CRAC Team
code avec modifs, programme mit dans les robots pour les derniers matchs
Dependencies: mbed SerialHalfDuplex SDFileSystem liaison_Bluetooth ident_crac DISCO-F469NI_portrait
Revision 22:c7763a7ec6c7, committed 2020-06-26
- Comitter:
- gabrieltetar
- Date:
- Fri Jun 26 13:08:54 2020 +0000
- Parent:
- 21:d137ec53c3a9
- Child:
- 24:1a13c998c7ac
- Commit message:
- IHM VERSION TETAR
Changed in this revision
--- a/Globals/global.h Wed Jun 24 09:39:42 2020 +0000 +++ b/Globals/global.h Fri Jun 26 13:08:54 2020 +0000 @@ -36,7 +36,8 @@ extern char PATH[10][SIZE+8]; extern signed char nbStrat; -extern unsigned short flag_check_carte; +extern unsigned short flag_check_carte1; +extern unsigned short flag_check_carte2; extern int ack_bluetooth; extern unsigned char Cote; extern DigitalOut led1,led2,led3,led4;
--- a/IHM/ihm.cpp Wed Jun 24 09:39:42 2020 +0000
+++ b/IHM/ihm.cpp Fri Jun 26 13:08:54 2020 +0000
@@ -1,6 +1,7 @@
#include "global.h"
#define VERT 0xFF00FF00
+#define VERT_F 0xFF00C400
#define ROUGE 0xFFFF0000
#define BLEU 0xFF0000FF
#define JAUNE 0xFFFDD835//FEFE00
@@ -30,23 +31,27 @@
Button TEST_COUL(0,245,400,100,"Test capteurs couleur");
Button TEST_BRAS(0,355,400,100,"Test Bras");
Button TEST_AUDIO(0,465,400,100,"Test Audio");
-Button TEST_ELECTRV(0,575,400,100,"Test Divers");
+
+Button TEST_NEXT(0,575,400,100,"------>");
+Button TEST_DIV(0,25,400,100,"Test Divers");
+Button TEST_ASSERV(0, 135, 400, 100, "Test asserv");
//menu demo/demo/
Button TEST_A(0,25,195,100,"A");
Button TEST_B(205,25,195,100,"B");
Button TEST_C(0,135,195,100,"C");
Button TEST_D(205,135,195,100,"D");
-Button TEST_NUM(0,245,400,100,"Bras num");
+Button TEST_NUM(0,245,400,100,"Num");
Button TEST_PLUS(205,355,195,100,"+");
Button TEST_MOINS(0,355,195,100,"-");
-
-
-Button FORCE_LAUNCH(0, 50, 400, 320, "Force Launch");
+Button FORCE_LAUNCH(0, 600, 400, 100, "Force Launch");
Button SUIVANT(0,380,200,100,"Suivant");
////////////////////////////////////////////////////////////
-
+unsigned char flag_sd =0;
signed char Bouton_Strat (void);
-
+void DrawC (int l,int h,int x, int y, unsigned char fill);
+void DrawR (int l,int h,int x, int y, unsigned char fill);
+void DrawA (int l,int h,int x, int y, unsigned char fill);
+void DrawCheck (int l,int h,int x, int y, int cochage);
void SelectionStrat (unsigned char numeroStrat);
/****************************************************************************************/
@@ -64,41 +69,22 @@
}
ts.GetState(&TS_State);
switch (strat_etat_s) {
- case INIT : //intialise l'écran et passe à l'attente d'initialisation des cartes
+ case INIT :
ts.GetState(&TS_State);
- canProcessRx();
- lcd.SetBackColor(LCD_COLOR_WHITE);
- lcd.SetTextColor(LCD_COLOR_BLACK);
- lcd.Clear (LCD_COLOR_WHITE);
wait(0.15);
- lcd.DisplayStringAt(0, 10, (uint8_t *)"Verification des cartes", LEFT_MODE);
- //cartes non verifiées////////////////
- lcd.SetTextColor(DIY_GREY);
- lcd.FillRect(0,400,400,150); //carte moteur
- lcd.FillRect(0,600,400,150); //Balise
- lcd.SetTextColor(LCD_COLOR_BLACK);
- lcd.SetBackColor(DIY_GREY);
- lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
- lcd.DisplayStringAt(110,650, (uint8_t *)"Balise", LEFT_MODE);
- ////////////////////////////////////////
- FORCE_LAUNCH.Draw(0xFFFF0000, 0);
-
- strat_etat_s=ATT;
+ strat_etat_s=INIT2;
break;
-
- case ATT : //Si les cartes sont présentes passe directement à choix sinon attente de force Launch (cette partie est encore buggée mais les cartes affichent bien leur présence donc faut juste force launch tout le temps...)
- if (flag_check_carte==1) {
- strat_etat_s = CHOIX;
- gameEtat = ETAT_CONFIG;
- } else if (FORCE_LAUNCH.Touched()) {
- strat_etat_s = CHOIX;
- gameEtat = ETAT_CONFIG;
- while(FORCE_LAUNCH.Touched());
+ case INIT2 :
+ canProcessRx();
+ FORCE_LAUNCH.Draw(BLEU, 0);
+ while(strat_etat_s == INIT2) {
+ canProcessRx();
+ if(FORCE_LAUNCH.Touched() || (flag_check_carte1 && flag_check_carte2 && flag_sd)) {
+ strat_etat_s = CHOIX;
+ while(FORCE_LAUNCH.Touched());
+ }
}
-
break;
-
-
case CHOIX : //Match ou DEMO
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.SetTextColor(LCD_COLOR_BLACK);
@@ -125,14 +111,14 @@
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.SetTextColor(LCD_COLOR_BLACK);
lcd.Clear (LCD_COLOR_WHITE);
- lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO", LEFT_MODE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO 1/2", LEFT_MODE);
RETOUR.Draw(0xFFFF0000, 0);
TEST_VENT.Draw(VERT, 0);
TEST_MOT.Draw(VERT, 0);
TEST_COUL.Draw(VERT, 0);
TEST_BRAS.Draw(VERT, 0);
TEST_AUDIO.Draw(VERT, 0);
- TEST_ELECTRV.Draw(VERT, 0);
+ TEST_NEXT.Draw(BLEU, 0);
maximilien=0;
while (strat_etat_s == DEMO) {
canProcessRx();
@@ -142,9 +128,9 @@
} else if(TEST_MOT.Touched()) {
while(TEST_MOT.Touched());
strat_etat_s = TEST_MOTEUR;
- } else if(TEST_ELECTRV.Touched()) {
- while(TEST_ELECTRV.Touched());
- strat_etat_s = TEST_ELECTROV;
+ } else if(TEST_NEXT.Touched()) {
+ while(TEST_NEXT.Touched());
+ strat_etat_s = DEMO2;
} else if (TEST_COUL.Touched()) {
while(TEST_COUL.Touched());
strat_etat_s =TEST_COULEUR ;
@@ -160,7 +146,34 @@
}
}
break;
-
+
+ case DEMO2 :
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO 2/2", LEFT_MODE);
+ RETOUR.Draw(0xFFFF0000, 0);
+ TEST_DIV.Draw(VERT, 0);
+ TEST_ASSERV.Draw(VERT, 0);
+ TEST_NEXT.Draw(BLEU, 0);
+ maximilien=0;
+ while (strat_etat_s == DEMO2) {
+ canProcessRx();
+ if(TEST_NEXT.Touched()) {
+ while(TEST_NEXT.Touched());
+ strat_etat_s = DEMO;
+ } else if(TEST_DIV.Touched()) {
+ while(TEST_DIV.Touched());
+ strat_etat_s = TEST_DIVE;
+ } else if(TEST_ASSERV.Touched()) {
+ while(TEST_ASSERV.Touched());
+ strat_etat_s = TEST_ASSERVE;
+ } else if(RETOUR.Touched()) {
+ while(RETOUR.Touched());
+ strat_etat_s = CHOIX;
+ }
+ }
+ break;
case TEST_VENTOUSE:
lcd.SetBackColor(LCD_COLOR_WHITE);
@@ -226,7 +239,7 @@
}
break;
- case TEST_ELECTROV:
+ case TEST_DIVE:
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.SetTextColor(LCD_COLOR_BLACK);
lcd.Clear (LCD_COLOR_WHITE);
@@ -235,10 +248,10 @@
RETOUR.Draw(0xFFFF0000,0);
TEST_A.Draw(BLEU, BLANC);
TEST_B.Draw(BLEU, BLANC);
- while(strat_etat_s==TEST_ELECTROV) {
+ while(strat_etat_s==TEST_DIVE) {
if(RETOUR.Touched()) {
while (RETOUR.Touched());
- strat_etat_s=DEMO;
+ strat_etat_s=DEMO2;
} else if(TEST_A.Touched()) {
while (TEST_A.Touched());
//SendRawId(TEST_ELECTROV_A);
@@ -250,7 +263,30 @@
}
}
break;
-
+ case TEST_ASSERVE:
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Asservissements", LEFT_MODE);
+ RETOUR.Draw(0xFFFF0000,0);
+ TEST_A.Draw(BLEU, BLANC);
+ TEST_B.Draw(BLEU, BLANC);
+ while(strat_etat_s==TEST_ASSERVE) {
+ if(RETOUR.Touched()) {
+ while (RETOUR.Touched());
+ strat_etat_s=DEMO2;
+ } else if(TEST_A.Touched()) {
+ while (TEST_A.Touched());
+ //SendRawId(TEST_ELECTROV_A);
+ TEST_A.Draw(BLEU, BLANC);
+ } else if(TEST_B.Touched()) {
+ while (TEST_B.Touched());
+ //SendRawId(TEST_ELECTROV_A);
+ TEST_B.Draw(BLEU, BLANC);
+ }
+ }
+ break;
case TEST_AUD:
lcd.SetBackColor(LCD_COLOR_WHITE);
@@ -425,6 +461,7 @@
while (strat_etat_s == SELECT_SIDE) {
canProcessRx();
if(COTE_JAUNE.Touched()) {
+
Cote = 0x0;
InversStrat = Cote;
strat_etat_s = TACTIQUE;
@@ -738,4 +775,85 @@
lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
break;
}
+}
+void demarrage(unsigned char num){
+ switch(num){
+ case 0:
+ lcd.SetBackColor(DIY_GREY);
+ lcd.SetTextColor(NOIR);
+ lcd.Clear (DIY_GREY);
+ DrawC(95,150,0,50,0);
+ DrawR(95,150,105,50,0);
+ DrawA(95,150,210,50,0);
+ DrawC(95,150,315,50,0);
+ DrawCheck(30,30,50,243,0);
+ DrawCheck(30,30,50,293,0);
+ DrawCheck(30,30,50,343,0);
+ DrawCheck(30,30,50,393,0);
+ lcd.DisplayStringAt(100, 250, (uint8_t *)"Init CAN", LEFT_MODE);
+ lcd.DisplayStringAt(100, 300, (uint8_t *)"Micro SD", LEFT_MODE);
+ lcd.DisplayStringAt(100, 350, (uint8_t *)"Carte Moteur", LEFT_MODE);
+ lcd.DisplayStringAt(100, 400, (uint8_t *)"Balise IR", LEFT_MODE);
+ break;
+ case 1://can
+ DrawCheck(30,30,50,250,1);
+ break;
+ case 2://SD
+ DrawCheck(30,30,50,300,1);
+ flag_sd=1;
+ break;
+ case 3://moteur
+ DrawCheck(30,30,50,350,1);
+ break;
+ case 4://balise
+ DrawCheck(30,30,50,400,1);
+ break;
+ default:
+ break;
+}
+}
+void DrawC (int l,int h,int x, int y, unsigned char fill){
+ Point c[8]={{l,0},{l,h/6},{l/5,h/3},{l/5,2*(h/3)},{l,5*(h/6)},{l,h},{0,5*(h/6)},{0,h/6}};
+ for(int a=0;a<8;a++){
+ c[a].X+=x;
+ c[a].Y+=y;
+ }
+ lcd.DrawPolygon(c, 8);
+
+}
+void DrawR (int l,int h,int x, int y, unsigned char fill){
+ Point r[10]={{0,0},{5*(l/6),0},{l,h/3},{5*(l/6),h/2},{l/2,h/2},{l,h},{2*(l/3),h},{l/4,h/2},{l/4,h},{0,h}};
+ for(int a=0;a<10;a++){
+ r[a].X+=x;
+ r[a].Y+=y;
+ }
+ lcd.DrawPolygon(r, 10);
+}
+void DrawA (int l,int h,int x, int y, unsigned char fill){
+ Point a[8]={{l/4,0},{3*(l/4),0},{l,h},{5*(l/6),h},{4*(l/6),h/2},{2*(l/6),h/2},{l/6,h},{0,h}};
+ for(int z=0;z<8;z++){
+ a[z].X+=x;
+ a[z].Y+=y;
+ }
+ lcd.DrawPolygon(a, 8);
+}
+void DrawCheck (int l,int h,int x, int y, int cochage){
+ if(x<3)x=3;
+ if(cochage == 1){
+ lcd.SetTextColor(VERT_F);
+ lcd.DrawLine(x,y-(h/2),x+l/2,y+h/2);
+ lcd.DrawLine(x-1,y-(h/2),x+l/2,y+h/2+1);
+ lcd.DrawLine(x-2,y-(h/2),x+l/2,y+h/2+2);
+ lcd.DrawLine(x+l/2,y+h/2,x+(4*(l/3)),y);
+ lcd.DrawLine(x+l/2,y+h/2+1,x+(4*(l/3))+1,y);
+ lcd.DrawLine(x+l/2,y+h/2+2,x+(4*(l/3))+2,y);
+ lcd.SetTextColor(NOIR);
+ } else {
+ Point a[4]={{0,0},{l,0},{l,h},{0,h}};
+ for(int z=0;z<8;z++){
+ a[z].X+=x;
+ a[z].Y+=y;
+ }
+ lcd.DrawPolygon(a, 4);
+ }
}
\ No newline at end of file
--- a/IHM/ihm.h Wed Jun 24 09:39:42 2020 +0000 +++ b/IHM/ihm.h Fri Jun 26 13:08:54 2020 +0000 @@ -2,5 +2,5 @@ #define CRAC_IHM void automate_etat_ihm(void); - +void demarrage(unsigned char num); #endif \ No newline at end of file
--- a/Instruction/lecture_repertoire.cpp Wed Jun 24 09:39:42 2020 +0000
+++ b/Instruction/lecture_repertoire.cpp Fri Jun 26 13:08:54 2020 +0000
@@ -10,10 +10,10 @@
DIR* rep = NULL;
- mkdir("/sd", 0777);
+ if(mkdir("/sd", 0777)==0){//0 SUCCES -1 ECHEC
strcpy(cheminFileStart,"/sd");
rep=opendir("/sd");
-
+ demarrage(2);
for(i=0;i<20;i++){
files_name[i]= readdir(rep);
@@ -34,5 +34,6 @@
}
}
+ }
}
--- a/Strategie/Strategie.cpp Wed Jun 24 09:39:42 2020 +0000
+++ b/Strategie/Strategie.cpp Fri Jun 26 13:08:54 2020 +0000
@@ -37,7 +37,7 @@
unsigned short x;
unsigned short y;
unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
-unsigned short flag_check_carte = 0, flag_strat = 0, flag_timer;
+unsigned short flag_check_carte1 = 0,flag_check_carte2 = 0, flag_strat = 0, flag_timer;
int flagReceptionTelemetres = 0, flagNonRepriseErrorMot = 0;
@@ -199,7 +199,7 @@
if(countAliveCard >= NOMBRE_CARTES) {
gameEtat = ETAT_CONFIG;
SendRawId(ECRAN_ALL_CHECK);
- flag_check_carte=1;
+ flag_check_carte1=1;
//tactile_printf("Selection couleur et strategie");
} else {
@@ -218,7 +218,7 @@
if(checkCurrent >= NOMBRE_CARTES) {
if(countAliveCard == NOMBRE_CARTES) {
gameEtat = ETAT_CONFIG;
- flag_check_carte=1;
+ flag_check_carte1=1;
} else {
gameEtat = ETAT_WAIT_FORCE;
waitingAckFrom = ECRAN_ALL_CHECK;
@@ -963,25 +963,15 @@
switch(identifiant) {
case ALIVE_MOTEUR:
- if (strat_etat_s == ATT) {
-
- lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
- lcd.FillRect(0,400,400,150);
- lcd.SetTextColor(LCD_COLOR_BLACK);
- lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
- lcd.DisplayStringAt(80, 450, (uint8_t *)"Carte Moteur", LEFT_MODE);
- }
+ if (strat_etat_s == INIT2)
+ demarrage(3);
+ flag_check_carte1=1;
break;
case ALIVE_BALISE:
- if (strat_etat_s == ATT) {
-
- lcd.SetTextColor(LCD_COLOR_LIGHTGREEN);
- lcd.FillRect(0,600,400,150); //carte AX12
- lcd.SetTextColor(LCD_COLOR_BLACK);
- lcd.SetBackColor(LCD_COLOR_LIGHTGREEN);
- lcd.DisplayStringAt(110, 650, (uint8_t *)"Balise", LEFT_MODE);
- }
+ if (strat_etat_s == INIT2)
+ demarrage(4);
+ flag_check_carte2=1;
break;
case RESET_IHM:
@@ -1003,7 +993,7 @@
if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
}
- flag_check_carte=1;
+ flag_check_carte1=1;
break;
case ASSERVISSEMENT_ERROR_MOTEUR://erreur asservissement
--- a/Strategie/Strategie.h Wed Jun 24 09:39:42 2020 +0000
+++ b/Strategie/Strategie.h Fri Jun 26 13:08:54 2020 +0000
@@ -13,15 +13,17 @@
}E_Stratposdebut;
typedef enum {
- INIT,
- ATT,
+ INIT,
+ INIT2,
CHOIX,
- DEMO,
+ DEMO,
+ DEMO2,
TEST_MOTEUR,
TEST_COULEUR,
TEST_SERVO_BRAS,
TEST_VENTOUSE,
- TEST_ELECTROV,
+ TEST_DIVE,
+ TEST_ASSERVE,
TEST_AUD,
SELECT_SIDE,
TACTIQUE,
--- a/main.cpp Wed Jun 24 09:39:42 2020 +0000
+++ b/main.cpp Fri Jun 26 13:08:54 2020 +0000
@@ -40,10 +40,11 @@
/* DESCRIPTION : Fonction principal du programme */
/**********************************************************************************/
int main() {
+ demarrage(0);
can1.frequency(1000000); // fréquence de travail 1Mbit/s
can2.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
can2.frequency(1000000);
- lcd.DisplayStringAt(0, 0,(uint8_t *)"Initialisation", LEFT_MODE);
+ demarrage(1);
led1 = 1;
lecture_fichier(); //bloquant si pas de carte SD
led1 = 0;