CRAC Team
code de la carte IHM avant les bugs et avant le travail effectué avec Melchior
Dependencies: mbed SerialHalfDuplex SDFileSystem liaison_Bluetooth ident_crac DISCO-F469NI_portrait
Diff: IHM/ihm.cpp
- Revision:
- 24:1a13c998c7ac
- Parent:
- 22:c7763a7ec6c7
- Child:
- 27:ff70537a7619
--- a/IHM/ihm.cpp Fri Jun 26 13:08:54 2020 +0000
+++ b/IHM/ihm.cpp Wed Jul 08 08:19:16 2020 +0000
@@ -1,7 +1,6 @@
#include "global.h"
#define VERT 0xFF00FF00
-#define VERT_F 0xFF00C400
#define ROUGE 0xFFFF0000
#define BLEU 0xFF0000FF
#define JAUNE 0xFFFDD835//FEFE00
@@ -46,12 +45,9 @@
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);
/****************************************************************************************/
@@ -69,22 +65,41 @@
}
ts.GetState(&TS_State);
switch (strat_etat_s) {
- case INIT :
+ case INIT : //intialise l'écran et passe à l'attente d'initialisation des cartes
ts.GetState(&TS_State);
- wait(0.15);
- strat_etat_s=INIT2;
- break;
- 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());
- }
+ 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;
+ 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());
}
+
break;
+
+
case CHOIX : //Match ou DEMO
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.SetTextColor(LCD_COLOR_BLACK);
@@ -146,8 +161,8 @@
}
}
break;
-
- case DEMO2 :
+
+ case DEMO2 :
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.SetTextColor(LCD_COLOR_BLACK);
lcd.Clear (LCD_COLOR_WHITE);
@@ -173,7 +188,57 @@
strat_etat_s = CHOIX;
}
}
- break;
+ break;
+
+ case TEST_ASSERVE:
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ 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());
+ GoToPosition(2000,0,0,0);
+ TEST_A.Draw(BLEU, BLANC);
+ } else if(TEST_B.Touched()) {
+ while (TEST_B.Touched());
+ Rotate(3599);
+ TEST_B.Draw(BLEU, BLANC);
+ }
+ }
+ break;
+
+ case TEST_DIVE:
+
+ while(strat_etat_s==TEST_DIVE) {
+ canProcessRx();
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Coordonnees", LEFT_MODE);
+ RETOUR.Draw(0xFFFF0000,0);
+ sprintf(toto,"%hd",x_robot);
+ lcd.DisplayStringAt(0, LINE(10), (unsigned char *)"X :", LEFT_MODE);
+ lcd.DisplayStringAt(50, LINE(10), (unsigned char *)toto, LEFT_MODE);
+ sprintf(toto,"%hd",y_robot);
+ lcd.DisplayStringAt(0, LINE(11), (unsigned char *)"Y :", LEFT_MODE);
+ lcd.DisplayStringAt(50, LINE(11), (unsigned char *)toto, LEFT_MODE);
+ sprintf(toto,"%hd",theta_robot);
+ lcd.DisplayStringAt(0, LINE(12), (unsigned char *)"T :", LEFT_MODE);
+ lcd.DisplayStringAt(50, LINE(12), (unsigned char *) toto, LEFT_MODE);
+ if(RETOUR.Touched()) {
+ while (RETOUR.Touched());
+ strat_etat_s=DEMO2;
+ }
+ wait(0.2);
+ }
+ break;
case TEST_VENTOUSE:
lcd.SetBackColor(LCD_COLOR_WHITE);
@@ -239,7 +304,7 @@
}
break;
- case TEST_DIVE:
+ case TEST_ELECTROV:
lcd.SetBackColor(LCD_COLOR_WHITE);
lcd.SetTextColor(LCD_COLOR_BLACK);
lcd.Clear (LCD_COLOR_WHITE);
@@ -248,10 +313,10 @@
RETOUR.Draw(0xFFFF0000,0);
TEST_A.Draw(BLEU, BLANC);
TEST_B.Draw(BLEU, BLANC);
- while(strat_etat_s==TEST_DIVE) {
+ while(strat_etat_s==TEST_ELECTROV) {
if(RETOUR.Touched()) {
while (RETOUR.Touched());
- strat_etat_s=DEMO2;
+ strat_etat_s=DEMO;
} else if(TEST_A.Touched()) {
while (TEST_A.Touched());
//SendRawId(TEST_ELECTROV_A);
@@ -263,30 +328,7 @@
}
}
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);
@@ -411,12 +453,32 @@
case TEST_COULEUR:
lcd.Clear (LCD_COLOR_WHITE);
lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Couleur", LEFT_MODE);
+ TEST_A.Draw(BLEU, BLANC);
+ TEST_B.Draw(BLEU, BLANC);
+ TEST_C.Draw(BLEU, BLANC);
+ TEST_D.Draw(BLEU, BLANC);
RETOUR.Draw(0xFFFF0000,0);
while(strat_etat_s==TEST_COULEUR) {
if(RETOUR.Touched()) {
while (RETOUR.Touched());
strat_etat_s=DEMO;
lcd.Clear (LCD_COLOR_WHITE);
+ }else if(TEST_A.Touched()) {
+ while (TEST_A.Touched());
+ SendRawId(TEST_BRAS_A);
+ TEST_A.Draw(BLEU, BLANC);
+ } else if(TEST_B.Touched()) {
+ while (TEST_B.Touched());
+ SendRawId(TEST_BRAS_B);
+ TEST_B.Draw(BLEU, BLANC);
+ } else if(TEST_C.Touched()) {
+ while (TEST_C.Touched());
+ SendRawId(TEST_BRAS_C);
+ TEST_C.Draw(BLEU, BLANC);
+ } else if(TEST_D.Touched()) {
+ while (TEST_D.Touched());
+ SendRawId(TEST_BRAS_D);
+ TEST_D.Draw(BLEU, BLANC);
}
}
break;
@@ -461,7 +523,6 @@
while (strat_etat_s == SELECT_SIDE) {
canProcessRx();
if(COTE_JAUNE.Touched()) {
-
Cote = 0x0;
InversStrat = Cote;
strat_etat_s = TACTIQUE;
@@ -775,85 +836,4 @@
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