584500 93
antbig 28:acd18776ed2d 94 unsigned char ingnorInversionOnce = 0;//Pour ignorer l'inversion des instruction une fois
antbig 28:acd18776ed2d 95
antbig 28:acd18776ed2d 96 struct S_Instruction instruction;
antbig 28:acd18776ed2d 97
Sitkah 30:a1e37af4bbde 98 char couleur1, couleur2, couleur3;
Sitkah 29:41e02746041d 99 float cptf;
Sitkah 29:41e02746041d 100 int cpt,cpt1;
Sitkah 29:41e02746041d 101
Sitkah 32:1c9ab15c740e 102 typedef enum {INIT, ATT, CHOIX, DEMO, TEST_TELEMETRE, TEST_CAPTEURS, TEST_SERVO, TEST_TIR, DEMO_IMMEUBLE,DEMO_TRIEUR, SELECT_SIDE, TACTIQUE, DETAILS,LECTURE, LAUNCH, AFF_WAIT_JACK, WAIT_JACK, COMPTEUR, FIN} T_etat;
Sitkah 29:41e02746041d 103 T_etat etat = INIT;
Sitkah 29:41e02746041d 104 E_stratGameEtat gameEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 105 E_stratGameEtat lastEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 106
Sitkah 29:41e02746041d 107
Sitkah 29:41e02746041d 108 /////////////////DEFINITION DES BOUTONS////////////////////
Sitkah 29:41e02746041d 109 Button COTE_BLEU(0, 25, 400, 300, "Bleu");
Sitkah 29:41e02746041d 110 Button COTE_JAUNE(0, 350, 400, 300, "Jaune");
Sitkah 29:41e02746041d 111 Button RETOUR (0, 680, 400, 110, "--Precedent--");
Sitkah 29:41e02746041d 112 Button LANCER (0, 200, 400, 200, "--LANCER--");
Sitkah 29:41e02746041d 113 Button CHECK (0, 420, 400, 200, "Valider");
Sitkah 29:41e02746041d 114 Button MATCH (0, 50, 400, 320, "Match");
Sitkah 29:41e02746041d 115 Button DEMONSTRATION (0, 400, 400, 320, "Demo");
Sitkah 31:833fc481b002 116 Button TEST_HERKULEX(0, 25, 400, 100, "Test servos");
Sitkah 32:1c9ab15c740e 117 Button TEST_LASER(0, 135, 400, 100, "Test telemetre");
Sitkah 32:1c9ab15c740e 118 Button TEST_COULEURS(0,245,400,100,"Test capteurs");
Sitkah 32:1c9ab15c740e 119 Button TEST_TIR_BALLE(0,355,400,100,"Test Lanceur");
Sitkah 32:1c9ab15c740e 120 Button TEST_IMMEUBLE(0,465,400,100,"Test immeuble");
Sitkah 32:1c9ab15c740e 121 Button TEST_TRIEUR(0,575,400,100,"Test aiguilleur");
Sitkah 31:833fc481b002 122 Button TIR_CHATEAU(0, 25, 400, 100, "Tir chateau");
Sitkah 31:833fc481b002 123 Button EPURATION(0, 150, 400, 100, "epuration");
Sitkah 31:833fc481b002 124 Button LANCEUR_ON(0,275,400,100,"allumer le lanceur");
Sitkah 31:833fc481b002 125 Button LANCEUR_OFF(0,400,400,100,"eteindre le lanceur");
Sitkah 31:833fc481b002 126 Button ABAISSE_BLOC(0, 25, 400, 100, "Ramasser blocs");
Sitkah 31:833fc481b002 127 Button RELEVE_BLOC(0, 135, 400, 100, "lacher blocs");
Sitkah 31:833fc481b002 128 Button BRAS_ABEILLE_ON(0,245,400,100,"bras abeille");
Sitkah 32:1c9ab15c740e 129 Button BRAS_ABEILLE_OFF(0,355,400,100,"baisser bras abeille");
Sitkah 31:833fc481b002 130 Button INTERRUPTEUR_ON(0,465,400,100,"baisser bras interrupt");
Sitkah 31:833fc481b002 131 Button INTERRUPTEUR_OFF(0,575,400,100,"baisser bras interrupt");
Sitkah 29:41e02746041d 132 Button FORCE_LAUNCH(0, 50, 400, 320, "Force Launch");
Sitkah 32:1c9ab15c740e 133 Button TRI(0, 25, 400, 100, "Test tri");
Sitkah 32:1c9ab15c740e 134 Button AIGUILLEUR_D(0, 150, 400, 100, "aiguilleur droite");
Sitkah 32:1c9ab15c740e 135 Button AIGUILLEUR_G(0,275,400,100,"aiguilleur gauche");
Sitkah 32:1c9ab15c740e 136 Button AIGUILLEUR_CTRE(0,400,400,100,"aiguilleur centre");
Sitkah 29:41e02746041d 137 Button SUIVANT(0,380,200,100,"Suivant");
Sitkah 31:833fc481b002 138 Button COLOR_ORANGE (0, 230, 190, 110,"");
Sitkah 31:833fc481b002 139 Button COLOR_JAUNE (210, 230, 190, 110,"");
Sitkah 31:833fc481b002 140 Button COLOR_BLEU (0, 350, 190, 110,"");
Sitkah 31:833fc481b002 141 Button COLOR_VERT (210, 350, 190, 110,"");
Sitkah 31:833fc481b002 142 Button COLOR_NOIR (105, 470, 190, 110,"");
Sitkah 29:41e02746041d 143 ////////////////////////////////////////////////////////////
Sitkah 29:41e02746041d 144
Sitkah 29:41e02746041d 145 void SendRawId (unsigned short id);
Sitkah 29:41e02746041d 146 void SelectionStrat (unsigned char numeroStrat);
Sitkah 29:41e02746041d 147 void Setflag(void);
Sitkah 29:41e02746041d 148 void can2Rx_ISR(void);
Sitkah 29:41e02746041d 149 signed char Bouton_Strat (void);
Sitkah 29:41e02746041d 150
Sitkah 29:41e02746041d 151 void print_segment(int nombre, int decalage);
Sitkah 29:41e02746041d 152 void affichage_compteur (int nombre);
Sitkah 29:41e02746041d 153 void effacer_segment(long couleur);
Sitkah 29:41e02746041d 154
Sitkah 30:a1e37af4bbde 155 unsigned short telemetreDistance=0;
Sitkah 30:a1e37af4bbde 156 unsigned short telemetreDistance1=0;
Sitkah 30:a1e37af4bbde 157 unsigned short telemetreDistance2=0;
Sitkah 30:a1e37af4bbde 158 unsigned short telemetreDistance3=0;
Sitkah 29:41e02746041d 159
Sitkah 29:41e02746041d 160 #ifdef ROBOT_BIG
Sitkah 29:41e02746041d 161
Sitkah 29:41e02746041d 162
Sitkah 29:41e02746041d 163 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_BALISE,CHECK_ACTIONNEURS_AVANT,CHECK_ACTIONNEURS_ARRIERE};
Sitkah 29:41e02746041d 164 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_BALISE,ALIVE_ACTIONNEURS_AVANT,ALIVE_ACTIONNEURS_ARRIERE};
Sitkah 29:41e02746041d 165
Sitkah 31:833fc481b002 166 InterruptIn jack(PG_11); // entrée analogique en interruption pour le jack
Sitkah 29:41e02746041d 167 #else
Sitkah 29:41e02746041d 168
Sitkah 29:41e02746041d 169
Sitkah 29:41e02746041d 170 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR};
Sitkah 29:41e02746041d 171 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR};
Sitkah 31:833fc481b002 172 InterruptIn jack(PG_11); // entrée analogique en interruption pour le jack
Sitkah 29:41e02746041d 173
Sitkah 29:41e02746041d 174
Sitkah 29:41e02746041d 175 #endif
Sitkah 29:41e02746041d 176
Sitkah 29:41e02746041d 177
Sitkah 29:41e02746041d 178
Sitkah 29:41e02746041d 179
Sitkah 29:41e02746041d 180
ClementBreteau 14:c8fc06c4887f 181
antbig 4:88431b537477 182 /****************************************************************************************/
antbig 4:88431b537477 183 /* FUNCTION NAME: chronometre_ISR */
antbig 4:88431b537477 184 /* DESCRIPTION : Interruption à la fin des 90s du match */
antbig 4:88431b537477 185 /****************************************************************************************/
antbig 0:ad97421fb1fb 186 void chronometre_ISR (void)
antbig 0:ad97421fb1fb 187 {
antbig 0:ad97421fb1fb 188 SendRawId(ASSERVISSEMENT_STOP);//On stope les moteurs
antbig 0:ad97421fb1fb 189 SendRawId(GLOBAL_GAME_END);//Indication fin de match
Sitkah 29:41e02746041d 190 etat=FIN;
antbig 0:ad97421fb1fb 191 gameTimer.stop();//Arret du timer
antbig 0:ad97421fb1fb 192
antbig 1:116040d14164 193 #ifdef ROBOT_BIG
antbig 12:14729d584500 194 wait_ms(2000);
antbig 0:ad97421fb1fb 195 doFunnyAction();
antbig 0:ad97421fb1fb 196 #endif
antbig 0:ad97421fb1fb 197
antbig 1:116040d14164 198 while(1);//On bloque la programme dans l'interruption
antbig 0:ad97421fb1fb 199 }
antbig 0:ad97421fb1fb 200
Sitkah 29:41e02746041d 201
Sitkah 29:41e02746041d 202
antbig 4:88431b537477 203 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 204 /* FUNCTION NAME: jack_ISR */
antbig 8:0edc7dfb7f7e 205 /* DESCRIPTION : Interruption en changement d'état sur le Jack */
antbig 8:0edc7dfb7f7e 206 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 207 void jack_ISR (void)
antbig 8:0edc7dfb7f7e 208 {
antbig 8:0edc7dfb7f7e 209 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 8:0edc7dfb7f7e 210 gameEtat = ETAT_GAME_START;//On débute le match
Sitkah 29:41e02746041d 211 etat=COMPTEUR;
antbig 8:0edc7dfb7f7e 212 }
antbig 8:0edc7dfb7f7e 213 }
antbig 8:0edc7dfb7f7e 214
antbig 8:0edc7dfb7f7e 215 /****************************************************************************************/
Sitkah 29:41e02746041d 216 /* FUNCTION NAME: SelectionStrat */
Sitkah 29:41e02746041d 217 /* DESCRIPTION : Affiche la Stratégie sélectionnée sur l'ihm */
Sitkah 29:41e02746041d 218 /****************************************************************************************/
Sitkah 29:41e02746041d 219
Sitkah 29:41e02746041d 220
Sitkah 29:41e02746041d 221 void SelectionStrat (unsigned char Strategie)
Sitkah 29:41e02746041d 222 {
Sitkah 29:41e02746041d 223 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 224 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 225
Sitkah 29:41e02746041d 226 switch (Strategie+1)
Sitkah 29:41e02746041d 227 {
Sitkah 29:41e02746041d 228 case 0x1 :
Sitkah 29:41e02746041d 229 //description de Strategie n°1
Sitkah 29:41e02746041d 230 lcd.DisplayStringAt(150, 0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 231 break;
Sitkah 29:41e02746041d 232
Sitkah 29:41e02746041d 233 case 0x2 :
Sitkah 29:41e02746041d 234 //description de Strategie n°2
Sitkah 29:41e02746041d 235 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 236 break;
Sitkah 29:41e02746041d 237
Sitkah 29:41e02746041d 238 case 0x3 :
Sitkah 29:41e02746041d 239 //description de Strategie n°3
Sitkah 29:41e02746041d 240 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 241 break;
Sitkah 29:41e02746041d 242
Sitkah 29:41e02746041d 243 case 0x4 :
Sitkah 29:41e02746041d 244 //description de Strategie n°4
Sitkah 29:41e02746041d 245 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 246 break;
Sitkah 29:41e02746041d 247
Sitkah 29:41e02746041d 248 case 0x5 :
Sitkah 29:41e02746041d 249 //description de Strategie n°5
Sitkah 29:41e02746041d 250 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 251 break;
Sitkah 29:41e02746041d 252
Sitkah 29:41e02746041d 253 case 0x6 :
Sitkah 29:41e02746041d 254 //description de Strategie n°5
Sitkah 29:41e02746041d 255 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 256 break;
Sitkah 29:41e02746041d 257
Sitkah 29:41e02746041d 258 case 0x7 :
Sitkah 29:41e02746041d 259 //description de Strategie n°5
Sitkah 29:41e02746041d 260 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 261 break;
Sitkah 29:41e02746041d 262
Sitkah 29:41e02746041d 263 case 0x8 :
Sitkah 29:41e02746041d 264 //description de Strategie n°5
Sitkah 29:41e02746041d 265 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 266 break;
Sitkah 29:41e02746041d 267
Sitkah 29:41e02746041d 268 case 0x9 :
Sitkah 29:41e02746041d 269 //description de Strategie n°5
Sitkah 29:41e02746041d 270 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 271 break;
Sitkah 29:41e02746041d 272
Sitkah 29:41e02746041d 273 case 0xA :
Sitkah 29:41e02746041d 274 //description de Strategie n°5
Sitkah 29:41e02746041d 275 lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
Sitkah 29:41e02746041d 276 break;
Sitkah 29:41e02746041d 277 }
Sitkah 29:41e02746041d 278 }
Sitkah 29:41e02746041d 279
Sitkah 29:41e02746041d 280 void Setflag(void)
Sitkah 29:41e02746041d 281 {
Sitkah 29:41e02746041d 282 flagSendCan = 1;
Sitkah 29:41e02746041d 283 }
Sitkah 29:41e02746041d 284
Sitkah 30:a1e37af4bbde 285 void affichage_debug(int Var){
Sitkah 29:41e02746041d 286 int i;
Sitkah 29:41e02746041d 287 int conv=(int)Var;
Sitkah 29:41e02746041d 288 SUIVANT.Draw(ROUGE, 0);
Sitkah 29:41e02746041d 289 for(i=0;i<9;i++){
Sitkah 29:41e02746041d 290 strcpy(tableau_aff[i],"");
Sitkah 29:41e02746041d 291 strcpy(tableau_aff[i],tableau_aff[i+1]);
Sitkah 29:41e02746041d 292 }
Sitkah 29:41e02746041d 293 strcpy(tableau_aff[9],tableau_etat[conv]);
Sitkah 29:41e02746041d 294 for(i=0;i<10;i++){
Sitkah 29:41e02746041d 295 lcd.SetBackColor(BLEU);
Sitkah 29:41e02746041d 296 lcd.DisplayStringAt(0, LINE(20+i), (uint8_t *)tableau_aff[i], LEFT_MODE);
Sitkah 29:41e02746041d 297 }
Sitkah 30:a1e37af4bbde 298 /*while(!ack_bluetooth){
Sitkah 30:a1e37af4bbde 299 //liaison_bluetooth();
Sitkah 29:41e02746041d 300 }
Sitkah 30:a1e37af4bbde 301 ack_bluetooth=0;*/
Sitkah 30:a1e37af4bbde 302 /*while(SUIVANT.Touched()==0);
Sitkah 30:a1e37af4bbde 303 while(SUIVANT.Touched());*/
Sitkah 29:41e02746041d 304 }
Sitkah 29:41e02746041d 305
Sitkah 29:41e02746041d 306
Sitkah 29:41e02746041d 307 void automate_etat_ihm(void)
Sitkah 29:41e02746041d 308 {
Sitkah 29:41e02746041d 309 int j;
Sitkah 29:41e02746041d 310 if (j==0){
Sitkah 29:41e02746041d 311 ts.Init(lcd.GetXSize(), lcd.GetYSize());
Sitkah 29:41e02746041d 312 j++;
Sitkah 29:41e02746041d 313 }
Sitkah 29:41e02746041d 314 ts.GetState(&TS_State);
Sitkah 29:41e02746041d 315 switch (etat)
Sitkah 29:41e02746041d 316 {
Sitkah 29:41e02746041d 317 case INIT :
Sitkah 29:41e02746041d 318 ts.GetState(&TS_State);
Sitkah 29:41e02746041d 319 canProcessRx();
Sitkah 30:a1e37af4bbde 320
Sitkah 32:1c9ab15c740e 321
Sitkah 30:a1e37af4bbde 322
Sitkah 30:a1e37af4bbde 323
Sitkah 29:41e02746041d 324 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 325 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 326 lcd.Clear (LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 327 wait(0.15);
Sitkah 29:41e02746041d 328 lcd.DisplayStringAt(0, 10, (uint8_t *)"Verification des cartes", LEFT_MODE);
Sitkah 29:41e02746041d 329 //cartes non verifiées////////////////
Sitkah 29:41e02746041d 330 lcd.SetTextColor(DIY_GREY);
Sitkah 29:41e02746041d 331 lcd.FillRect(0,400,400,150); //carte moteur
Sitkah 29:41e02746041d 332 lcd.FillRect(0,600,400,150); //Balise
Sitkah 29:41e02746041d 333
Sitkah 29:41e02746041d 334 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 335 lcd.SetBackColor(DIY_GREY);
Sitkah 29:41e02746041d 336 lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
Sitkah 29:41e02746041d 337 lcd.DisplayStringAt(110,650 , (uint8_t *)"Balise", LEFT_MODE);
Sitkah 29:41e02746041d 338 ////////////////////////////////////////
Sitkah 29:41e02746041d 339
Sitkah 29:41e02746041d 340 FORCE_LAUNCH.Draw(0xFFFF0000, 0);
Sitkah 29:41e02746041d 341
Sitkah 29:41e02746041d 342 /*while(flag == 0)
Sitkah 29:41e02746041d 343 {
Sitkah 29:41e02746041d 344 ts.GetState(&TS_State);
Sitkah 29:41e02746041d 345 canProcessRx();
Sitkah 29:41e02746041d 346 if (FORCE_LAUNCH.Touched())
Sitkah 29:41e02746041d 347 {
Sitkah 29:41e02746041d 348 etat = CHOIX;
Sitkah 29:41e02746041d 349 gameEtat = ETAT_CONFIG;
Sitkah 29:41e02746041d 350 flag = 1;
Sitkah 29:41e02746041d 351 while(FORCE_LAUNCH.Touched());
Sitkah 29:41e02746041d 352 }
Sitkah 29:41e02746041d 353 }*/
Sitkah 29:41e02746041d 354
Sitkah 29:41e02746041d 355 etat=ATT;
Sitkah 29:41e02746041d 356 break;
Sitkah 29:41e02746041d 357
Sitkah 29:41e02746041d 358 case ATT :
Sitkah 29:41e02746041d 359 if (flag==1){
Sitkah 29:41e02746041d 360 etat = CHOIX;
Sitkah 29:41e02746041d 361 gameEtat = ETAT_CONFIG;
Sitkah 29:41e02746041d 362 }
Sitkah 29:41e02746041d 363 else if (FORCE_LAUNCH.Touched()){
Sitkah 29:41e02746041d 364 etat = CHOIX;
Sitkah 29:41e02746041d 365 gameEtat = ETAT_CONFIG;
Sitkah 30:a1e37af4bbde 366 while(FORCE_LAUNCH.Touched());
Sitkah 29:41e02746041d 367 }
Sitkah 29:41e02746041d 368
Sitkah 29:41e02746041d 369 break;
Sitkah 29:41e02746041d 370
Sitkah 29:41e02746041d 371
Sitkah 29:41e02746041d 372 case CHOIX :
Sitkah 29:41e02746041d 373 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 374 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 375 lcd.Clear (LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 376 lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", LEFT_MODE);
Sitkah 29:41e02746041d 377 DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
Sitkah 29:41e02746041d 378 MATCH.Draw(0xFFF01010, 0);
Sitkah 29:41e02746041d 379 while(etat == CHOIX)
Sitkah 29:41e02746041d 380 {
Sitkah 29:41e02746041d 381 canProcessRx();
Sitkah 29:41e02746041d 382 if(DEMONSTRATION.Touched())
Sitkah 29:41e02746041d 383 {
Sitkah 29:41e02746041d 384 etat = DEMO;
Sitkah 29:41e02746041d 385 while(DEMONSTRATION.Touched());
Sitkah 29:41e02746041d 386 }
Sitkah 29:41e02746041d 387
Sitkah 29:41e02746041d 388 if(MATCH.Touched())
Sitkah 29:41e02746041d 389 {
Sitkah 29:41e02746041d 390 etat = SELECT_SIDE;
Sitkah 29:41e02746041d 391 while(MATCH.Touched());
Sitkah 29:41e02746041d 392 }
Sitkah 29:41e02746041d 393
Sitkah 29:41e02746041d 394 }
Sitkah 29:41e02746041d 395 break;
Sitkah 29:41e02746041d 396
Sitkah 29:41e02746041d 397 case DEMO :
Sitkah 29:41e02746041d 398 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 399 RETOUR.Draw(0xFFFF0000, 0);
Sitkah 31:833fc481b002 400 TEST_HERKULEX.Draw(BLEU, 0);
Sitkah 31:833fc481b002 401 TEST_LASER.Draw(BLEU, 0);
Sitkah 31:833fc481b002 402 TEST_COULEURS.Draw(BLEU, 0);
Sitkah 31:833fc481b002 403 TEST_TIR_BALLE.Draw(BLEU, 0);
Sitkah 31:833fc481b002 404 TEST_IMMEUBLE.Draw(BLEU,0);
Sitkah 32:1c9ab15c740e 405 TEST_TRIEUR.Draw(BLEU,0);
Sitkah 29:41e02746041d 406 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config //
Sitkah 29:41e02746041d 407 InversStrat = 0;//Pas d'inversion de la couleur // A changer , discussion avec l'ihm
Sitkah 29:41e02746041d 408 }
Sitkah 29:41e02746041d 409 while (etat == DEMO)
Sitkah 29:41e02746041d 410 {
Sitkah 29:41e02746041d 411 canProcessRx();
Sitkah 31:833fc481b002 412 if(TEST_HERKULEX.Touched())
Sitkah 29:41e02746041d 413 {
Sitkah 30:a1e37af4bbde 414 //Strat = 0x10;
Sitkah 31:833fc481b002 415 while(TEST_HERKULEX.Touched());
Sitkah 32:1c9ab15c740e 416 CANMessage trame_Tx = CANMessage();
Sitkah 32:1c9ab15c740e 417 trame_Tx.len = 1;
Sitkah 32:1c9ab15c740e 418 trame_Tx.format = CANStandard;
Sitkah 32:1c9ab15c740e 419 trame_Tx.type = CANData;
Sitkah 31:833fc481b002 420 trame_Tx.id=CHOICE_COLOR;
Sitkah 32:1c9ab15c740e 421 trame_Tx.data[0]=0x2;
Sitkah 31:833fc481b002 422 can2.write(trame_Tx);
Sitkah 31:833fc481b002 423 TEST_HERKULEX.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 424 etat = TEST_SERVO;
Sitkah 31:833fc481b002 425 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 30:a1e37af4bbde 426 ModeDemo=1;
Sitkah 29:41e02746041d 427 }
Sitkah 29:41e02746041d 428
Sitkah 31:833fc481b002 429 else if(TEST_LASER.Touched())
Sitkah 31:833fc481b002 430 {
Sitkah 31:833fc481b002 431 //Strat = 0x11;
Sitkah 31:833fc481b002 432 while(TEST_LASER.Touched());
Sitkah 31:833fc481b002 433 TEST_LASER.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 434 etat = TEST_TELEMETRE;
Sitkah 31:833fc481b002 435 }
Sitkah 31:833fc481b002 436 else if (TEST_COULEURS.Touched()){
Sitkah 31:833fc481b002 437 while(TEST_COULEURS.Touched());
Sitkah 31:833fc481b002 438 TEST_LASER.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 439 etat =TEST_CAPTEURS ;
Sitkah 31:833fc481b002 440 }
Sitkah 31:833fc481b002 441 else if (TEST_TIR_BALLE.Touched()){
Sitkah 31:833fc481b002 442 while(TEST_TIR_BALLE.Touched());
Sitkah 31:833fc481b002 443 TEST_TIR_BALLE.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 444 etat =TEST_TIR ;
Sitkah 31:833fc481b002 445 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 32:1c9ab15c740e 446 CANMessage trame_Tx = CANMessage();
Sitkah 32:1c9ab15c740e 447 trame_Tx.len = 1;
Sitkah 32:1c9ab15c740e 448 trame_Tx.format = CANStandard;
Sitkah 32:1c9ab15c740e 449 trame_Tx.type = CANData;
Sitkah 31:833fc481b002 450 trame_Tx.id=CHOICE_COLOR;
Sitkah 32:1c9ab15c740e 451 trame_Tx.data[0]=0x2;
Sitkah 31:833fc481b002 452 can2.write(trame_Tx);
Sitkah 31:833fc481b002 453 ModeDemo=1;
Sitkah 31:833fc481b002 454 }
Sitkah 31:833fc481b002 455 else if(TEST_IMMEUBLE.Touched()){
Sitkah 31:833fc481b002 456 while(TEST_IMMEUBLE.Touched());
Sitkah 31:833fc481b002 457 TEST_IMMEUBLE.Draw(0xFFF0F0F0, 0);
Sitkah 31:833fc481b002 458 etat =DEMO_IMMEUBLE;
Sitkah 31:833fc481b002 459 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 460 }
Sitkah 32:1c9ab15c740e 461 else if(TEST_TRIEUR.Touched()){
Sitkah 32:1c9ab15c740e 462 while(TEST_TRIEUR.Touched());
Sitkah 32:1c9ab15c740e 463 etat=DEMO_TRIEUR;
Sitkah 32:1c9ab15c740e 464 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 32:1c9ab15c740e 465 }
Sitkah 32:1c9ab15c740e 466
Sitkah 32:1c9ab15c740e 467
Sitkah 29:41e02746041d 468 if(RETOUR.Touched())
Sitkah 29:41e02746041d 469 {
Sitkah 29:41e02746041d 470 etat = CHOIX;
Sitkah 29:41e02746041d 471 while(RETOUR.Touched());
Sitkah 31:833fc481b002 472
Sitkah 29:41e02746041d 473 }
Sitkah 29:41e02746041d 474 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
Sitkah 30:a1e37af4bbde 475 /*if (Strat< 0x10){ // Si la strat est une strat de match, on desactive le mode demo
Sitkah 29:41e02746041d 476 ModeDemo = 0;
Sitkah 29:41e02746041d 477 }
Sitkah 29:41e02746041d 478 else { // sinon, on active le mode demo, utile pour la fin de la demo
Sitkah 29:41e02746041d 479 ModeDemo = 1;
Sitkah 30:a1e37af4bbde 480 }*/
Sitkah 29:41e02746041d 481 Ack_strat = 1;
Sitkah 29:41e02746041d 482 wait_ms(10);
Sitkah 30:a1e37af4bbde 483 //tactile_printf("Strat %d, Asser desactive",Strat);
Sitkah 29:41e02746041d 484 }
Sitkah 30:a1e37af4bbde 485 //SelectionStrat(Strategie);
Sitkah 29:41e02746041d 486 }
Sitkah 29:41e02746041d 487 break;
Sitkah 32:1c9ab15c740e 488 case DEMO_TRIEUR:
Sitkah 32:1c9ab15c740e 489 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 32:1c9ab15c740e 490 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
Sitkah 32:1c9ab15c740e 491 TRI.Draw(VERT, 0);
Sitkah 32:1c9ab15c740e 492 AIGUILLEUR_D.Draw(VERT, 0);
Sitkah 32:1c9ab15c740e 493 AIGUILLEUR_G.Draw(VERT, 0);
Sitkah 32:1c9ab15c740e 494 AIGUILLEUR_CTRE.Draw(VERT, 0);
Sitkah 32:1c9ab15c740e 495 while(etat==DEMO_TRIEUR){
Sitkah 32:1c9ab15c740e 496 if(RETOUR.Touched()){
Sitkah 32:1c9ab15c740e 497 while (RETOUR.Touched());
Sitkah 32:1c9ab15c740e 498 etat=DEMO;
Sitkah 32:1c9ab15c740e 499 }
Sitkah 32:1c9ab15c740e 500 else if(TRI.Touched()){
Sitkah 32:1c9ab15c740e 501 while (TRI.Touched());
Sitkah 32:1c9ab15c740e 502 SendRawId(AIGUILLEUR_CENTRE);
Sitkah 32:1c9ab15c740e 503 wait(0.5);
Sitkah 32:1c9ab15c740e 504 SendRawId(AIGUILLEUR_DROITE);
Sitkah 32:1c9ab15c740e 505 wait(0.5);
Sitkah 32:1c9ab15c740e 506 SendRawId(AIGUILLEUR_GAUCHE);
Sitkah 32:1c9ab15c740e 507 wait(0.5);
Sitkah 32:1c9ab15c740e 508 SendRawId(AIGUILLEUR_CENTRE);
Sitkah 32:1c9ab15c740e 509
Sitkah 32:1c9ab15c740e 510 break;
Sitkah 32:1c9ab15c740e 511 }
Sitkah 32:1c9ab15c740e 512 else if(AIGUILLEUR_D.Touched()){
Sitkah 32:1c9ab15c740e 513 while (AIGUILLEUR_D.Touched());
Sitkah 32:1c9ab15c740e 514 SendRawId(AIGUILLEUR_DROITE);
Sitkah 32:1c9ab15c740e 515 break;
Sitkah 32:1c9ab15c740e 516 }
Sitkah 32:1c9ab15c740e 517 else if(AIGUILLEUR_G.Touched()){
Sitkah 32:1c9ab15c740e 518 while (AIGUILLEUR_G.Touched());
Sitkah 32:1c9ab15c740e 519 SendRawId(AIGUILLEUR_GAUCHE);
Sitkah 32:1c9ab15c740e 520 break;
Sitkah 32:1c9ab15c740e 521
Sitkah 32:1c9ab15c740e 522 }
Sitkah 32:1c9ab15c740e 523 else if(BRAS_ABEILLE_OFF.Touched()){
Sitkah 32:1c9ab15c740e 524 while (BRAS_ABEILLE_OFF.Touched());
Sitkah 32:1c9ab15c740e 525 SendRawId(BRAS_ABEILLE_DOWN);
Sitkah 32:1c9ab15c740e 526 break;
Sitkah 32:1c9ab15c740e 527 }
Sitkah 32:1c9ab15c740e 528 else if(AIGUILLEUR_CTRE.Touched()){
Sitkah 32:1c9ab15c740e 529 while (AIGUILLEUR_CTRE.Touched());
Sitkah 32:1c9ab15c740e 530 SendRawId(AIGUILLEUR_CENTRE);
Sitkah 32:1c9ab15c740e 531 break;
Sitkah 32:1c9ab15c740e 532 }
Sitkah 32:1c9ab15c740e 533
Sitkah 32:1c9ab15c740e 534 }
Sitkah 32:1c9ab15c740e 535 break;
Sitkah 31:833fc481b002 536 case DEMO_IMMEUBLE:
Sitkah 31:833fc481b002 537 int color=0;
Sitkah 31:833fc481b002 538 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 539 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"Choix du code couleur", LEFT_MODE);
Sitkah 29:41e02746041d 540
Sitkah 31:833fc481b002 541 CANMessage msgTx=CANMessage();
Sitkah 31:833fc481b002 542 msgTx.id=MONTER_IMMEUBLE; // Monter immeuble
Sitkah 31:833fc481b002 543 msgTx.len=3;
Sitkah 31:833fc481b002 544 msgTx.format=CANStandard;
Sitkah 31:833fc481b002 545 msgTx.type=CANData;
Sitkah 29:41e02746041d 546
Sitkah 29:41e02746041d 547
Sitkah 31:833fc481b002 548 while(etat==DEMO_IMMEUBLE){
Sitkah 31:833fc481b002 549 switch(color){
Sitkah 31:833fc481b002 550 case 0:
Sitkah 31:833fc481b002 551
Sitkah 31:833fc481b002 552 RETOUR.Draw(ROUGE,0);
Sitkah 31:833fc481b002 553 COLOR_NOIR.Draw(NOIR,1);
Sitkah 31:833fc481b002 554 COLOR_ORANGE.Draw(ORANGE,0);
Sitkah 31:833fc481b002 555 COLOR_JAUNE.Draw(JAUNE,0);
Sitkah 31:833fc481b002 556 COLOR_BLEU.Draw(BLEU,0);
Sitkah 31:833fc481b002 557 COLOR_VERT.Draw(VERT,0);
Sitkah 31:833fc481b002 558
Sitkah 31:833fc481b002 559 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 560 lcd.SetTextColor(NOIR);
Sitkah 31:833fc481b002 561 lcd.DisplayStringAt(100, LINE(4), (uint8_t *)"COULEUR 1", LEFT_MODE);
Sitkah 31:833fc481b002 562 while(color==0){
Sitkah 31:833fc481b002 563 if(COLOR_ORANGE.Touched()){
Sitkah 31:833fc481b002 564 while(COLOR_ORANGE.Touched());
Sitkah 31:833fc481b002 565 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 566 msgTx.data[color]=1;
Sitkah 31:833fc481b002 567 color++;
Sitkah 31:833fc481b002 568 }
Sitkah 31:833fc481b002 569 else if (COLOR_NOIR.Touched()){
Sitkah 31:833fc481b002 570 while(COLOR_NOIR.Touched());
Sitkah 31:833fc481b002 571 COLOR_NOIR.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 572 msgTx.data[color]=2;
Sitkah 31:833fc481b002 573 color++;
Sitkah 31:833fc481b002 574 }
Sitkah 31:833fc481b002 575 else if (COLOR_VERT.Touched()){
Sitkah 31:833fc481b002 576 while(COLOR_VERT.Touched());
Sitkah 31:833fc481b002 577 COLOR_VERT.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 578
Sitkah 31:833fc481b002 579 msgTx.data[color]=3;
Sitkah 31:833fc481b002 580 color++;
Sitkah 31:833fc481b002 581 }
Sitkah 31:833fc481b002 582 else if (COLOR_JAUNE.Touched()){
Sitkah 31:833fc481b002 583 while(COLOR_JAUNE.Touched());
Sitkah 31:833fc481b002 584 COLOR_JAUNE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 585 msgTx.data[color]=4;
Sitkah 31:833fc481b002 586 color++;
Sitkah 31:833fc481b002 587 }
Sitkah 31:833fc481b002 588 else if (COLOR_BLEU.Touched()){
Sitkah 31:833fc481b002 589 while(COLOR_BLEU.Touched());
Sitkah 31:833fc481b002 590 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 591 msgTx.data[color]=5;
Sitkah 31:833fc481b002 592 color++;
Sitkah 31:833fc481b002 593 }
Sitkah 31:833fc481b002 594 }
Sitkah 31:833fc481b002 595 break;
Sitkah 31:833fc481b002 596
Sitkah 31:833fc481b002 597 case 1:
Sitkah 31:833fc481b002 598 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 599 lcd.SetTextColor(NOIR);
Sitkah 31:833fc481b002 600 lcd.DisplayStringAt(100, LINE(4), (uint8_t *)"COULEUR 2", LEFT_MODE);
Sitkah 31:833fc481b002 601 if(COLOR_ORANGE.Touched()){
Sitkah 31:833fc481b002 602 while(COLOR_ORANGE.Touched());
Sitkah 31:833fc481b002 603 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 604 msgTx.data[color]=1;
Sitkah 31:833fc481b002 605 color++;
Sitkah 31:833fc481b002 606 }
Sitkah 31:833fc481b002 607 else if (COLOR_NOIR.Touched()){
Sitkah 31:833fc481b002 608 while(COLOR_NOIR.Touched());
Sitkah 31:833fc481b002 609 COLOR_NOIR.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 610 msgTx.data[color]=2;
Sitkah 31:833fc481b002 611 color++;
Sitkah 31:833fc481b002 612 }
Sitkah 31:833fc481b002 613 else if (COLOR_VERT.Touched()){
Sitkah 31:833fc481b002 614 while(COLOR_VERT.Touched());
Sitkah 31:833fc481b002 615 COLOR_VERT.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 616
Sitkah 31:833fc481b002 617 msgTx.data[color]=3;
Sitkah 31:833fc481b002 618 color++;
Sitkah 31:833fc481b002 619 }
Sitkah 31:833fc481b002 620 else if (COLOR_JAUNE.Touched()){
Sitkah 31:833fc481b002 621 while(COLOR_JAUNE.Touched());
Sitkah 31:833fc481b002 622 COLOR_JAUNE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 623 msgTx.data[color]=4;
Sitkah 31:833fc481b002 624 color++;
Sitkah 31:833fc481b002 625 }
Sitkah 31:833fc481b002 626 else if (COLOR_BLEU.Touched()){
Sitkah 31:833fc481b002 627 while(COLOR_BLEU.Touched());
Sitkah 31:833fc481b002 628 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 629 msgTx.data[color]=5;
Sitkah 31:833fc481b002 630 color++;
Sitkah 31:833fc481b002 631 }
Sitkah 31:833fc481b002 632 break;
Sitkah 31:833fc481b002 633
Sitkah 31:833fc481b002 634 case 2:
Sitkah 31:833fc481b002 635 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 636 lcd.SetTextColor(NOIR);
Sitkah 31:833fc481b002 637 lcd.DisplayStringAt(100, LINE(4), (uint8_t *)"COULEUR 3", LEFT_MODE);
Sitkah 31:833fc481b002 638 if(COLOR_ORANGE.Touched()){
Sitkah 31:833fc481b002 639 while(COLOR_ORANGE.Touched());
Sitkah 31:833fc481b002 640 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 641 msgTx.data[color]=1;
Sitkah 31:833fc481b002 642 color++;
Sitkah 31:833fc481b002 643 }
Sitkah 31:833fc481b002 644 else if (COLOR_NOIR.Touched()){
Sitkah 31:833fc481b002 645 while(COLOR_NOIR.Touched());
Sitkah 31:833fc481b002 646 COLOR_NOIR.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 647 msgTx.data[color]=2;
Sitkah 31:833fc481b002 648 color++;
Sitkah 31:833fc481b002 649 }
Sitkah 31:833fc481b002 650 else if (COLOR_VERT.Touched()){
Sitkah 31:833fc481b002 651 while(COLOR_VERT.Touched());
Sitkah 31:833fc481b002 652 COLOR_VERT.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 653
Sitkah 31:833fc481b002 654 msgTx.data[color]=3;
Sitkah 31:833fc481b002 655 color++;
Sitkah 31:833fc481b002 656 }
Sitkah 31:833fc481b002 657 else if (COLOR_JAUNE.Touched()){
Sitkah 31:833fc481b002 658 while(COLOR_JAUNE.Touched());
Sitkah 31:833fc481b002 659 COLOR_JAUNE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 660 msgTx.data[color]=4;
Sitkah 31:833fc481b002 661 color++;
Sitkah 31:833fc481b002 662 }
Sitkah 31:833fc481b002 663 else if (COLOR_BLEU.Touched()){
Sitkah 31:833fc481b002 664 while(COLOR_BLEU.Touched());
Sitkah 31:833fc481b002 665 COLOR_ORANGE.Draw(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 666 msgTx.data[color]=5;
Sitkah 31:833fc481b002 667 color++;
Sitkah 31:833fc481b002 668 }
Sitkah 31:833fc481b002 669 break;
Sitkah 31:833fc481b002 670 case 3:
Sitkah 31:833fc481b002 671 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 672 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 673 lcd.SetTextColor(NOIR);
Sitkah 31:833fc481b002 674
Sitkah 31:833fc481b002 675 lcd.DisplayStringAt(0, LINE(4), (uint8_t *)"Immeuble en construction", LEFT_MODE);
Sitkah 31:833fc481b002 676 RETOUR.Draw(ROUGE,0);
Sitkah 31:833fc481b002 677 can2.write(msgTx);
Sitkah 31:833fc481b002 678 color++;
Sitkah 31:833fc481b002 679 break;
Sitkah 31:833fc481b002 680
Sitkah 31:833fc481b002 681 case 4:
Sitkah 31:833fc481b002 682 if(RETOUR.Touched()){
Sitkah 31:833fc481b002 683 while(RETOUR.Touched());
Sitkah 31:833fc481b002 684 etat=DEMO;
Sitkah 31:833fc481b002 685 }
Sitkah 31:833fc481b002 686 break;
Sitkah 29:41e02746041d 687 }
Sitkah 31:833fc481b002 688 if(RETOUR.Touched()){
Sitkah 31:833fc481b002 689 while(RETOUR.Touched());
Sitkah 30:a1e37af4bbde 690 etat=DEMO;
Sitkah 30:a1e37af4bbde 691 }
Sitkah 31:833fc481b002 692 }
Sitkah 31:833fc481b002 693 break;
Sitkah 31:833fc481b002 694
Sitkah 31:833fc481b002 695
Sitkah 31:833fc481b002 696
Sitkah 31:833fc481b002 697
Sitkah 31:833fc481b002 698
Sitkah 31:833fc481b002 699 case TEST_SERVO:
Sitkah 31:833fc481b002 700 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 701 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
Sitkah 31:833fc481b002 702 ABAISSE_BLOC.Draw(VERT, 0);
Sitkah 31:833fc481b002 703 RELEVE_BLOC.Draw(VERT, 0);
Sitkah 31:833fc481b002 704 BRAS_ABEILLE_ON.Draw(VERT, 0);
Sitkah 31:833fc481b002 705 BRAS_ABEILLE_OFF.Draw(VERT, 0);
Sitkah 31:833fc481b002 706 INTERRUPTEUR_ON.Draw(VERT, 0);
Sitkah 31:833fc481b002 707 INTERRUPTEUR_OFF.Draw(VERT, 0);
Sitkah 31:833fc481b002 708 RETOUR.Draw(0xFFFF0000,0);
Sitkah 31:833fc481b002 709 while(etat==TEST_SERVO){
Sitkah 31:833fc481b002 710 if(RETOUR.Touched()){
Sitkah 31:833fc481b002 711 while (RETOUR.Touched());
Sitkah 31:833fc481b002 712 etat=DEMO;
Sitkah 31:833fc481b002 713 }
Sitkah 31:833fc481b002 714 else if(ABAISSE_BLOC.Touched()){
Sitkah 31:833fc481b002 715 while (ABAISSE_BLOC.Touched());
Sitkah 31:833fc481b002 716 SendRawId(BAISSER_ATTRAPE_BLOC);
Sitkah 31:833fc481b002 717 break;
Sitkah 31:833fc481b002 718 }
Sitkah 31:833fc481b002 719 else if(RELEVE_BLOC.Touched()){
Sitkah 31:833fc481b002 720 while (RELEVE_BLOC.Touched());
Sitkah 31:833fc481b002 721 SendRawId(RELEVER_ATTRAPE_BLOC);
Sitkah 31:833fc481b002 722 break;
Sitkah 31:833fc481b002 723 }
Sitkah 31:833fc481b002 724 else if(BRAS_ABEILLE_ON.Touched()){
Sitkah 31:833fc481b002 725 while (BRAS_ABEILLE_ON.Touched());
Sitkah 31:833fc481b002 726 SendRawId(BRAS_ABEILLE_UP);
Sitkah 31:833fc481b002 727 break;
Sitkah 31:833fc481b002 728
Sitkah 31:833fc481b002 729 }
Sitkah 31:833fc481b002 730 else if(BRAS_ABEILLE_OFF.Touched()){
Sitkah 31:833fc481b002 731 while (BRAS_ABEILLE_OFF.Touched());
Sitkah 31:833fc481b002 732 SendRawId(BRAS_ABEILLE_DOWN);
Sitkah 31:833fc481b002 733 break;
Sitkah 31:833fc481b002 734 }
Sitkah 31:833fc481b002 735 else if(INTERRUPTEUR_ON.Touched()){
Sitkah 31:833fc481b002 736 while (INTERRUPTEUR_ON.Touched());
Sitkah 31:833fc481b002 737 SendRawId(ALLUMER_PANNEAU_UP);
Sitkah 31:833fc481b002 738 break;
Sitkah 31:833fc481b002 739 }
Sitkah 31:833fc481b002 740 else if(INTERRUPTEUR_OFF.Touched()){
Sitkah 31:833fc481b002 741 while (INTERRUPTEUR_OFF.Touched());
Sitkah 31:833fc481b002 742 SendRawId(ALLUMER_PANNEAU_DOWN);
Sitkah 31:833fc481b002 743 break;
Sitkah 31:833fc481b002 744 }
Sitkah 31:833fc481b002 745 }
Sitkah 31:833fc481b002 746 break;
Sitkah 31:833fc481b002 747
Sitkah 31:833fc481b002 748 case TEST_TIR:
Sitkah 31:833fc481b002 749 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 750 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
Sitkah 31:833fc481b002 751 TIR_CHATEAU.Draw(VERT, 0);
Sitkah 31:833fc481b002 752 EPURATION.Draw(VERT, 0);
Sitkah 31:833fc481b002 753 LANCEUR_ON.Draw(VERT, 0);
Sitkah 31:833fc481b002 754 LANCEUR_OFF.Draw(VERT, 0);
Sitkah 31:833fc481b002 755 RETOUR.Draw(ROUGE, 0);
Sitkah 31:833fc481b002 756 while(etat==TEST_TIR){
Sitkah 31:833fc481b002 757 if(TIR_CHATEAU.Touched()){
Sitkah 31:833fc481b002 758 while (TIR_CHATEAU.Touched());
Sitkah 31:833fc481b002 759 SendRawId(INCLINAISON_CHATEAU);
Sitkah 31:833fc481b002 760 break;
Sitkah 31:833fc481b002 761 }
Sitkah 31:833fc481b002 762 else if (EPURATION.Touched()){
Sitkah 31:833fc481b002 763 while (EPURATION.Touched());
Sitkah 31:833fc481b002 764 SendRawId(INCLINAISON_EPURATION);
Sitkah 31:833fc481b002 765 break;
Sitkah 31:833fc481b002 766 }
Sitkah 31:833fc481b002 767 else if(LANCEUR_ON.Touched()){
Sitkah 31:833fc481b002 768 while (LANCEUR_ON.Touched());
Sitkah 31:833fc481b002 769 SendRawId(LANCEMENT_MOTEUR_TIR_ON);
Sitkah 31:833fc481b002 770 break;
Sitkah 31:833fc481b002 771 }
Sitkah 31:833fc481b002 772 else if(LANCEUR_OFF.Touched()){
Sitkah 31:833fc481b002 773 while (LANCEUR_OFF.Touched());
Sitkah 31:833fc481b002 774 SendRawId(LANCEMENT_MOTEUR_TIR_OFF);
Sitkah 31:833fc481b002 775 break;
Sitkah 31:833fc481b002 776 }
Sitkah 31:833fc481b002 777 else if (RETOUR.Touched()){
Sitkah 31:833fc481b002 778 while (RETOUR.Touched());
Sitkah 31:833fc481b002 779 etat=DEMO;
Sitkah 31:833fc481b002 780
Sitkah 31:833fc481b002 781 }
Sitkah 31:833fc481b002 782 }
Sitkah 31:833fc481b002 783 break;
Sitkah 30:a1e37af4bbde 784
Sitkah 30:a1e37af4bbde 785
Sitkah 31:833fc481b002 786
Sitkah 31:833fc481b002 787 case TEST_TELEMETRE:
Sitkah 31:833fc481b002 788 ModeDemo=1;
Sitkah 31:833fc481b002 789 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 790 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 791 lcd.DisplayStringAt(20, LINE(2), (uint8_t *)"DEMONSTRATION COURS", LEFT_MODE);
Sitkah 31:833fc481b002 792 RETOUR.Draw(0xFFFF0000, 0);
Sitkah 31:833fc481b002 793 while(etat==TEST_TELEMETRE){
Sitkah 31:833fc481b002 794 SendRawId(DATA_RECALAGE);
Sitkah 31:833fc481b002 795 wait(0.1);
Sitkah 31:833fc481b002 796 canProcessRx();
Sitkah 31:833fc481b002 797 if(RETOUR.Touched()){
Sitkah 31:833fc481b002 798 while( RETOUR.Touched());
Sitkah 31:833fc481b002 799 etat=DEMO;
Sitkah 32:1c9ab15c740e 800 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 801 }
Sitkah 29:41e02746041d 802 }
Sitkah 29:41e02746041d 803 break;
Sitkah 31:833fc481b002 804
Sitkah 31:833fc481b002 805
Sitkah 29:41e02746041d 806 case SELECT_SIDE :
Sitkah 29:41e02746041d 807 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 808 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 809 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 810
Sitkah 29:41e02746041d 811 lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir le cote", LEFT_MODE);
Sitkah 29:41e02746041d 812 COTE_BLEU.Draw(BLEU, 0);
Sitkah 29:41e02746041d 813 COTE_JAUNE.Draw(JAUNE, 0);
Sitkah 29:41e02746041d 814 RETOUR.Draw(LCD_COLOR_RED, 0);
Sitkah 29:41e02746041d 815
Sitkah 29:41e02746041d 816
Sitkah 29:41e02746041d 817 while (etat == SELECT_SIDE)
Sitkah 29:41e02746041d 818 {
Sitkah 29:41e02746041d 819 canProcessRx();
Sitkah 29:41e02746041d 820 if(COTE_BLEU.Touched())
Sitkah 29:41e02746041d 821 {
Sitkah 31:833fc481b002 822 liaison_Tx.envoyer(0x30,3,"123");
Sitkah 29:41e02746041d 823 Cote = 0x0;
Sitkah 29:41e02746041d 824 InversStrat = Cote;
Sitkah 29:41e02746041d 825 etat = TACTIQUE;
Sitkah 32:1c9ab15c740e 826 CANMessage trame_Tx = CANMessage();
Sitkah 32:1c9ab15c740e 827 trame_Tx.len = 1;
Sitkah 32:1c9ab15c740e 828 trame_Tx.format = CANStandard;
Sitkah 32:1c9ab15c740e 829 trame_Tx.type = CANData;
Sitkah 30:a1e37af4bbde 830 trame_Tx.id=CHOICE_COLOR;
Sitkah 30:a1e37af4bbde 831 trame_Tx.data[0]=Cote;
Sitkah 30:a1e37af4bbde 832 can2.write(trame_Tx);
Sitkah 29:41e02746041d 833 while(COTE_BLEU.Touched());
Sitkah 30:a1e37af4bbde 834
Sitkah 29:41e02746041d 835 }
Sitkah 29:41e02746041d 836
Sitkah 29:41e02746041d 837 if(COTE_JAUNE.Touched())
Sitkah 29:41e02746041d 838 {
Sitkah 29:41e02746041d 839 Cote = 0x1;
Sitkah 29:41e02746041d 840 InversStrat= Cote;
Sitkah 29:41e02746041d 841 etat = TACTIQUE;
Sitkah 32:1c9ab15c740e 842 CANMessage trame_Tx = CANMessage();
Sitkah 32:1c9ab15c740e 843 trame_Tx.len = 1;
Sitkah 32:1c9ab15c740e 844 trame_Tx.format = CANStandard;
Sitkah 32:1c9ab15c740e 845 trame_Tx.type = CANData;
Sitkah 30:a1e37af4bbde 846 trame_Tx.id=CHOICE_COLOR;
Sitkah 30:a1e37af4bbde 847 trame_Tx.data[0]=Cote;
Sitkah 30:a1e37af4bbde 848 can2.write(trame_Tx);
Sitkah 29:41e02746041d 849 while(COTE_JAUNE.Touched());
Sitkah 29:41e02746041d 850 }
Sitkah 29:41e02746041d 851
Sitkah 29:41e02746041d 852 if(RETOUR.Touched())
Sitkah 29:41e02746041d 853 {
Sitkah 29:41e02746041d 854 etat = CHOIX;
Sitkah 29:41e02746041d 855 while(RETOUR.Touched());
Sitkah 29:41e02746041d 856 }
Sitkah 29:41e02746041d 857 }
Sitkah 29:41e02746041d 858
Sitkah 29:41e02746041d 859 break;
Sitkah 29:41e02746041d 860
Sitkah 29:41e02746041d 861 case TACTIQUE :
Sitkah 29:41e02746041d 862 if (Cote == 0){
Sitkah 29:41e02746041d 863 lcd.Clear(BLEU);
Sitkah 29:41e02746041d 864 lcd.SetBackColor(BLEU);
Sitkah 29:41e02746041d 865 }
Sitkah 29:41e02746041d 866 else if (Cote == 1){
Sitkah 29:41e02746041d 867 lcd.Clear(JAUNE);
Sitkah 29:41e02746041d 868 lcd.SetBackColor(JAUNE);
Sitkah 29:41e02746041d 869 }
Sitkah 29:41e02746041d 870 else {
Sitkah 29:41e02746041d 871 lcd.Clear(BLEU);
Sitkah 29:41e02746041d 872 lcd.SetBackColor(BLEU);
Sitkah 29:41e02746041d 873 }
Sitkah 29:41e02746041d 874
Sitkah 29:41e02746041d 875 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 876
Sitkah 29:41e02746041d 877 lcd.DisplayStringAt(20, LINE(0), (uint8_t *)"Choisir une strategie", LEFT_MODE);
Sitkah 29:41e02746041d 878
Sitkah 29:41e02746041d 879 Strategie = Bouton_Strat(); // retourne valeur de Strategie si bouton strat renvoi -1 on reviens en arriere
Sitkah 29:41e02746041d 880 if (Strategie == -1)
Sitkah 29:41e02746041d 881 {
Sitkah 29:41e02746041d 882 etat = SELECT_SIDE;
Sitkah 29:41e02746041d 883 }
Sitkah 29:41e02746041d 884 else
Sitkah 29:41e02746041d 885 {
Sitkah 29:41e02746041d 886 etat = DETAILS;
Sitkah 29:41e02746041d 887 }
Sitkah 29:41e02746041d 888 wait(0.1);
Sitkah 29:41e02746041d 889 break;
Sitkah 29:41e02746041d 890
Sitkah 29:41e02746041d 891 case DETAILS :
Sitkah 29:41e02746041d 892 lcd.Clear(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 893 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 894 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 895 CHECK.Draw(VERT);
Sitkah 29:41e02746041d 896 RETOUR.Draw(LCD_COLOR_RED);
Sitkah 29:41e02746041d 897
Sitkah 29:41e02746041d 898 SelectionStrat(Strategie);
Sitkah 29:41e02746041d 899
Sitkah 29:41e02746041d 900 while (etat == DETAILS)
Sitkah 29:41e02746041d 901 {
Sitkah 29:41e02746041d 902 canProcessRx();
Sitkah 29:41e02746041d 903 if (CHECK.Touched())
Sitkah 29:41e02746041d 904 {
Sitkah 29:41e02746041d 905 if(gameEtat == ETAT_CONFIG) {
Sitkah 29:41e02746041d 906 gameEtat = ETAT_GAME_INIT;
Sitkah 29:41e02746041d 907 etat=LECTURE;
Sitkah 29:41e02746041d 908
Sitkah 29:41e02746041d 909 }
Sitkah 29:41e02746041d 910 while(CHECK.Touched());
Sitkah 29:41e02746041d 911 }
Sitkah 29:41e02746041d 912
Sitkah 29:41e02746041d 913 if(RETOUR.Touched())
Sitkah 29:41e02746041d 914 {
Sitkah 29:41e02746041d 915 etat = TACTIQUE;
Sitkah 29:41e02746041d 916 while(RETOUR.Touched());
Sitkah 29:41e02746041d 917 }
Sitkah 29:41e02746041d 918 }
Sitkah 29:41e02746041d 919 break;
Sitkah 29:41e02746041d 920
Sitkah 29:41e02746041d 921
Sitkah 29:41e02746041d 922 case LECTURE :
Sitkah 29:41e02746041d 923 break;
Sitkah 29:41e02746041d 924 case AFF_WAIT_JACK :
Sitkah 29:41e02746041d 925 lcd.Clear(BLANC);
Sitkah 29:41e02746041d 926 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 927 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 928
Sitkah 29:41e02746041d 929 if (Cote == 0){
Sitkah 29:41e02746041d 930 lcd.Clear(BLEU);
Sitkah 29:41e02746041d 931 lcd.SetBackColor(BLEU);
Sitkah 29:41e02746041d 932 }
Sitkah 29:41e02746041d 933 else if (Cote == 1){
Sitkah 29:41e02746041d 934 lcd.Clear(JAUNE);
Sitkah 29:41e02746041d 935 lcd.SetBackColor(JAUNE);
Sitkah 29:41e02746041d 936 }
Sitkah 29:41e02746041d 937 else {
Sitkah 29:41e02746041d 938 lcd.Clear(BLEU);
Sitkah 29:41e02746041d 939 lcd.SetBackColor(BLEU);
Sitkah 29:41e02746041d 940 }
Sitkah 29:41e02746041d 941 canProcessRx();
Sitkah 29:41e02746041d 942 lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"En attente du Jack", CENTER_MODE);
Sitkah 29:41e02746041d 943 etat=WAIT_JACK;
Sitkah 29:41e02746041d 944 break;
Sitkah 29:41e02746041d 945
Sitkah 29:41e02746041d 946 case WAIT_JACK:
Sitkah 29:41e02746041d 947 break;
Sitkah 29:41e02746041d 948
Sitkah 29:41e02746041d 949 case COMPTEUR:
Sitkah 29:41e02746041d 950 cptf=gameTimer.read();
Sitkah 29:41e02746041d 951 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 952 cpt=int(cptf);
Sitkah 29:41e02746041d 953 if(cpt != cpt1){
Sitkah 29:41e02746041d 954 lcd.Clear(BLEU);
Sitkah 29:41e02746041d 955 affichage_compteur(90-cpt);
Sitkah 29:41e02746041d 956 }
Sitkah 29:41e02746041d 957 cpt1=cpt;
Sitkah 29:41e02746041d 958 flag_timer=0;
Sitkah 29:41e02746041d 959
Sitkah 29:41e02746041d 960 affichage_debug(gameEtat);
Sitkah 29:41e02746041d 961
Sitkah 29:41e02746041d 962
Sitkah 29:41e02746041d 963 break;
Sitkah 29:41e02746041d 964
Sitkah 29:41e02746041d 965 case FIN :
Sitkah 29:41e02746041d 966 lcd.Clear (LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 967 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 29:41e02746041d 968 lcd.DisplayStringAt(120, 190, (uint8_t *)"LANCEMENT", LEFT_MODE);
Sitkah 29:41e02746041d 969 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 970 lcd.DisplayStringAt(120, 210, (uint8_t *)"REDEMARAGE", LEFT_MODE);
Sitkah 29:41e02746041d 971 lcd.DisplayStringAt(120, 230, (uint8_t *)"NECESSAIRE", LEFT_MODE);
Sitkah 29:41e02746041d 972 while(1); // force le redemarage du robot
Sitkah 29:41e02746041d 973 //break;
Sitkah 29:41e02746041d 974
Sitkah 29:41e02746041d 975 }
Sitkah 29:41e02746041d 976 }
Sitkah 29:41e02746041d 977
Sitkah 29:41e02746041d 978
Sitkah 29:41e02746041d 979
Sitkah 29:41e02746041d 980 /****************************************************************************************/
antbig 4:88431b537477 981 /* FUNCTION NAME: automate_process */
antbig 4:88431b537477 982 /* DESCRIPTION : Automate de gestion de la stratégie du robot */
antbig 4:88431b537477 983 /****************************************************************************************/
Sitkah 29:41e02746041d 984 void automate_process(void){
antbig 1:116040d14164 985 static unsigned char AX12_enchainement = 0;
antbig 1:116040d14164 986 static unsigned char MV_enchainement = 0;
antbig 0:ad97421fb1fb 987 signed char localData1 = 0;
antbig 0:ad97421fb1fb 988 signed short localData2 = 0;
antbig 0:ad97421fb1fb 989 unsigned short localData3 = 0;
ClementBreteau 14:c8fc06c4887f 990 //signed short localData4 = 0;
antbig 1:116040d14164 991 unsigned char localData5 = 0;
antbig 0:ad97421fb1fb 992
antbig 12:14729d584500 993 if(gameTimer.read_ms() >= 89000) {//Fin du match (On autorise 2s pour déposer des éléments
antbig 0:ad97421fb1fb 994 gameTimer.stop();
antbig 0:ad97421fb1fb 995 gameTimer.reset();
antbig 0:ad97421fb1fb 996 gameEtat = ETAT_END;//Fin du temps
Sitkah 29:41e02746041d 997 etat=FIN;
antbig 0:ad97421fb1fb 998 }
antbig 0:ad97421fb1fb 999
antbig 0:ad97421fb1fb 1000 if(lastEtat != gameEtat || debugetatTimer.read_ms() >= 1000) {
antbig 0:ad97421fb1fb 1001 lastEtat = gameEtat;
antbig 0:ad97421fb1fb 1002 debugetatTimer.reset();
antbig 11:ed13a480ddca 1003 sendStratEtat((unsigned char)gameEtat, (unsigned char)actual_instruction);
antbig 0:ad97421fb1fb 1004 }
antbig 0:ad97421fb1fb 1005
antbig 0:ad97421fb1fb 1006 switch(gameEtat)
antbig 0:ad97421fb1fb 1007 {
Sitkah 30:a1e37af4bbde 1008
Sitkah 29:41e02746041d 1009 case ETAT_CHECK_CARTES:
antbig 0:ad97421fb1fb 1010 /*
antbig 0:ad97421fb1fb 1011 Il faut faire une boucle pour verifier toutes les cartes les une apres les autres
antbig 0:ad97421fb1fb 1012 */
antbig 0:ad97421fb1fb 1013 waitingAckFrom = id_alive[checkCurrent];//On indique que l'on attend un ack de la carte IHM
antbig 11:ed13a480ddca 1014 SendRawId(id_check[checkCurrent]);//On demande à la carte d'indiquer ça présence
antbig 0:ad97421fb1fb 1015
antbig 0:ad97421fb1fb 1016 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 1017 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 1018 cartesCheker.start();//On lance le timer pour le timeout
antbig 0:ad97421fb1fb 1019 gameEtat = ETAT_CHECK_CARTES_WAIT_ACK;
Sitkah 29:41e02746041d 1020 break;
ClementBreteau 14:c8fc06c4887f 1021
antbig 0:ad97421fb1fb 1022 case ETAT_CHECK_CARTES_WAIT_ACK:
antbig 0:ad97421fb1fb 1023 /*
antbig 0:ad97421fb1fb 1024 On attend l'ack de la carte en cours de vérification
antbig 0:ad97421fb1fb 1025 */
antbig 0:ad97421fb1fb 1026 //printf("cartesCheker = %d waitingAckFrom = %d\n",cartesCheker.read_ms(), waitingAckFrom);
antbig 0:ad97421fb1fb 1027 if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
antbig 0:ad97421fb1fb 1028 cartesCheker.stop();
antbig 0:ad97421fb1fb 1029 screenChecktry = 0;
antbig 0:ad97421fb1fb 1030 countAliveCard++;
antbig 11:ed13a480ddca 1031 checkCurrent++;
antbig 0:ad97421fb1fb 1032 if(checkCurrent >= NOMBRE_CARTES) {
Sitkah 29:41e02746041d 1033 printf("all card check, missing %d cards\n",(NOMBRE_CARTES-countAliveCard));
antbig 0:ad97421fb1fb 1034 if(countAliveCard >= NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 1035 gameEtat = ETAT_CONFIG;
Sitkah 29:41e02746041d 1036 flag=1;
Sitkah 30:a1e37af4bbde 1037 //tactile_printf("Selection couleur et strategie");
Sitkah 29:41e02746041d 1038 }
Sitkah 29:41e02746041d 1039 else {
antbig 0:ad97421fb1fb 1040 gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
antbig 0:ad97421fb1fb 1041 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 1042 }
Sitkah 29:41e02746041d 1043 }
Sitkah 29:41e02746041d 1044 else
antbig 0:ad97421fb1fb 1045 gameEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 1046 }
Sitkah 29:41e02746041d 1047 else if(cartesCheker.read_ms () > 100) {
antbig 0:ad97421fb1fb 1048 cartesCheker.stop();
antbig 0:ad97421fb1fb 1049 if(screenChecktry >=3) {
antbig 12:14729d584500 1050 //printf("missing card %d\n",id_check[checkCurrent]);
antbig 0:ad97421fb1fb 1051 screenChecktry = 0;
antbig 11:ed13a480ddca 1052 checkCurrent++;
antbig 12:14729d584500 1053
Sitkah 29:41e02746041d 1054 if(checkCurrent >= NOMBRE_CARTES){
Sitkah 29:41e02746041d 1055 if(countAliveCard == NOMBRE_CARTES){
antbig 0:ad97421fb1fb 1056 gameEtat = ETAT_CONFIG;
Sitkah 29:41e02746041d 1057 flag=1;
Sitkah 29:41e02746041d 1058 }
Sitkah 29:41e02746041d 1059 else{
Sitkah 29:41e02746041d 1060 gameEtat = ETAT_WAIT_FORCE;
antbig 0:ad97421fb1fb 1061 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 1062 }
Sitkah 29:41e02746041d 1063 }
Sitkah 29:41e02746041d 1064 else
antbig 0:ad97421fb1fb 1065 gameEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 1066
Sitkah 29:41e02746041d 1067 }
Sitkah 29:41e02746041d 1068 else
antbig 0:ad97421fb1fb 1069 gameEtat = ETAT_CHECK_CARTES;
Sitkah 29:41e02746041d 1070
antbig 0:ad97421fb1fb 1071 }
Sitkah 29:41e02746041d 1072 break;
antbig 0:ad97421fb1fb 1073 case ETAT_WAIT_FORCE:
antbig 0:ad97421fb1fb 1074 /*
antbig 0:ad97421fb1fb 1075 Attente du forçage de la part de la carte IHM
antbig 0:ad97421fb1fb 1076 */
antbig 0:ad97421fb1fb 1077 if(waitingAckFrom == 0) {
antbig 0:ad97421fb1fb 1078 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 1079 }
Sitkah 29:41e02746041d 1080 break;
antbig 0:ad97421fb1fb 1081 case ETAT_CONFIG:
antbig 0:ad97421fb1fb 1082 /*
antbig 0:ad97421fb1fb 1083 Attente de l'odre de choix de mode,
antbig 0:ad97421fb1fb 1084 Il est possible de modifier la couleur et l'id de la stratégie
antbig 0:ad97421fb1fb 1085 Il est aussi possible d'envoyer les ordres de debug
antbig 0:ad97421fb1fb 1086 */
ClementBreteau 14:c8fc06c4887f 1087 modeTelemetre = 0;
Sitkah 29:41e02746041d 1088 break;
antbig 1:116040d14164 1089 case ETAT_GAME_INIT:
antbig 0:ad97421fb1fb 1090 //On charge la liste des instructions
Sitkah 29:41e02746041d 1091
Sitkah 29:41e02746041d 1092 loadAllInstruction(Strategie);//Mise en cache de toute les instructions
Sitkah 29:41e02746041d 1093 led3=1;
ClementBreteau 14:c8fc06c4887f 1094
antbig 0:ad97421fb1fb 1095 gameEtat = ETAT_GAME_WAIT_FOR_JACK;
Sitkah 31:833fc481b002 1096 if (etat == TEST_TELEMETRE|| etat ==TEST_CAPTEURS || etat == TEST_SERVO || etat ==TEST_TIR || etat == DEMO_IMMEUBLE)
Sitkah 29:41e02746041d 1097 {
Sitkah 29:41e02746041d 1098 SendRawId(DEBUG_FAKE_JAKE);
Sitkah 29:41e02746041d 1099 }
Sitkah 29:41e02746041d 1100 else
Sitkah 29:41e02746041d 1101 {
Sitkah 29:41e02746041d 1102 etat = AFF_WAIT_JACK;
Sitkah 29:41e02746041d 1103 }
Sitkah 30:a1e37af4bbde 1104 //tactile_printf("Attente du JACK.");
antbig 12:14729d584500 1105 setAsservissementEtat(1);//On réactive l'asservissement
antbig 12:14729d584500 1106 jack.mode(PullDown); // désactivation de la résistance interne du jack
antbig 8:0edc7dfb7f7e 1107 jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
antbig 12:14729d584500 1108
antbig 12:14729d584500 1109 #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 1110 localData2 = POSITION_DEBUT_T;
antbig 12:14729d584500 1111 localData3 = POSITION_DEBUT_Y;
antbig 12:14729d584500 1112 if(InversStrat == 1) {
antbig 27:76ead555a63d 1113 localData2 = 1800-localData2;//Inversion theta
antbig 28:acd18776ed2d 1114 if(localData2 > 1800) localData2 -= 3600;
antbig 28:acd18776ed2d 1115 else if(localData2 <= -1800) localData2 += 3600;
antbig 12:14729d584500 1116 localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
antbig 12:14729d584500 1117 }
antbig 12:14729d584500 1118 SetOdometrie(ODOMETRIE_BIG_POSITION, POSITION_DEBUT_X,localData3,localData2);
ClementBreteau 18:cc5fec34ed9c 1119 #endif
ClementBreteau 18:cc5fec34ed9c 1120 #ifdef ROBOT_SMALL
clementlignie 22:a466d08ac42b 1121 localData2 = POSITION_DEBUT_T;
clementlignie 22:a466d08ac42b 1122 localData3 = POSITION_DEBUT_Y;
clementlignie 22:a466d08ac42b 1123 if(InversStrat == 1) {
clementlignie 22:a466d08ac42b 1124 localData2 = -localData2;//Inversion theta
clementlignie 22:a466d08ac42b 1125 localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
clementlignie 22:a466d08ac42b 1126 }
clementlignie 22:a466d08ac42b 1127 SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,localData3,localData2);
ClementBreteau 18:cc5fec34ed9c 1128 #endif
antbig 0:ad97421fb1fb 1129 break;
antbig 0:ad97421fb1fb 1130 case ETAT_GAME_WAIT_FOR_JACK:
antbig 12:14729d584500 1131 //On attend le jack
antbig 1:116040d14164 1132 break;
antbig 1:116040d14164 1133 case ETAT_GAME_START:
Sitkah 29:41e02746041d 1134
antbig 1:116040d14164 1135 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 14:c8fc06c4887f 1136
ClementBreteau 14:c8fc06c4887f 1137 if (ModeDemo == 0){
ClementBreteau 14:c8fc06c4887f 1138 chronoEnd.attach(&chronometre_ISR,90);//On lance le chrono de 90s
ClementBreteau 14:c8fc06c4887f 1139 gameTimer.start();
ClementBreteau 14:c8fc06c4887f 1140 }
antbig 1:116040d14164 1141 gameTimer.reset();
antbig 12:14729d584500 1142 jack.fall(NULL);//On désactive l'interruption du jack
Sitkah 29:41e02746041d 1143 SendRawId(GLOBAL_START);
Sitkah 29:41e02746041d 1144 Jack=0; //à envoyer sur le CAN et en direct pour l'automate de l'ihm ou sur CANV
Sitkah 30:a1e37af4bbde 1145 //tactile_printf("Start");//Pas vraiment utile mais bon
antbig 0:ad97421fb1fb 1146 break;
antbig 0:ad97421fb1fb 1147 case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
antbig 0:ad97421fb1fb 1148 /*
antbig 0:ad97421fb1fb 1149 Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
antbig 0:ad97421fb1fb 1150 */
antbig 0:ad97421fb1fb 1151 //printf("load next instruction\n");
ClementBreteau 14:c8fc06c4887f 1152
antbig 0:ad97421fb1fb 1153 if(actual_instruction >= nb_instructions || actual_instruction == 255) {
antbig 0:ad97421fb1fb 1154 gameEtat = ETAT_END;
antbig 0:ad97421fb1fb 1155 //Il n'y a plus d'instruction, fin du jeu
antbig 0:ad97421fb1fb 1156 } else {
antbig 0:ad97421fb1fb 1157 instruction = strat_instructions[actual_instruction];
antbig 0:ad97421fb1fb 1158 //On effectue le traitement de l'instruction
antbig 0:ad97421fb1fb 1159 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
antbig 0:ad97421fb1fb 1160 }
antbig 0:ad97421fb1fb 1161 screenChecktry = 0;
antbig 28:acd18776ed2d 1162 ingnorInversionOnce = 0;
antbig 0:ad97421fb1fb 1163 break;
antbig 0:ad97421fb1fb 1164 case ETAT_GAME_PROCESS_INSTRUCTION:
antbig 0:ad97421fb1fb 1165 /*
antbig 0:ad97421fb1fb 1166 Traitement de l'instruction, envoie de la trame CAN
antbig 0:ad97421fb1fb 1167 */
antbig 0:ad97421fb1fb 1168 //debug_Instruction(instruction);
ClementBreteau 25:f140c93a8666 1169
ClementBreteau 25:f140c93a8666 1170 actionPrecedente = instruction.order;
antbig 0:ad97421fb1fb 1171 switch(instruction.order)
antbig 0:ad97421fb1fb 1172 {
antbig 12:14729d584500 1173 case MV_COURBURE://C'est un rayon de courbure
ClementBreteau 26:2f4fcc2354f3 1174 actionPrecedente = MV_COURBURE;
antbig 6:eddfa414fd11 1175 waitingAckID = ASSERVISSEMENT_COURBURE;
antbig 6:eddfa414fd11 1176 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
Sitkah 30:a1e37af4bbde 1177 if(instruction.nextActionType == ENCHAINEMENT){
antbig 6:eddfa414fd11 1178 MV_enchainement++;
antbig 6:eddfa414fd11 1179 localData5 = 1;
antbig 6:eddfa414fd11 1180 } else {
antbig 6:eddfa414fd11 1181 if(MV_enchainement > 0) {
antbig 6:eddfa414fd11 1182 localData5 = 2;
antbig 6:eddfa414fd11 1183 MV_enchainement = 0;
antbig 6:eddfa414fd11 1184 } else {
antbig 6:eddfa414fd11 1185 localData5 = 0;
antbig 6:eddfa414fd11 1186 }
antbig 0:ad97421fb1fb 1187 }
antbig 11:ed13a480ddca 1188 localData1 = ((instruction.direction == LEFT)?1:-1);
ClementBreteau 23:ab87d308eaf9 1189 localData2 = instruction.arg3;
antbig 28:acd18776ed2d 1190 if(InversStrat == 1 && ingnorInversionOnce == 0)
antbig 12:14729d584500 1191 {
antbig 12:14729d584500 1192 localData1 = -localData1;//Inversion de la direction
ClementBreteau 23:ab87d308eaf9 1193 #ifdef ROBOT_BIG
ClementBreteau 25:f140c93a8666 1194 localData2 = -localData2;
ClementBreteau 26:2f4fcc2354f3 1195 localData1 = -localData1;//Inversion de la direction
ClementBreteau 23:ab87d308eaf9 1196 #endif
antbig 12:14729d584500 1197 }
ClementBreteau 25:f140c93a8666 1198 BendRadius(instruction.arg1, localData2, localData1, localData5);
ClementBreteau 18:cc5fec34ed9c 1199
antbig 28:acd18776ed2d 1200
antbig 28:acd18776ed2d 1201 target_theta_robot = localData2 - theta_robot;
antbig 28:acd18776ed2d 1202 /*
ClementBreteau 26:2f4fcc2354f3 1203 if(instruction.direction == LEFT){
antbig 28:acd18776ed2d 1204
ClementBreteau 26:2f4fcc2354f3 1205 }else{
antbig 28:acd18776ed2d 1206 target_theta_robot = theta_robot + localData2;
antbig 28:acd18776ed2d 1207 }*/
ClementBreteau 26:2f4fcc2354f3 1208
antbig 0:ad97421fb1fb 1209 break;
antbig 12:14729d584500 1210 case MV_LINE://Ligne droite
antbig 0:ad97421fb1fb 1211 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 1212 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 1213 if(instruction.nextActionType == ENCHAINEMENT) {
antbig 1:116040d14164 1214 MV_enchainement++;
antbig 1:116040d14164 1215 localData5 = 1;
antbig 1:116040d14164 1216 } else {
antbig 12:14729d584500 1217 if(MV_enchainement > 0) {//Utilisé en cas d'enchainement,
antbig 1:116040d14164 1218 localData5 = 2;
antbig 1:116040d14164 1219 MV_enchainement = 0;
antbig 1:116040d14164 1220 } else {
antbig 1:116040d14164 1221 localData5 = 0;
antbig 1:116040d14164 1222 }
antbig 0:ad97421fb1fb 1223 }
ClementBreteau 16:7321fb3bb396 1224 #ifdef ROBOT_BIG
antbig 28:acd18776ed2d 1225 if(InversStrat == 1 && ingnorInversionOnce == 0) {
ClementBreteau 15:c2fc239e85df 1226 /*if (instruction.direction == FORWARD) instruction.direction = BACKWARD;
ClementBreteau 15:c2fc239e85df 1227 else instruction.direction = FORWARD;*/
ClementBreteau 15:c2fc239e85df 1228 instruction.direction = ((instruction.direction == FORWARD)?BACKWARD:FORWARD);
ClementBreteau 15:c2fc239e85df 1229 }
ClementBreteau 16:7321fb3bb396 1230 #endif
antbig 1:116040d14164 1231 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
antbig 1:116040d14164 1232 GoStraight(localData2, 0, 0, localData5);
ClementBreteau 14:c8fc06c4887f 1233
ClementBreteau 26:2f4fcc2354f3 1234 target_x_robot = x_robot + localData2*cos((double)theta_robot*M_PI/1800);
ClementBreteau 26:2f4fcc2354f3 1235 target_y_robot = y_robot + localData2*sin((double)theta_robot*M_PI/1800);
ClementBreteau 25:f140c93a8666 1236 target_theta_robot = theta_robot;
ClementBreteau 25:f140c93a8666 1237
antbig 0:ad97421fb1fb 1238 break;
antbig 12:14729d584500 1239 case MV_TURN: //Rotation sur place
antbig 0:ad97421fb1fb 1240 if(instruction.direction == RELATIVE) {
antbig 0:ad97421fb1fb 1241 localData2 = instruction.arg3;
antbig 12:14729d584500 1242 } else {//C'est un rotation absolu, il faut la convertir en relative
antbig 12:14729d584500 1243 localData2 = instruction.arg3;
antbig 12:14729d584500 1244
antbig 12:14729d584500 1245 localData2 = (localData2 - theta_robot)%3600;
antbig 12:14729d584500 1246 if(localData2 > 1800) {
antbig 12:14729d584500 1247 localData2 = localData2-3600;
antbig 12:14729d584500 1248 }
antbig 12:14729d584500 1249
antbig 0:ad97421fb1fb 1250 }
ClementBreteau 23:ab87d308eaf9 1251 #ifdef ROBOT_SMALL
antbig 28:acd18776ed2d 1252 if(InversStrat == 1 && ingnorInversionOnce == 0) {
clementlignie 22:a466d08ac42b 1253 localData2 = -localData2;
clementlignie 22:a466d08ac42b 1254 }
ClementBreteau 23:ab87d308eaf9 1255 #endif
antbig 28:acd18776ed2d 1256 #ifdef ROBOT_BIG
antbig 28:acd18776ed2d 1257 if(InversStrat == 1 && ingnorInversionOnce == 0) {
antbig 28:acd18776ed2d 1258 if(instruction.direction == RELATIVE) {
antbig 28:acd18776ed2d 1259 localData2 = instruction.arg3;
antbig 28:acd18776ed2d 1260 } else {//C'est un rotation absolu, il faut la convertir en relative
antbig 28:acd18776ed2d 1261
antbig 28:acd18776ed2d 1262 localData2 = 1800-instruction.arg3;//Inversion theta
antbig 28:acd18776ed2d 1263 if(localData2 > 1800) localData2 -= 3600;
antbig 28:acd18776ed2d 1264 else if(localData2 <= -1800) localData2 += 3600;
antbig 28:acd18776ed2d 1265
antbig 28:acd18776ed2d 1266 localData2 = (localData2 - theta_robot)%3600;
antbig 28:acd18776ed2d 1267 if(localData2 > 1800) {
antbig 28:acd18776ed2d 1268 localData2 = localData2-3600;
antbig 28:acd18776ed2d 1269 }
antbig 28:acd18776ed2d 1270
antbig 28:acd18776ed2d 1271 }
antbig 28:acd18776ed2d 1272 }
antbig 28:acd18776ed2d 1273 #endif
antbig 0:ad97421fb1fb 1274 Rotate(localData2);
antbig 0:ad97421fb1fb 1275 waitingAckID = ASSERVISSEMENT_ROTATION;
antbig 0:ad97421fb1fb 1276 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 28:acd18776ed2d 1277
antbig 0:ad97421fb1fb 1278 break;
antbig 0:ad97421fb1fb 1279 case MV_XYT:
antbig 0:ad97421fb1fb 1280 if(instruction.direction == BACKWARD) {
antbig 0:ad97421fb1fb 1281 localData1 = -1;
antbig 0:ad97421fb1fb 1282 } else {
antbig 0:ad97421fb1fb 1283 localData1 = 1;
antbig 0:ad97421fb1fb 1284 }
antbig 2:8d8e2cf798a3 1285
antbig 28:acd18776ed2d 1286 if(InversStrat == 1 && ingnorInversionOnce == 0) {
antbig 12:14729d584500 1287 localData2 = -instruction.arg3;
antbig 2:8d8e2cf798a3 1288 localData3 = 3000 - instruction.arg2;//Inversion du Y
antbig 2:8d8e2cf798a3 1289 } else {
antbig 2:8d8e2cf798a3 1290 localData3 = instruction.arg2;
antbig 12:14729d584500 1291 localData2 = instruction.arg3;
antbig 2:8d8e2cf798a3 1292 }
ClementBreteau 23:ab87d308eaf9 1293
ClementBreteau 23:ab87d308eaf9 1294 #ifdef ROBOT_BIG
antbig 28:acd18776ed2d 1295 if(InversStrat == 1 && ingnorInversionOnce == 0) {
ClementBreteau 23:ab87d308eaf9 1296 localData1 = -localData1;
antbig 27:76ead555a63d 1297 localData2 = 1800-instruction.arg3;//Inversion theta
antbig 28:acd18776ed2d 1298 if(localData2 > 1800) localData2 -= 3600;
antbig 28:acd18776ed2d 1299 else if(localData2 <= -1800) localData2 += 3600;
ClementBreteau 23:ab87d308eaf9 1300 }
ClementBreteau 23:ab87d308eaf9 1301 #endif
ClementBreteau 23:ab87d308eaf9 1302
antbig 12:14729d584500 1303 GoToPosition(instruction.arg1,localData3,localData2,localData1);
antbig 0:ad97421fb1fb 1304 waitingAckID = ASSERVISSEMENT_XYT;
antbig 0:ad97421fb1fb 1305 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
ClementBreteau 25:f140c93a8666 1306
ClementBreteau 25:f140c93a8666 1307 target_x_robot = instruction.arg1;
ClementBreteau 25:f140c93a8666 1308 target_y_robot = localData3;
ClementBreteau 25:f140c93a8666 1309 target_theta_robot = localData2;
ClementBreteau 25:f140c93a8666 1310
antbig 0:ad97421fb1fb 1311 break;
antbig 0:ad97421fb1fb 1312 case MV_RECALAGE:
antbig 0:ad97421fb1fb 1313 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 1314 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 11:ed13a480ddca 1315 instruction.nextActionType = WAIT;
antbig 12:14729d584500 1316 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 1317
antbig 11:ed13a480ddca 1318 if(instruction.precision == RECALAGE_Y) {
antbig 11:ed13a480ddca 1319 localData5 = 2;
antbig 28:acd18776ed2d 1320 if(InversStrat == 1 && ingnorInversionOnce == 0) {
antbig 11:ed13a480ddca 1321 localData3 = 3000 - instruction.arg1;//Inversion du Y
antbig 11:ed13a480ddca 1322 } else {
antbig 11:ed13a480ddca 1323 localData3 = instruction.arg1;
antbig 11:ed13a480ddca 1324 }
antbig 11:ed13a480ddca 1325 } else {
antbig 11:ed13a480ddca 1326 localData5 = 1;
antbig 11:ed13a480ddca 1327 localData3 = instruction.arg1;
antbig 11:ed13a480ddca 1328 }
antbig 11:ed13a480ddca 1329
antbig 11:ed13a480ddca 1330 GoStraight(localData2, localData5, localData3, 0);
antbig 0:ad97421fb1fb 1331 break;
antbig 0:ad97421fb1fb 1332 case ACTION:
ClementBreteau 18:cc5fec34ed9c 1333 int tempo = 0;
Sitkah 30:a1e37af4bbde 1334 waitingAckID= ACK_ACTION; //On veut un ack de type action
Sitkah 30:a1e37af4bbde 1335 waitingAckFrom = ACKNOWLEDGE_HERKULEX; //de la part des herkulex
ClementBreteau 18:cc5fec34ed9c 1336 tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
ClementBreteau 18:cc5fec34ed9c 1337 if(tempo == 1){
antbig 0:ad97421fb1fb 1338 //L'action est spécifique
antbig 11:ed13a480ddca 1339 if((waitingAckFrom == 0 && waitingAckID == 0) || instruction.nextActionType == ENCHAINEMENT) {
ClementBreteau 18:cc5fec34ed9c 1340
antbig 11:ed13a480ddca 1341 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 11:ed13a480ddca 1342 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
Sitkah 30:a1e37af4bbde 1343 }
Sitkah 30:a1e37af4bbde 1344 else {
ClementBreteau 15:c2fc239e85df 1345 gameEtat = ETAT_GAME_WAIT_ACK;
antbig 11:ed13a480ddca 1346 }
ClementBreteau 18:cc5fec34ed9c 1347 #ifdef ROBOT_SMALL
ClementBreteau 18:cc5fec34ed9c 1348 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 18:cc5fec34ed9c 1349 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 18:cc5fec34ed9c 1350 #endif
antbig 11:ed13a480ddca 1351 return;
ClementBreteau 18:cc5fec34ed9c 1352 #ifdef ROBOT_SMALL
ClementBreteau 18:cc5fec34ed9c 1353 } else if (tempo == 2) {
ClementBreteau 18:cc5fec34ed9c 1354 // on est dans le cas de l'avance selon le telemetre
ClementBreteau 18:cc5fec34ed9c 1355 waitingAckID = ASSERVISSEMENT_RECALAGE;
ClementBreteau 18:cc5fec34ed9c 1356 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 1357
ClementBreteau 18:cc5fec34ed9c 1358 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
ClementBreteau 18:cc5fec34ed9c 1359 GoStraight(telemetreDistance, 0, 0, 0);
ClementBreteau 18:cc5fec34ed9c 1360 // on reset la distance du telemetre à 0
ClementBreteau 18:cc5fec34ed9c 1361 telemetreDistance = 5000;
ClementBreteau 18:cc5fec34ed9c 1362 #endif
ClementBreteau 18:cc5fec34ed9c 1363 }else{
antbig 0:ad97421fb1fb 1364 //C'est un AX12 qu'il faut bouger
ClementBreteau 15:c2fc239e85df 1365 //AX12_setGoal(instruction.arg1,instruction.arg3/10,instruction.arg2);
ClementBreteau 15:c2fc239e85df 1366 //AX12_enchainement++;
ClementBreteau 14:c8fc06c4887f 1367
antbig 0:ad97421fb1fb 1368 }
antbig 0:ad97421fb1fb 1369 break;
antbig 0:ad97421fb1fb 1370 default:
antbig 0:ad97421fb1fb 1371 //Instruction inconnue, on l'ignore
antbig 0:ad97421fb1fb 1372 break;
antbig 0:ad97421fb1fb 1373 }
antbig 0:ad97421fb1fb 1374
antbig 0:ad97421fb1fb 1375
antbig 0:ad97421fb1fb 1376
antbig 0:ad97421fb1fb 1377 if(instruction.nextActionType == JUMP || instruction.nextActionType == WAIT) {
antbig 0:ad97421fb1fb 1378 gameEtat = ETAT_GAME_WAIT_ACK;//Il faut attendre que la carte est bien reçu l'acknowledge
antbig 0:ad97421fb1fb 1379 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 1380 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 1381 cartesCheker.start();
antbig 1:116040d14164 1382 if(AX12_enchainement > 0) {
ClementBreteau 15:c2fc239e85df 1383 //AX12_processChange();//Il faut lancer le déplacement des AX12
ClementBreteau 15:c2fc239e85df 1384 //AX12_enchainement = 0;
antbig 1:116040d14164 1385 }
antbig 0:ad97421fb1fb 1386 } else {//C'est un enchainement
ClementBreteau 15:c2fc239e85df 1387 if(instruction.order == MV_LINE){
Sitkah 30:a1e37af4bbde 1388 gameEtat = ETAT_GAME_WAIT_ACK;
Sitkah 30:a1e37af4bbde 1389 }
Sitkah 30:a1e37af4bbde 1390 else{
ClementBreteau 15:c2fc239e85df 1391 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 1392 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//C'est un enchainement, on charge directement l'instruction suivante
ClementBreteau 15:c2fc239e85df 1393 }
antbig 0:ad97421fb1fb 1394 }
antbig 0:ad97421fb1fb 1395
antbig 0:ad97421fb1fb 1396 break;
antbig 0:ad97421fb1fb 1397 case ETAT_GAME_WAIT_ACK:
antbig 0:ad97421fb1fb 1398 /*
antbig 0:ad97421fb1fb 1399 Attente de l'ack de l'instruction
antbig 0:ad97421fb1fb 1400 */
Sitkah 30:a1e37af4bbde 1401 canProcessRx();
Sitkah 30:a1e37af4bbde 1402 if(waitingAckID == 0 && waitingAckFrom == 0) {//Les ack ont été reset, c'est bon on continue
antbig 0:ad97421fb1fb 1403 //if(true) {
antbig 0:ad97421fb1fb 1404 cartesCheker.stop();
antbig 0:ad97421fb1fb 1405 if(instruction.nextActionType == JUMP) {
antbig 11:ed13a480ddca 1406 if(instruction.jumpAction == JUMP_POSITION) {
antbig 11:ed13a480ddca 1407 gameEtat = ETAT_GAME_JUMP_POSITION;
Sitkah 30:a1e37af4bbde 1408 }
Sitkah 30:a1e37af4bbde 1409 else {//Pour eviter les erreurs, on dit que c'est par défaut un jump time
antbig 0:ad97421fb1fb 1410 gameEtat = ETAT_GAME_JUMP_TIME;
antbig 0:ad97421fb1fb 1411 cartesCheker.reset();//On reset le timeOut
antbig 11:ed13a480ddca 1412 cartesCheker.start();
antbig 0:ad97421fb1fb 1413 }
Sitkah 30:a1e37af4bbde 1414 }
Sitkah 30:a1e37af4bbde 1415 else if(instruction.nextActionType == WAIT) { ///Actualisation des waiting ack afin d'attendre la fin des actions
antbig 0:ad97421fb1fb 1416 gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION;
antbig 0:ad97421fb1fb 1417 switch(instruction.order)
antbig 0:ad97421fb1fb 1418 {
antbig 0:ad97421fb1fb 1419 case MV_COURBURE:
antbig 0:ad97421fb1fb 1420 waitingAckID = ASSERVISSEMENT_COURBURE;
antbig 0:ad97421fb1fb 1421 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1422 break;
antbig 0:ad97421fb1fb 1423 case MV_LINE:
antbig 0:ad97421fb1fb 1424 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 1425 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1426 break;
antbig 0:ad97421fb1fb 1427 case MV_TURN:
antbig 0:ad97421fb1fb 1428 waitingAckID = ASSERVISSEMENT_ROTATION;
antbig 0:ad97421fb1fb 1429 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1430 break;
antbig 0:ad97421fb1fb 1431 case MV_XYT:
antbig 0:ad97421fb1fb 1432 waitingAckID = ASSERVISSEMENT_XYT;
antbig 0:ad97421fb1fb 1433 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1434 break;
antbig 0:ad97421fb1fb 1435 case MV_RECALAGE:
antbig 0:ad97421fb1fb 1436 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 1437 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 1438 break;
antbig 0:ad97421fb1fb 1439 case ACTION:
ClementBreteau 15:c2fc239e85df 1440
ClementBreteau 15:c2fc239e85df 1441 if (modeTelemetre == 0){
ClementBreteau 18:cc5fec34ed9c 1442 if (telemetreDistance == 0){
Sitkah 31:833fc481b002 1443 waitingAckID = ACK_FIN_ACTION;// ack de type action
Sitkah 30:a1e37af4bbde 1444 waitingAckFrom = ACKNOWLEDGE_HERKULEX; //de la part des herkulex/actionneurs
ClementBreteau 18:cc5fec34ed9c 1445 }else if(telemetreDistance == 5000){
ClementBreteau 18:cc5fec34ed9c 1446 // on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
ClementBreteau 18:cc5fec34ed9c 1447 waitingAckID = ASSERVISSEMENT_RECALAGE;
ClementBreteau 18:cc5fec34ed9c 1448 waitingAckFrom = INSTRUCTION_END_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 1449 telemetreDistance = 0;
ClementBreteau 18:cc5fec34ed9c 1450 }
ClementBreteau 15:c2fc239e85df 1451 }else{ // si on attend la reponse du telemetre
ClementBreteau 15:c2fc239e85df 1452 //modeTelemetre = 1;
ClementBreteau 15:c2fc239e85df 1453 waitingAckID = OBJET_SUR_TABLE;
ClementBreteau 15:c2fc239e85df 1454 waitingAckFrom = 0;
ClementBreteau 15:c2fc239e85df 1455 }
antbig 0:ad97421fb1fb 1456 break;
antbig 0:ad97421fb1fb 1457 default:
antbig 0:ad97421fb1fb 1458 break;
antbig 0:ad97421fb1fb 1459 }
Sitkah 30:a1e37af4bbde 1460 }
Sitkah 30:a1e37af4bbde 1461 else {
antbig 0:ad97421fb1fb 1462 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 0:ad97421fb1fb 1463 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 1464 }
Sitkah 30:a1e37af4bbde 1465 }
Sitkah 30:a1e37af4bbde 1466 else if(cartesCheker.read_ms () > 50){
antbig 0:ad97421fb1fb 1467 cartesCheker.stop();
antbig 0:ad97421fb1fb 1468 if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur
antbig 0:ad97421fb1fb 1469 actual_instruction = instruction.nextLineError;
antbig 0:ad97421fb1fb 1470 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
Sitkah 30:a1e37af4bbde 1471 }
Sitkah 30:a1e37af4bbde 1472 else {
Sitkah 31:833fc481b002 1473 //gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
Sitkah 31:833fc481b002 1474 gameEtat=ETAT_GAME_WAIT_END_INSTRUCTION;
antbig 0:ad97421fb1fb 1475 }
antbig 0:ad97421fb1fb 1476 }
antbig 0:ad97421fb1fb 1477 break;
antbig 0:ad97421fb1fb 1478
antbig 0:ad97421fb1fb 1479 case ETAT_GAME_JUMP_TIME:
antbig 0:ad97421fb1fb 1480 if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) {
antbig 0:ad97421fb1fb 1481 cartesCheker.stop();//On arrete le timer
antbig 0:ad97421fb1fb 1482 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 1483 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 1484 }
antbig 0:ad97421fb1fb 1485 break;
ClementBreteau 15:c2fc239e85df 1486
ClementBreteau 15:c2fc239e85df 1487 case ETAT_GAME_JUMP_CONFIG:
ClementBreteau 15:c2fc239e85df 1488 signed int depasX = 1, depasY = 1; // servent à indiquer le sens de dépassement des coordonnées
ClementBreteau 15:c2fc239e85df 1489 // 1 si l'instruction est plus grande que la position du robot
ClementBreteau 15:c2fc239e85df 1490 // -1 si l'instruction est plus petite que la position du robot
ClementBreteau 15:c2fc239e85df 1491 // 0 si l'instruction et position du robot sont proche de moins de 1cm
ClementBreteau 15:c2fc239e85df 1492 if (abs(x_robot-instruction.JumpTimeOrX)<10){
ClementBreteau 15:c2fc239e85df 1493 depasX = 0;
ClementBreteau 15:c2fc239e85df 1494 }else if(x_robot > instruction.JumpTimeOrX){
ClementBreteau 15:c2fc239e85df 1495 depasX = -1;
ClementBreteau 15:c2fc239e85df 1496 }
ClementBreteau 15:c2fc239e85df 1497
ClementBreteau 15:c2fc239e85df 1498 if(abs(y_robot-instruction.JumpY)<10){
ClementBreteau 15:c2fc239e85df 1499 depasY = 0;
ClementBreteau 15:c2fc239e85df 1500 }else if(y_robot > instruction.JumpY){
ClementBreteau 15:c2fc239e85df 1501 depasY = -1;
ClementBreteau 15:c2fc239e85df 1502 }
ClementBreteau 15:c2fc239e85df 1503
ClementBreteau 15:c2fc239e85df 1504 gameEtat = ETAT_GAME_JUMP_POSITION;
ClementBreteau 15:c2fc239e85df 1505 break;
antbig 0:ad97421fb1fb 1506 case ETAT_GAME_JUMP_POSITION:
ClementBreteau 15:c2fc239e85df 1507 bool Xok = false, Yok = false;
ClementBreteau 15:c2fc239e85df 1508
ClementBreteau 15:c2fc239e85df 1509 if (depasX == 0){
ClementBreteau 15:c2fc239e85df 1510 Xok = true;
ClementBreteau 15:c2fc239e85df 1511 }else if ((instruction.JumpTimeOrX - x_robot)*depasX < -5){
ClementBreteau 15:c2fc239e85df 1512 Xok = true;
ClementBreteau 15:c2fc239e85df 1513 }
ClementBreteau 15:c2fc239e85df 1514
ClementBreteau 15:c2fc239e85df 1515 if (depasY == 0){
ClementBreteau 15:c2fc239e85df 1516 Yok = true;
ClementBreteau 15:c2fc239e85df 1517 }else if ((instruction.JumpY - y_robot)*depasY < -5){
ClementBreteau 15:c2fc239e85df 1518 Yok = true;
ClementBreteau 15:c2fc239e85df 1519 }
ClementBreteau 15:c2fc239e85df 1520
ClementBreteau 15:c2fc239e85df 1521 // on teste si les deux coordonnées ont été dépassées, si oui on lance l'instruction suivante
ClementBreteau 15:c2fc239e85df 1522 if (Xok && Yok){
ClementBreteau 15:c2fc239e85df 1523 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 1524 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
ClementBreteau 15:c2fc239e85df 1525 }
ClementBreteau 15:c2fc239e85df 1526
antbig 0:ad97421fb1fb 1527 break;
antbig 0:ad97421fb1fb 1528 case ETAT_GAME_WAIT_END_INSTRUCTION:
Sitkah 30:a1e37af4bbde 1529 canProcessRx();
antbig 0:ad97421fb1fb 1530 if(waitingAckID == 0 && waitingAckFrom ==0) {//On attend que la carte nous indique que l'instruction est terminée
antbig 0:ad97421fb1fb 1531 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 1532 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 1533 }
antbig 0:ad97421fb1fb 1534 break;
antbig 0:ad97421fb1fb 1535
antbig 0:ad97421fb1fb 1536
antbig 5:dcd817534b57 1537 case ETAT_WARNING_TIMEOUT://Attente de la trame fin de danger ou du timeout de 2s
antbig 12:14729d584500 1538 if(timeoutWarning.read_ms() >= BALISE_TIMEOUT)//ça fait plus de 2s, il faut changer de stratégie
antbig 5:dcd817534b57 1539 {
antbig 5:dcd817534b57 1540 gameEtat = ETAT_WARNING_SWITCH_STRATEGIE;
antbig 5:dcd817534b57 1541 }
antbig 5:dcd817534b57 1542 break;
antbig 5:dcd817534b57 1543 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 1544 if(timeoutWarningWaitEnd.read_ms() >= 1000) {//c'est bon, on repart
antbig 12:14729d584500 1545 //actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 1546 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
antbig 12:14729d584500 1547 }
antbig 5:dcd817534b57 1548 break;
antbig 5:dcd817534b57 1549 case ETAT_WARNING_END_LAST_INSTRUCTION://trouver le meilleur moyen de reprendre l'instruction en cours
ClementBreteau 25:f140c93a8666 1550 /*
antbig 12:14729d584500 1551 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 1552 actual_instruction = instruction.nextLineError;// 2 //Modification directe... c'est pas bien mais ça marchait pour le match 5
antbig 12:14729d584500 1553 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 1554 #else
antbig 12:14729d584500 1555 actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 1556 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 1557 #endif
ClementBreteau 25:f140c93a8666 1558 gameEtat = ETAT_END;*/
ClementBreteau 21:590cdacb6a35 1559
ClementBreteau 25:f140c93a8666 1560 switch(actionPrecedente){
ClementBreteau 25:f140c93a8666 1561 case MV_LINE:
antbig 27:76ead555a63d 1562
ClementBreteau 25:f140c93a8666 1563 if(instruction.direction == BACKWARD) {
ClementBreteau 25:f140c93a8666 1564 localData1 = -1;
ClementBreteau 25:f140c93a8666 1565 } else {
ClementBreteau 25:f140c93a8666 1566 localData1 = 1;
ClementBreteau 25:f140c93a8666 1567 }
antbig 27:76ead555a63d 1568
ClementBreteau 25:f140c93a8666 1569 GoToPosition(target_x_robot,target_y_robot,target_theta_robot,localData1);
antbig 27:76ead555a63d 1570 debugXYTTarget(target_x_robot,target_y_robot,target_theta_robot);
antbig 27:76ead555a63d 1571 waitingAckID = ASSERVISSEMENT_XYT;
antbig 27:76ead555a63d 1572 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 27:76ead555a63d 1573 gameEtat = ETAT_GAME_WAIT_ACK;
antbig 27:76ead555a63d 1574 instruction.order = MV_XYT;
antbig 28:acd18776ed2d 1575 instruction.arg1 = target_x_robot;
antbig 28:acd18776ed2d 1576 instruction.arg2 = target_y_robot;
antbig 28:acd18776ed2d 1577 instruction.arg3 = target_theta_robot;
antbig 28:acd18776ed2d 1578 instruction.direction = (localData1)?FORWARD:BACKWARD;
antbig 28:acd18776ed2d 1579 ingnorInversionOnce = 1;//Pour éviter que l'ago recalcul l'inversion
antbig 27:76ead555a63d 1580 return;
ClementBreteau 25:f140c93a8666 1581
ClementBreteau 25:f140c93a8666 1582 case MV_XYT:
antbig 27:76ead555a63d 1583 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
Sitkah 33:388aa0bf6af4 1584 ///////cv
ClementBreteau 25:f140c93a8666 1585 break;
ClementBreteau 25:f140c93a8666 1586
ClementBreteau 26:2f4fcc2354f3 1587 case MV_COURBURE:
antbig 28:acd18776ed2d 1588 //target_theta_robot = theta_robot - target_theta_robot;
antbig 28:acd18776ed2d 1589 //instruction.arg3 = instruction.arg3 - target_theta_robot;
ClementBreteau 26:2f4fcc2354f3 1590 if(instruction.direction == LEFT){
ClementBreteau 26:2f4fcc2354f3 1591 target_theta_robot = target_theta_robot - theta_robot;
ClementBreteau 26:2f4fcc2354f3 1592 }else{
antbig 28:acd18776ed2d 1593 target_theta_robot = theta_robot + target_theta_robot;
antbig 28:acd18776ed2d 1594 }
antbig 28:acd18776ed2d 1595
antbig 28:acd18776ed2d 1596
antbig 28:acd18776ed2d 1597 target_theta_robot = (target_theta_robot)%3600;
antbig 28:acd18776ed2d 1598 if(target_theta_robot > 1800) {
antbig 28:acd18776ed2d 1599 target_theta_robot = target_theta_robot-3600;
antbig 28:acd18776ed2d 1600 }
antbig 28:acd18776ed2d 1601 if(InversStrat == 1) {
antbig 28:acd18776ed2d 1602 target_theta_robot = -target_theta_robot;
antbig 28:acd18776ed2d 1603 }
antbig 28:acd18776ed2d 1604 instruction.arg3 = target_theta_robot;
antbig 28:acd18776ed2d 1605
antbig 28:acd18776ed2d 1606
antbig 28:acd18776ed2d 1607 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
antbig 28:acd18776ed2d 1608
ClementBreteau 25:f140c93a8666 1609 break;
antbig 27:76ead555a63d 1610 default:
antbig 27:76ead555a63d 1611 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 27:76ead555a63d 1612 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 27:76ead555a63d 1613 break;
ClementBreteau 25:f140c93a8666 1614 }
ClementBreteau 25:f140c93a8666 1615
antbig 27:76ead555a63d 1616 //actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 27:76ead555a63d 1617 //gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 5:dcd817534b57 1618 break;
antbig 5:dcd817534b57 1619 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 1620 actual_instruction = instruction.nextLineError;
antbig 5:dcd817534b57 1621 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 12:14729d584500 1622 ingnorBaliseOnce = 1;
antbig 5:dcd817534b57 1623 break;
ClementBreteau 20:de595e4ff01d 1624
ClementBreteau 20:de595e4ff01d 1625
ClementBreteau 20:de595e4ff01d 1626
ClementBreteau 14:c8fc06c4887f 1627 case ETAT_END:
ClementBreteau 14:c8fc06c4887f 1628 if (ModeDemo){
ClementBreteau 14:c8fc06c4887f 1629 gameEtat = ETAT_CHECK_CARTE_SCREEN;
ClementBreteau 14:c8fc06c4887f 1630 ModeDemo = 1;
ClementBreteau 14:c8fc06c4887f 1631 } else {
ClementBreteau 14:c8fc06c4887f 1632 gameEtat = ETAT_END_LOOP;
ClementBreteau 14:c8fc06c4887f 1633 }
antbig 0:ad97421fb1fb 1634 break;
antbig 0:ad97421fb1fb 1635 case ETAT_END_LOOP:
antbig 0:ad97421fb1fb 1636 //Rien, on tourne en rond
ClementBreteau 18:cc5fec34ed9c 1637
antbig 0:ad97421fb1fb 1638 break;
antbig 0:ad97421fb1fb 1639 default:
ClementBreteau 20:de595e4ff01d 1640
antbig 0:ad97421fb1fb 1641 break;
ClementBreteau 20:de595e4ff01d 1642 }
Sitkah 29:41e02746041d 1643 }
Sitkah 29:41e02746041d 1644
Sitkah 29:41e02746041d 1645
Sitkah 29:41e02746041d 1646
Sitkah 29:41e02746041d 1647
Sitkah 29:41e02746041d 1648
antbig 4:88431b537477 1649 /****************************************************************************************/
antbig 4:88431b537477 1650 /* FUNCTION NAME: canProcessRx */
Sitkah 29:41e02746041d 1651 /* DESCRIPTION : Fait évoluer l'automate de l'IHM en fonction des receptions sur le CAN*/
antbig 4:88431b537477 1652 /****************************************************************************************/
antbig 0:ad97421fb1fb 1653 void canProcessRx(void)
Sitkah 29:41e02746041d 1654 {
antbig 0:ad97421fb1fb 1655 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
Sitkah 29:41e02746041d 1656 char useless1 = 0;
Sitkah 31:833fc481b002 1657 char message[10]="toto";
Sitkah 31:833fc481b002 1658 char message1[10]="toto";
Sitkah 31:833fc481b002 1659 char message2[10]="toto";
Sitkah 31:833fc481b002 1660 char message3[10]="toto";
antbig 0:ad97421fb1fb 1661 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
antbig 0:ad97421fb1fb 1662 if(FIFO_occupation<0)
antbig 0:ad97421fb1fb 1663 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
antbig 0:ad97421fb1fb 1664 if(FIFO_max_occupation<FIFO_occupation)
antbig 0:ad97421fb1fb 1665 FIFO_max_occupation=FIFO_occupation;
antbig 0:ad97421fb1fb 1666 if(FIFO_occupation!=0) {
Sitkah 29:41e02746041d 1667 int identifiant=msgRxBuffer[FIFO_lecture].id;
Sitkah 29:41e02746041d 1668 switch(identifiant) {
Sitkah 29:41e02746041d 1669
Sitkah 29:41e02746041d 1670 case ALIVE_MOTEUR:
Sitkah 29:41e02746041d 1671 if (etat == ATT) {
Sitkah 29:41e02746041d 1672
Sitkah 29:41e02746041d 1673 lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
Sitkah 29:41e02746041d 1674 lcd.FillRect(0,75,400,150); //carte moteur
Sitkah 29:41e02746041d 1675 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 1676 lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
Sitkah 29:41e02746041d 1677 lcd.DisplayStringAt(80, 135, (uint8_t *)"Carte Moteur", LEFT_MODE);
Sitkah 29:41e02746041d 1678 }
Sitkah 29:41e02746041d 1679 break;
Sitkah 29:41e02746041d 1680
Sitkah 29:41e02746041d 1681 case ALIVE_BALISE:
Sitkah 29:41e02746041d 1682 if (etat == ATT) {
Sitkah 29:41e02746041d 1683
Sitkah 29:41e02746041d 1684 lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
Sitkah 29:41e02746041d 1685 lcd.FillRect(0,250,400,150); //carte AX12
Sitkah 29:41e02746041d 1686 lcd.SetTextColor(LCD_COLOR_BLACK);
Sitkah 29:41e02746041d 1687 lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
Sitkah 29:41e02746041d 1688 lcd.DisplayStringAt(110, 310, (uint8_t *)"Balise", LEFT_MODE);
Sitkah 29:41e02746041d 1689 }
Sitkah 29:41e02746041d 1690 break;
Sitkah 29:41e02746041d 1691
Sitkah 29:41e02746041d 1692 case RESET_IHM:
Sitkah 29:41e02746041d 1693 etat = CHOIX;
Sitkah 29:41e02746041d 1694 break;
Sitkah 29:41e02746041d 1695
antbig 4:88431b537477 1696 case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
ClementBreteau 23:ab87d308eaf9 1697 case GLOBAL_JACK:
antbig 1:116040d14164 1698 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 1:116040d14164 1699 gameEtat = ETAT_GAME_START;
ClementBreteau 23:ab87d308eaf9 1700 SendRawId(ACKNOWLEDGE_JACK);
antbig 1:116040d14164 1701 }
antbig 1:116040d14164 1702 break;
antbig 1:116040d14164 1703
Sitkah 30:a1e37af4bbde 1704 case ALIVE_ACTIONNEURS_AVANT: //pas de break donc passe directement dans ECRAN_ALL_CHECK mais conserve l'ident initial
ClementBreteau 23:ab87d308eaf9 1705 case ALIVE_ACTIONNEURS_ARRIERE:
Sitkah 30:a1e37af4bbde 1706 case ALIVE_HERKULEX:
antbig 0:ad97421fb1fb 1707 case ECRAN_ALL_CHECK:
antbig 0:ad97421fb1fb 1708 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
antbig 0:ad97421fb1fb 1709 waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
antbig 0:ad97421fb1fb 1710 }
ClementBreteau 15:c2fc239e85df 1711 break;
antbig 0:ad97421fb1fb 1712
Sitkah 30:a1e37af4bbde 1713
Sitkah 30:a1e37af4bbde 1714
Sitkah 30:a1e37af4bbde 1715
Sitkah 30:a1e37af4bbde 1716 /////////////////////////////////////Acknowledges de Reception de la demande d'action////////////////////////////////////////
Sitkah 30:a1e37af4bbde 1717 case ACKNOWLEDGE_HERKULEX:
Sitkah 30:a1e37af4bbde 1718 case ACKNOWLEDGE_BALISE: //pas de break donc passe directement dans INSTRUCTION_END_AX12 mais conserve l'ident initial
antbig 0:ad97421fb1fb 1719 case ACKNOWLEDGE_MOTEUR:
Sitkah 30:a1e37af4bbde 1720 case ACKNOWLEDGE_TELEMETRE:
Sitkah 30:a1e37af4bbde 1721 /////////////////////////////////////////////Acknowledges de la fin d'action/////////////////////////////////////////////////
antbig 0:ad97421fb1fb 1722 case INSTRUCTION_END_BALISE:
antbig 0:ad97421fb1fb 1723 case INSTRUCTION_END_MOTEUR:
Sitkah 31:833fc481b002 1724 case ACK_FIN_ACTION:
antbig 11:ed13a480ddca 1725 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id && ((unsigned short)msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID)) {
Sitkah 30:a1e37af4bbde 1726 //SendRawId(waitingAckID);
antbig 0:ad97421fb1fb 1727 waitingAckFrom = 0;
Sitkah 30:a1e37af4bbde 1728 waitingAckID = 0;
antbig 0:ad97421fb1fb 1729 }
Sitkah 30:a1e37af4bbde 1730
antbig 0:ad97421fb1fb 1731 break;
antbig 1:116040d14164 1732 #ifdef ROBOT_BIG
antbig 0:ad97421fb1fb 1733 case ODOMETRIE_BIG_POSITION:
antbig 0:ad97421fb1fb 1734 #else
antbig 0:ad97421fb1fb 1735 case ODOMETRIE_SMALL_POSITION:
antbig 0:ad97421fb1fb 1736 #endif
antbig 0:ad97421fb1fb 1737 x_robot=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
antbig 0:ad97421fb1fb 1738 y_robot=msgRxBuffer[FIFO_lecture].data[2]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
antbig 0:ad97421fb1fb 1739 theta_robot=msgRxBuffer[FIFO_lecture].data[4]|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
antbig 0:ad97421fb1fb 1740 break;
Sitkah 29:41e02746041d 1741
Sitkah 30:a1e37af4bbde 1742 //case SERVO_AX12_SETGOAL:
antbig 9:d0042422d95a 1743 //SendAck(0x114, SERVO_AX12_SETGOAL);
ClementBreteau 14:c8fc06c4887f 1744 //if(AX12_isLocal(msgRxBuffer[FIFO_lecture].data[0]))
ClementBreteau 14:c8fc06c4887f 1745 //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 1746
Sitkah 30:a1e37af4bbde 1747 //break;
ClementBreteau 14:c8fc06c4887f 1748
Sitkah 30:a1e37af4bbde 1749 /*case SERVO_AX12_PROCESS:
ClementBreteau 14:c8fc06c4887f 1750 SendAck(0x114, SERVO_AX12_PROCESS);
ClementBreteau 14:c8fc06c4887f 1751 //AX12_processChange(1);
antbig 0:ad97421fb1fb 1752 break;
ClementBreteau 14:c8fc06c4887f 1753
antbig 1:116040d14164 1754 case SERVO_AX12_DONE:
ClementBreteau 15:c2fc239e85df 1755 SendRawId(POMPE_PWM);
Sitkah 30:a1e37af4bbde 1756 //SendAck(0x114, SERVO_AX12_DONE);
antbig 1:116040d14164 1757 AX12_notifyCANEnd(((unsigned short)(msgRxBuffer[FIFO_lecture].data[0])));
ClementBreteau 14:c8fc06c4887f 1758
ClementBreteau 15:c2fc239e85df 1759 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 14:c8fc06c4887f 1760 waitingAckFrom = 0;
ClementBreteau 14:c8fc06c4887f 1761 waitingAckID = 0;*/
ClementBreteau 14:c8fc06c4887f 1762
Sitkah 30:a1e37af4bbde 1763 //break;
Sitkah 30:a1e37af4bbde 1764 case ACK_ACTION:
Sitkah 30:a1e37af4bbde 1765 if(waitingAckID == msgRxBuffer[FIFO_lecture].id) {
Sitkah 30:a1e37af4bbde 1766 waitingAckFrom = 0;
Sitkah 30:a1e37af4bbde 1767 waitingAckID = 0;
Sitkah 30:a1e37af4bbde 1768 }
Sitkah 30:a1e37af4bbde 1769 break;
Sitkah 30:a1e37af4bbde 1770
ClementBreteau 16:7321fb3bb396 1771 case BALISE_DANGER :
ClementBreteau 16:7321fb3bb396 1772 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
ClementBreteau 16:7321fb3bb396 1773 break;
ClementBreteau 16:7321fb3bb396 1774
antbig 5:dcd817534b57 1775 case BALISE_STOP:
antbig 5:dcd817534b57 1776 SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
antbig 28:acd18776ed2d 1777 if (instruction.order != MV_TURN && instruction.order != ACTION ){ //J'ai rajouté cette ligne mais il faut tester avec et sans pour voir le comportement du robot,
ClementBreteau 16:7321fb3bb396 1778 if(needToStop() != 0 && ingnorBaliseOnce ==0) {
ClementBreteau 16:7321fb3bb396 1779 if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT)
ClementBreteau 16:7321fb3bb396 1780 {
ClementBreteau 16:7321fb3bb396 1781 SendRawId(ASSERVISSEMENT_STOP);
ClementBreteau 26:2f4fcc2354f3 1782 //while(1); // ligne à décommenter si on est en homologation
ClementBreteau 16:7321fb3bb396 1783 if(gameEtat != ETAT_WARING_END_BALISE_WAIT) {
ClementBreteau 16:7321fb3bb396 1784 timeoutWarning.reset();
ClementBreteau 16:7321fb3bb396 1785 timeoutWarning.start();//Reset du timer utiliser par le timeout
ClementBreteau 16:7321fb3bb396 1786 }
antbig 27:76ead555a63d 1787 gameEtat = ETAT_WARNING_TIMEOUT;
antbig 12:14729d584500 1788 }
antbig 12:14729d584500 1789 }
antbig 28:acd18776ed2d 1790 }
antbig 12:14729d584500 1791 ingnorBaliseOnce = 0;
antbig 5:dcd817534b57 1792 break;
ClementBreteau 16:7321fb3bb396 1793
antbig 5:dcd817534b57 1794 case BALISE_END_DANGER:
ClementBreteau 16:7321fb3bb396 1795 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
antbig 5:dcd817534b57 1796 if(gameEtat == ETAT_WARNING_TIMEOUT) {
antbig 5:dcd817534b57 1797 timeoutWarningWaitEnd.reset();
antbig 5:dcd817534b57 1798 timeoutWarningWaitEnd.start();
antbig 5:dcd817534b57 1799 gameEtat = ETAT_WARING_END_BALISE_WAIT;
antbig 5:dcd817534b57 1800 }
antbig 5:dcd817534b57 1801 break;
antbig 12:14729d584500 1802
ClementBreteau 14:c8fc06c4887f 1803 case OBJET_SUR_TABLE:
ClementBreteau 15:c2fc239e85df 1804 if (msgRxBuffer[FIFO_lecture].data[1] == 0xff){
ClementBreteau 15:c2fc239e85df 1805
ClementBreteau 15:c2fc239e85df 1806 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
ClementBreteau 15:c2fc239e85df 1807 }
ClementBreteau 15:c2fc239e85df 1808 else{
ClementBreteau 15:c2fc239e85df 1809
ClementBreteau 15:c2fc239e85df 1810 waitingAckFrom = 0;
ClementBreteau 15:c2fc239e85df 1811 waitingAckID = 0;
ClementBreteau 15:c2fc239e85df 1812
ClementBreteau 15:c2fc239e85df 1813 strat_instructions[actual_instruction+1].arg1 = returnX(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 1814 strat_instructions[actual_instruction+1].arg2 = returnY(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 1815 }
ClementBreteau 15:c2fc239e85df 1816 modeTelemetre = 0;
ClementBreteau 14:c8fc06c4887f 1817 break;
Sitkah 29:41e02746041d 1818
Sitkah 30:a1e37af4bbde 1819 case RECEPTION_DATA:
Sitkah 30:a1e37af4bbde 1820 telemetreDistance=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]);
Sitkah 30:a1e37af4bbde 1821 telemetreDistance= (float)telemetreDistance*100*35.5+50;
Sitkah 30:a1e37af4bbde 1822 waitingAckFrom = 0;
Sitkah 30:a1e37af4bbde 1823 waitingAckID = 0;
Sitkah 30:a1e37af4bbde 1824 break;
Sitkah 30:a1e37af4bbde 1825
Sitkah 31:833fc481b002 1826 case RECEPTION_RECALAGE:
Sitkah 30:a1e37af4bbde 1827 telemetreDistance=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]);
Sitkah 30:a1e37af4bbde 1828 telemetreDistance1=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[2], msgRxBuffer[FIFO_lecture].data[3]);
Sitkah 30:a1e37af4bbde 1829 telemetreDistance2=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[4], msgRxBuffer[FIFO_lecture].data[5]);
Sitkah 30:a1e37af4bbde 1830 telemetreDistance3=char_to_short_transformation(msgRxBuffer[FIFO_lecture].data[6], msgRxBuffer[FIFO_lecture].data[7]);
Sitkah 30:a1e37af4bbde 1831 waitingAckFrom = 0;
Sitkah 30:a1e37af4bbde 1832 waitingAckID = 0;
Sitkah 31:833fc481b002 1833 if(ModeDemo==1){
Sitkah 31:833fc481b002 1834 sprintf(message,"%04d mm",telemetreDistance);
Sitkah 31:833fc481b002 1835 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 1836 lcd.DisplayStringAt(0, LINE(10),(unsigned char *)"LASER ARD : ",LEFT_MODE);
Sitkah 31:833fc481b002 1837 lcd.DisplayStringAt(200, LINE(10),(unsigned char *)message, LEFT_MODE);
Sitkah 31:833fc481b002 1838
Sitkah 31:833fc481b002 1839 sprintf(message1,"%04d mm",telemetreDistance1);
Sitkah 31:833fc481b002 1840 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 1841 lcd.DisplayStringAt(0, LINE(12),(unsigned char *)"LASER AVD : ",LEFT_MODE);
Sitkah 31:833fc481b002 1842 lcd.DisplayStringAt(200, LINE(12),(unsigned char *)message1, LEFT_MODE);
Sitkah 31:833fc481b002 1843
Sitkah 31:833fc481b002 1844 sprintf(message2,"%04d mm",telemetreDistance2);
Sitkah 31:833fc481b002 1845 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 1846 lcd.DisplayStringAt(0, LINE(14),(unsigned char *)"LASER ARG : ",LEFT_MODE);
Sitkah 31:833fc481b002 1847 lcd.DisplayStringAt(200, LINE(14),(unsigned char *)message2, LEFT_MODE);
Sitkah 31:833fc481b002 1848
Sitkah 31:833fc481b002 1849 sprintf(message3,"%04d mm",telemetreDistance3);
Sitkah 31:833fc481b002 1850 lcd.SetBackColor(LCD_COLOR_WHITE);
Sitkah 31:833fc481b002 1851 lcd.DisplayStringAt(0, LINE(16),(unsigned char *)"LASER AVG : ",LEFT_MODE);
Sitkah 31:833fc481b002 1852 lcd.DisplayStringAt(200, LINE(16),(unsigned char *)message3, LEFT_MODE);
Sitkah 31:833fc481b002 1853
Sitkah 31:833fc481b002 1854 }
Sitkah 30:a1e37af4bbde 1855 break;
Sitkah 29:41e02746041d 1856
Sitkah 30:a1e37af4bbde 1857 case RECEPTION_COULEUR:
Sitkah 30:a1e37af4bbde 1858 couleur1=msgRxBuffer[FIFO_lecture].data[0];
Sitkah 30:a1e37af4bbde 1859 couleur2=msgRxBuffer[FIFO_lecture].data[1];
Sitkah 30:a1e37af4bbde 1860 couleur3=msgRxBuffer[FIFO_lecture].data[2];
Sitkah 30:a1e37af4bbde 1861 break;
Sitkah 30:a1e37af4bbde 1862
Sitkah 29:41e02746041d 1863 }
antbig 0:ad97421fb1fb 1864 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
antbig 0:ad97421fb1fb 1865 }
antbig 0:ad97421fb1fb 1866 }
Sitkah 29:41e02746041d 1867
Sitkah 29:41e02746041d 1868
Sitkah 29:41e02746041d 1869
Sitkah 29:41e02746041d 1870
Sitkah 29:41e02746041d 1871
Sitkah 29:41e02746041d 1872 /****************************************************************************************/
Sitkah 29:41e02746041d 1873 /* FUNCTION NAME: Bouton_Strat */
Sitkah 29:41e02746041d 1874 /* DESCRIPTION : Sélection de la strat sur le lcd puis envoie sur CAN (à modifier!) */
Sitkah 29:41e02746041d 1875 /****************************************************************************************/
Sitkah 29:41e02746041d 1876 signed char Bouton_Strat (void)
Sitkah 29:41e02746041d 1877 {
Sitkah 29:41e02746041d 1878 Button STRAT_1 (0, 30, 190, 110, strat_sd[0]);
Sitkah 29:41e02746041d 1879 Button STRAT_2 (210, 30, 190, 110, strat_sd[1]);
Sitkah 29:41e02746041d 1880 Button STRAT_3 (0, 150, 190, 110, strat_sd[2]);
Sitkah 29:41e02746041d 1881 Button STRAT_4 (210, 150, 190, 110, strat_sd[3]);
Sitkah 29:41e02746041d 1882 Button STRAT_5 (0, 270, 190, 110,strat_sd[4]);
Sitkah 29:41e02746041d 1883 Button STRAT_6 (210, 270, 190, 110, strat_sd[5]);
Sitkah 29:41e02746041d 1884 Button STRAT_7 (0, 390, 190, 110, strat_sd[6]);
Sitkah 29:41e02746041d 1885 Button STRAT_8 (210, 390, 190, 110, strat_sd[7]);
Sitkah 29:41e02746041d 1886 Button STRAT_9 (0, 510, 190, 110, strat_sd[8]);
Sitkah 29:41e02746041d 1887 Button STRAT_10 (210, 510, 190, 110, strat_sd[9]);
Sitkah 29:41e02746041d 1888 Button RETOUR (0, 680, 400, 110, "--Precedent--");
Sitkah 29:41e02746041d 1889 //Definition des boutons
Sitkah 29:41e02746041d 1890
Sitkah 29:41e02746041d 1891 Ack_strat = 0;
Sitkah 29:41e02746041d 1892 Strat = 0;
Sitkah 29:41e02746041d 1893 STRAT_1.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1894 STRAT_2.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1895 STRAT_3.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1896 STRAT_4.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1897 STRAT_5.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1898 STRAT_6.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1899 STRAT_7.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1900 STRAT_8.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1901 STRAT_9.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1902 STRAT_10.Draw(0xFFF0F0F0, 0);
Sitkah 29:41e02746041d 1903 RETOUR.Draw(0xFFFF0000, 0);
Sitkah 29:41e02746041d 1904
Sitkah 29:41e02746041d 1905 while(Ack_strat == 0)
Sitkah 29:41e02746041d 1906 {
Sitkah 29:41e02746041d 1907 canProcessRx();
Sitkah 29:41e02746041d 1908 CANMessage msgTx=CANMessage();
Sitkah 30:a1e37af4bbde 1909 //msgTx.id=ECRAN_CHOICE_STRAT;
Sitkah 29:41e02746041d 1910 if (RETOUR.Touched())
Sitkah 29:41e02746041d 1911 return -1;
Sitkah 29:41e02746041d 1912 while(RETOUR.Touched());
Sitkah 29:41e02746041d 1913 //////////////////////////////STRATEGIE N°1
Sitkah 29:41e02746041d 1914 if (STRAT_1.Touched()){
Sitkah 29:41e02746041d 1915 Strat = 0;
Sitkah 30:a1e37af4bbde 1916 //msgTx.data[0] = 0x1;
Sitkah 30:a1e37af4bbde 1917 //can2.write(msgTx);
Sitkah 29:41e02746041d 1918 while(STRAT_1.Touched());
Sitkah 29:41e02746041d 1919 Ack_strat =1;
Sitkah 29:41e02746041d 1920 }
Sitkah 29:41e02746041d 1921 /////////////////////////////STRATEGIE N°2
Sitkah 29:41e02746041d 1922 if (STRAT_2.Touched()){
Sitkah 29:41e02746041d 1923 Strat = 1;
Sitkah 30:a1e37af4bbde 1924 //msgTx.data[0] = 0x2;
Sitkah 30:a1e37af4bbde 1925 //can2.write(msgTx);
Sitkah 29:41e02746041d 1926 while(STRAT_2.Touched());
Sitkah 29:41e02746041d 1927 Ack_strat =1;
Sitkah 29:41e02746041d 1928 }
Sitkah 29:41e02746041d 1929 //////////////////////////////STRATEGIE N°3
Sitkah 29:41e02746041d 1930 if (STRAT_3.Touched()){
Sitkah 29:41e02746041d 1931 Strat = 2;
Sitkah 30:a1e37af4bbde 1932 //msgTx.data[0] = 0x3;
Sitkah 30:a1e37af4bbde 1933 //can2.write(msgTx);
Sitkah 29:41e02746041d 1934 while(STRAT_3.Touched());
Sitkah 29:41e02746041d 1935 Ack_strat =1;
Sitkah 29:41e02746041d 1936 }
Sitkah 29:41e02746041d 1937 /////////////////////////////STRATEGIE N°4
Sitkah 29:41e02746041d 1938 if (STRAT_4.Touched()){
Sitkah 29:41e02746041d 1939 Strat = 3;
Sitkah 30:a1e37af4bbde 1940 //msgTx.data[0] = 0x4;
Sitkah 30:a1e37af4bbde 1941 //can2.write(msgTx);
Sitkah 29:41e02746041d 1942 while(STRAT_4.Touched());
Sitkah 29:41e02746041d 1943 Ack_strat =1;
Sitkah 29:41e02746041d 1944 }
Sitkah 29:41e02746041d 1945 ///////////////////////////////STRATEGIE N°5
Sitkah 29:41e02746041d 1946 if (STRAT_5.Touched()){
Sitkah 29:41e02746041d 1947 Strat = 4;
Sitkah 30:a1e37af4bbde 1948 //msgTx.data[0] = 0x5;
Sitkah 30:a1e37af4bbde 1949 //can2.write(msgTx);
Sitkah 29:41e02746041d 1950 while(STRAT_5.Touched());
Sitkah 29:41e02746041d 1951 Ack_strat =1;
Sitkah 29:41e02746041d 1952 }
Sitkah 29:41e02746041d 1953 ////////////////////////////////STRATEGIE N°6
Sitkah 29:41e02746041d 1954 if (STRAT_6.Touched()){
Sitkah 29:41e02746041d 1955 Strat = 5;
Sitkah 30:a1e37af4bbde 1956 //msgTx.data[0] = 0x6;
Sitkah 30:a1e37af4bbde 1957 //can2.write(msgTx);
Sitkah 29:41e02746041d 1958 while(STRAT_6.Touched());
Sitkah 29:41e02746041d 1959 Ack_strat =1;
Sitkah 29:41e02746041d 1960 }
Sitkah 29:41e02746041d 1961 /////////////////////////////////STRATEGIE N°7
Sitkah 29:41e02746041d 1962 if (STRAT_7.Touched()){
Sitkah 29:41e02746041d 1963 Strat = 6;
Sitkah 30:a1e37af4bbde 1964 //msgTx.data[0] = 0x7;
Sitkah 30:a1e37af4bbde 1965 //can2.write(msgTx);
Sitkah 29:41e02746041d 1966 while(STRAT_7.Touched());
Sitkah 29:41e02746041d 1967 Ack_strat =1;
Sitkah 29:41e02746041d 1968 }
Sitkah 29:41e02746041d 1969 /////////////////////////////////STRATEGIE N°8
Sitkah 29:41e02746041d 1970 if (STRAT_8.Touched()){
Sitkah 29:41e02746041d 1971 Strat = 7;
Sitkah 30:a1e37af4bbde 1972 //msgTx.data[0] = 0x8;
Sitkah 30:a1e37af4bbde 1973 //can2.write(msgTx);
Sitkah 29:41e02746041d 1974 while(STRAT_8.Touched());
Sitkah 29:41e02746041d 1975 Ack_strat =1;
Sitkah 29:41e02746041d 1976 }
Sitkah 29:41e02746041d 1977 /////////////////////////////////STRATEGIE N°9
Sitkah 29:41e02746041d 1978 if (STRAT_9.Touched()){
Sitkah 29:41e02746041d 1979 Strat = 8;
Sitkah 30:a1e37af4bbde 1980 //msgTx.data[0] = 0x9;
Sitkah 30:a1e37af4bbde 1981 //can2.write(msgTx);
Sitkah 29:41e02746041d 1982 while(STRAT_9.Touched());
Sitkah 29:41e02746041d 1983 Ack_strat =1;
Sitkah 29:41e02746041d 1984 }
Sitkah 29:41e02746041d 1985 ///////////////////////////////////STRATEGIE N°10
Sitkah 29:41e02746041d 1986 if (STRAT_10.Touched()){
Sitkah 29:41e02746041d 1987 Strat = 9;
Sitkah 30:a1e37af4bbde 1988 //msgTx.data[0] = 0xA;
Sitkah 30:a1e37af4bbde 1989 //can2.write(msgTx);
Sitkah 29:41e02746041d 1990 while(STRAT_10.Touched());
Sitkah 29:41e02746041d 1991 Ack_strat =1;
Sitkah 29:41e02746041d 1992 }
Sitkah 29:41e02746041d 1993
Sitkah 29:41e02746041d 1994 }
Sitkah 29:41e02746041d 1995 return Strat;
Sitkah 29:41e02746041d 1996
Sitkah 29:41e02746041d 1997 }
Sitkah 29:41e02746041d 1998
Sitkah 29:41e02746041d 1999 void affichage_compteur (int nombre)
Sitkah 29:41e02746041d 2000 {
Sitkah 29:41e02746041d 2001 int dizaine=0,unite=0;
Sitkah 29:41e02746041d 2002 dizaine = nombre/10;
Sitkah 29:41e02746041d 2003 unite = nombre-(10*dizaine);
Sitkah 29:41e02746041d 2004 print_segment(unite,0);
Sitkah 29:41e02746041d 2005 print_segment(dizaine,200);
Sitkah 29:41e02746041d 2006
Sitkah 29:41e02746041d 2007 }
Sitkah 29:41e02746041d 2008
Sitkah 29:41e02746041d 2009
Sitkah 29:41e02746041d 2010 //****print_segment***
Sitkah 29:41e02746041d 2011 //Dessine en 7 segment le nombre en parametre
Sitkah 29:41e02746041d 2012 // A
Sitkah 29:41e02746041d 2013 // =====
Sitkah 29:41e02746041d 2014 // | |
Sitkah 29:41e02746041d 2015 // B | G | E
Sitkah 29:41e02746041d 2016 // |=====|
Sitkah 29:41e02746041d 2017 // C | | F
Sitkah 29:41e02746041d 2018 // | |
Sitkah 29:41e02746041d 2019 // =====
Sitkah 29:41e02746041d 2020 // D
Sitkah 29:41e02746041d 2021 /*
Sitkah 29:41e02746041d 2022 position pour le chiffre des unites
Sitkah 29:41e02746041d 2023 lcd.FillRect(460,75,120,25);// A
Sitkah 29:41e02746041d 2024 lcd.FillRect(435,100,25,120);// B
Sitkah 29:41e02746041d 2025 lcd.FillRect(435,245,25,120);// C
Sitkah 29:41e02746041d 2026 lcd.FillRect(460,365,120,25);// D
Sitkah 29:41e02746041d 2027 lcd.FillRect(580,100,25,120);// E
Sitkah 29:41e02746041d 2028 lcd.FillRect(580,245,25,120);// F
Sitkah 29:41e02746041d 2029 lcd.FillRect(460,220,120,25);// G
Sitkah 29:41e02746041d 2030
Sitkah 29:41e02746041d 2031 position pour le chiffre des dizaines
Sitkah 29:41e02746041d 2032 lcd.FillRect(260,75,120,25);// A
Sitkah 29:41e02746041d 2033 lcd.FillRect(235,100,25,120);// B
Sitkah 29:41e02746041d 2034 lcd.FillRect(235,245,25,120);// C
Sitkah 29:41e02746041d 2035 lcd.FillRect(260,365,120,25);// D
Sitkah 29:41e02746041d 2036 lcd.FillRect(380,100,25,120);// E
Sitkah 29:41e02746041d 2037 lcd.FillRect(380,245,25,120);// F
Sitkah 29:41e02746041d 2038 lcd.FillRect(260,220,120,25);// G
Sitkah 29:41e02746041d 2039 */
Sitkah 29:41e02746041d 2040
Sitkah 29:41e02746041d 2041 void print_segment(int nombre, int decalage)
Sitkah 29:41e02746041d 2042 {
Sitkah 29:41e02746041d 2043 switch(nombre)
Sitkah 29:41e02746041d 2044 {
Sitkah 29:41e02746041d 2045 case 0:
Sitkah 29:41e02746041d 2046 lcd.FillRect(240-decalage,75,120,25);
Sitkah 29:41e02746041d 2047 lcd.FillRect(215-decalage,100,25,120);
Sitkah 29:41e02746041d 2048 lcd.FillRect(215-decalage,245,25,120);
Sitkah 29:41e02746041d 2049 lcd.FillRect(360-decalage,245,25,120);
Sitkah 29:41e02746041d 2050 lcd.FillRect(360-decalage,100,25,120);
Sitkah 29:41e02746041d 2051 lcd.FillRect(240-decalage,365,120,25);
Sitkah 29:41e02746041d 2052 break;
Sitkah 29:41e02746041d 2053
Sitkah 29:41e02746041d 2054 case 1:
Sitkah 29:41e02746041d 2055 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2056 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2057 break;
Sitkah 29:41e02746041d 2058
Sitkah 29:41e02746041d 2059 case 2:
Sitkah 29:41e02746041d 2060 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2061 lcd.FillRect(215-decalage,245,25,120);// C
Sitkah 29:41e02746041d 2062 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2063 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2064 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2065 break;
Sitkah 29:41e02746041d 2066
Sitkah 29:41e02746041d 2067 case 3:
Sitkah 29:41e02746041d 2068 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2069 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2070 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2071 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2072 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2073 break;
Sitkah 29:41e02746041d 2074
Sitkah 29:41e02746041d 2075 case 4:
Sitkah 29:41e02746041d 2076 lcd.FillRect(215-decalage,100,25,120);// B
Sitkah 29:41e02746041d 2077 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2078 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2079 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2080 break;
Sitkah 29:41e02746041d 2081
Sitkah 29:41e02746041d 2082 case 5:
Sitkah 29:41e02746041d 2083 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2084 lcd.FillRect(215-decalage,100,25,120);// B
Sitkah 29:41e02746041d 2085 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2086 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2087 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2088 break;
Sitkah 29:41e02746041d 2089
Sitkah 29:41e02746041d 2090 case 6:
Sitkah 29:41e02746041d 2091 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2092 lcd.FillRect(215-decalage,100,25,120);// B
Sitkah 29:41e02746041d 2093 lcd.FillRect(215-decalage,245,25,120);// C
Sitkah 29:41e02746041d 2094 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2095 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2096 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2097 break;
Sitkah 29:41e02746041d 2098
Sitkah 29:41e02746041d 2099 case 7:
Sitkah 29:41e02746041d 2100 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2101 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2102 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2103 break;
Sitkah 29:41e02746041d 2104
Sitkah 29:41e02746041d 2105 case 8:
Sitkah 29:41e02746041d 2106 lcd.FillRect(240-decalage,75,120,25); // A
Sitkah 29:41e02746041d 2107 lcd.FillRect(215-decalage,100,25,120);
Sitkah 29:41e02746041d 2108 lcd.FillRect(215-decalage,245,25,120);
Sitkah 29:41e02746041d 2109 lcd.FillRect(360-decalage,245,25,120);//...
Sitkah 29:41e02746041d 2110 lcd.FillRect(360-decalage,100,25,120);
Sitkah 29:41e02746041d 2111 lcd.FillRect(240-decalage,365,120,25);
Sitkah 29:41e02746041d 2112 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2113 break;
Sitkah 29:41e02746041d 2114
Sitkah 29:41e02746041d 2115 case 9:
Sitkah 29:41e02746041d 2116 lcd.FillRect(240-decalage,75,120,25);// A
Sitkah 29:41e02746041d 2117 lcd.FillRect(215-decalage,100,25,120);// B
Sitkah 29:41e02746041d 2118 lcd.FillRect(240-decalage,365,120,25);// D
Sitkah 29:41e02746041d 2119 lcd.FillRect(360-decalage,100,25,120);// E
Sitkah 29:41e02746041d 2120 lcd.FillRect(360-decalage,245,25,120);// F
Sitkah 29:41e02746041d 2121 lcd.FillRect(240-decalage,220,120,25);// G
Sitkah 29:41e02746041d 2122 break;
Sitkah 29:41e02746041d 2123 }
Sitkah 29:41e02746041d 2124 }
Sitkah 29:41e02746041d 2125
Sitkah 29:41e02746041d 2126 void effacer_segment(long couleur)
Sitkah 29:41e02746041d 2127 {
Sitkah 29:41e02746041d 2128 lcd.SetTextColor(couleur);
Sitkah 29:41e02746041d 2129 lcd.FillRect(240-200,75,120,25); // A
Sitkah 29:41e02746041d 2130 lcd.FillRect(215-200,100,25,120);
Sitkah 29:41e02746041d 2131 lcd.FillRect(215-200,245,25,120);
Sitkah 29:41e02746041d 2132 lcd.FillRect(360-200,245,25,120);//...
Sitkah 29:41e02746041d 2133 lcd.FillRect(360-200,100,25,120);
Sitkah 29:41e02746041d 2134 lcd.FillRect(240-200,365,120,25);
Sitkah 29:41e02746041d 2135 lcd.FillRect(240-200,220,120,25);// G
Sitkah 29:41e02746041d 2136
Sitkah 29:41e02746041d 2137 lcd.FillRect(240,75,120,25); // A
Sitkah 29:41e02746041d 2138 lcd.FillRect(215,100,25,120);
Sitkah 29:41e02746041d 2139 lcd.FillRect(215,245,25,120);
Sitkah 29:41e02746041d 2140 lcd.FillRect(360,245,25,120);//...
Sitkah 29:41e02746041d 2141 lcd.FillRect(360,100,25,120);
Sitkah 29:41e02746041d 2142 lcd.FillRect(240,365,120,25);
Sitkah 29:41e02746041d 2143 lcd.FillRect(240,220,120,25);// G
Sitkah 29:41e02746041d 2144 }