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:
- 21:d137ec53c3a9
- Child:
- 22:c7763a7ec6c7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/IHM/ihm.cpp Wed Jun 24 09:39:42 2020 +0000
@@ -0,0 +1,741 @@
+#include "global.h"
+
+#define VERT 0xFF00FF00
+#define ROUGE 0xFFFF0000
+#define BLEU 0xFF0000FF
+#define JAUNE 0xFFFDD835//FEFE00
+#define BLANC 0xFF000000
+#define ORANGE 0xFFFFA500
+#define NOIR 0xFF000000
+#define DIY_GREY 0xFFDFDFDF
+#define VIOLET 0xFF4527A0
+TS_DISCO_F469NI ts;
+LCD_DISCO_F469NI lcd;
+
+
+TS_StateTypeDef TS_State;
+
+
+/////////////////DEFINITION DES BOUTONS////////////////////
+Button COTE_JAUNE(0, 25, 400, 300, "JAUNE");
+Button COTE_VIOLET(0, 350, 400, 300, "VIOLET");
+Button RETOUR (0, 680, 400, 110, "--Precedent--");
+Button LANCER (0, 200, 400, 200, "--LANCER--");
+Button CHECK (0, 420, 400, 200, "Valider");
+Button MATCH (0, 50, 400, 320, "Match");
+Button DEMONSTRATION (0, 400, 400, 320, "Demo");
+//menu demo
+Button TEST_VENT(0, 25, 400, 100, "Test ventouses");
+Button TEST_MOT(0, 135, 400, 100, "Test moteur");
+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");
+//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_PLUS(205,355,195,100,"+");
+Button TEST_MOINS(0,355,195,100,"-");
+
+
+Button FORCE_LAUNCH(0, 50, 400, 320, "Force Launch");
+Button SUIVANT(0,380,200,100,"Suivant");
+////////////////////////////////////////////////////////////
+
+signed char Bouton_Strat (void);
+
+void SelectionStrat (unsigned char numeroStrat);
+
+/****************************************************************************************/
+/* FUNCTION NAME: automate_etat_ihm */
+/* DESCRIPTION : Automate de gestion de l'affichage */
+/****************************************************************************************/
+void automate_etat_ihm(void)
+{
+ char toto[2];
+ int j;
+ unsigned char maximilien=1;
+ if (j==0) {
+ ts.Init(lcd.GetXSize(), lcd.GetYSize());
+ j++;
+ }
+ ts.GetState(&TS_State);
+ switch (strat_etat_s) {
+ case INIT : //intialise l'écran et passe à l'attente d'initialisation des cartes
+ 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;
+ 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);
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Match ou demonstration ?", LEFT_MODE);
+ DEMONSTRATION.Draw(LCD_COLOR_LIGHTGREEN, 0);
+ MATCH.Draw(0xFFF01010, 0);
+ while(strat_etat_s == CHOIX) {
+ canProcessRx();
+ if(DEMONSTRATION.Touched()) {
+ strat_etat_s = DEMO;
+ while(DEMONSTRATION.Touched());
+ }
+
+ if(MATCH.Touched()) {
+ strat_etat_s = SELECT_SIDE;
+ while(MATCH.Touched());
+ }
+
+ }
+ break;
+
+ case DEMO :
+ 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);
+ 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);
+ maximilien=0;
+ while (strat_etat_s == DEMO) {
+ canProcessRx();
+ if(TEST_VENT.Touched()) {
+ while(TEST_VENT.Touched());
+ strat_etat_s = TEST_VENTOUSE;
+ } 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_COUL.Touched()) {
+ while(TEST_COUL.Touched());
+ strat_etat_s =TEST_COULEUR ;
+ } else if (TEST_BRAS.Touched()) {
+ while(TEST_BRAS.Touched());
+ strat_etat_s =TEST_SERVO_BRAS ;
+ } else if(TEST_AUDIO.Touched()) {
+ while(TEST_AUDIO.Touched());
+ strat_etat_s=TEST_AUD;
+ } else if(RETOUR.Touched()) {
+ while(RETOUR.Touched());
+ strat_etat_s = CHOIX;
+ }
+ }
+ break;
+
+
+ case TEST_VENTOUSE:
+ 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 *)"Test Ventouse", LEFT_MODE);
+ sprintf(toto,"%hd",maximilien);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+ RETOUR.Draw(0xFFFF0000,0);
+ TEST_A.Draw(BLEU, BLANC);
+ TEST_NUM.Draw(BLEU, BLANC);
+ TEST_PLUS.Draw(BLEU, BLANC);
+ TEST_MOINS.Draw(BLEU, BLANC);
+ while(strat_etat_s==TEST_VENTOUSE) {
+ if(RETOUR.Touched()) {
+ while (RETOUR.Touched());
+ strat_etat_s=DEMO;
+ } else if(TEST_A.Touched()) {
+ while (TEST_A.Touched());
+ //SendRawId(TEST_VENT_A);
+ TEST_A.Draw(BLEU, BLANC);
+ } else if(TEST_NUM.Touched()) {
+ while (TEST_NUM.Touched());
+ TEST_NUM.Draw(BLEU, BLANC);
+ switch(maximilien){
+ case 1:
+ SendRawId(TEST_VENT_1_ON);
+ break;
+ case 2:
+ SendRawId(TEST_VENT_1_OFF);
+ break;
+ case 3:
+ //SendRawId(TEST_VENT_3);
+ break;
+ case 4:
+ //SendRawId(TEST_VENT_4);
+ break;
+ case 5:
+ //SendRawId(TEST_VENT_5);
+ break;
+ case 6:
+ //SendRawId(TEST_VENT_6);
+ break;
+ }
+ } else if(TEST_PLUS.Touched()) {
+ while (TEST_PLUS.Touched());
+ TEST_PLUS.Draw(BLEU, BLANC);
+ if(maximilien!=6)maximilien++;
+ sprintf(toto,"%hd",maximilien);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+ } else if(TEST_MOINS.Touched()) {
+ while (TEST_MOINS.Touched());
+ TEST_MOINS.Draw(BLEU, BLANC);
+ if(maximilien!=1)maximilien--;
+ sprintf(toto,"%hd",maximilien);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+ }
+ }
+ break;
+
+ case TEST_ELECTROV:
+ 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 *)"A : Manches B : Pavillon", LEFT_MODE);
+ RETOUR.Draw(0xFFFF0000,0);
+ TEST_A.Draw(BLEU, BLANC);
+ TEST_B.Draw(BLEU, BLANC);
+ while(strat_etat_s==TEST_ELECTROV) {
+ if(RETOUR.Touched()) {
+ while (RETOUR.Touched());
+ strat_etat_s=DEMO;
+ } 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);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Audio", LEFT_MODE);
+ sprintf(toto,"%hd",maximilien);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+ RETOUR.Draw(0xFFFF0000,0);
+ TEST_NUM.Draw(BLEU, BLANC);
+ TEST_PLUS.Draw(BLEU, BLANC);
+ TEST_MOINS.Draw(BLEU, BLANC);
+ while(strat_etat_s==TEST_AUD) {
+ if(RETOUR.Touched()) {
+ while (RETOUR.Touched());
+ strat_etat_s=DEMO;
+ } else if(TEST_NUM.Touched()) {
+ while (TEST_NUM.Touched());
+ TEST_NUM.Draw(BLEU, BLANC);
+ Debug_Audio(3,maximilien);
+ } else if(TEST_PLUS.Touched()) {
+ while (TEST_PLUS.Touched());
+ TEST_PLUS.Draw(BLEU, BLANC);
+ if(maximilien!=20)maximilien++;
+ sprintf(toto,"%hd",maximilien);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+ } else if(TEST_MOINS.Touched()) {
+ while (TEST_MOINS.Touched());
+ TEST_MOINS.Draw(BLEU, BLANC);
+ if(maximilien!=1)maximilien--;
+ sprintf(toto,"%hd",maximilien);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+ }
+ }
+ break;
+
+ case TEST_SERVO_BRAS:
+
+ 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 *)"Test Bras", LEFT_MODE);
+ sprintf(toto,"%hd",maximilien);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+ RETOUR.Draw(0xFFFF0000,0);
+ TEST_A.Draw(BLEU, BLANC);
+ TEST_B.Draw(BLEU, BLANC);
+ TEST_C.Draw(BLEU, BLANC);
+ TEST_D.Draw(BLEU, BLANC);
+ TEST_NUM.Draw(BLEU, BLANC);
+ TEST_PLUS.Draw(BLEU, BLANC);
+ TEST_MOINS.Draw(BLEU, BLANC);
+ while(strat_etat_s==TEST_SERVO_BRAS) {
+ if(RETOUR.Touched()) {
+ while (RETOUR.Touched());
+ strat_etat_s=DEMO;
+ } 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);
+ } else if(TEST_NUM.Touched()) {
+ while (TEST_NUM.Touched());
+ TEST_NUM.Draw(BLEU, BLANC);
+ switch(maximilien){
+ case 1:
+ SendRawId(TEST_BRAS_1);
+ break;
+ case 2:
+ SendRawId(TEST_BRAS_2);
+ break;
+ case 3:
+ SendRawId(TEST_BRAS_3);
+ break;
+ case 4:
+ SendRawId(TEST_BRAS_4);
+ break;
+ case 5:
+ SendRawId(TEST_BRAS_5);
+ break;
+ case 6:
+ SendRawId(TEST_BRAS_6);
+ break;
+ }
+ } else if(TEST_PLUS.Touched()) {
+ while (TEST_PLUS.Touched());
+ TEST_PLUS.Draw(BLEU, BLANC);
+ if(maximilien!=6)maximilien++;
+ sprintf(toto,"%hd",maximilien);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+ } else if(TEST_MOINS.Touched()) {
+ while (TEST_MOINS.Touched());
+ TEST_MOINS.Draw(BLEU, BLANC);
+ if(maximilien!=1)maximilien--;
+ sprintf(toto,"%hd",maximilien);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+ }
+ }
+ break;
+
+ case TEST_COULEUR:
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Couleur", LEFT_MODE);
+ 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);
+ }
+ }
+ break;
+
+ case TEST_MOTEUR:
+ 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 *)"Test Moteur", LEFT_MODE);
+ RETOUR.Draw(0xFFFF0000,0);
+ TEST_A.Draw(BLEU, BLANC);
+ TEST_B.Draw(BLEU, BLANC);
+ while(strat_etat_s==TEST_MOTEUR) {
+ if(RETOUR.Touched()) {
+ while (RETOUR.Touched());
+ strat_etat_s=DEMO;
+ } else if(TEST_A.Touched()) {
+ while (TEST_A.Touched());
+ BendRadius(150,1800,1,0);
+ TEST_A.Draw(BLEU, BLANC);
+ } else if(TEST_B.Touched()) {
+ while (TEST_B.Touched());
+ BendRadius(150,1800,0,0);
+ TEST_B.Draw(BLEU, BLANC);
+ }
+ }
+ break; ///////////////////////////////////////////FIN DES DEMOS/////////////////////////////////////////////////
+
+
+ case SELECT_SIDE : // CHOIX DU COTE DU TERRAIN + INVERSION DE LA STRAT SI COTE ORANGE+ ENVOI DU COTE A LA CARTE CAPTEUR/ACTIONNEURS
+ lcd.Clear(LCD_COLOR_WHITE);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+
+ lcd.DisplayStringAt(70, LINE(0), (uint8_t *)"Choisir le cote", LEFT_MODE);
+ COTE_JAUNE.Draw(JAUNE, 0);
+ COTE_VIOLET.Draw(VIOLET, 0);
+ RETOUR.Draw(LCD_COLOR_RED, 0);
+
+
+ while (strat_etat_s == SELECT_SIDE) {
+ canProcessRx();
+ if(COTE_JAUNE.Touched()) {
+ Cote = 0x0;
+ InversStrat = Cote;
+ strat_etat_s = TACTIQUE;
+ CANMessage trame_Tx = CANMessage();
+ trame_Tx.len = 1;
+ trame_Tx.format = CANStandard;
+ trame_Tx.type = CANData;
+ trame_Tx.id=CHOICE_COLOR;
+ trame_Tx.data[0]=Cote;
+ can2.write(trame_Tx);
+ while(COTE_JAUNE.Touched());
+
+ }
+
+ if(COTE_VIOLET.Touched()) {
+ Cote = 0x1;
+ InversStrat= Cote;
+ strat_etat_s = TACTIQUE;
+ CANMessage trame_Tx = CANMessage();
+ trame_Tx.len = 1;
+ trame_Tx.format = CANStandard;
+ trame_Tx.type = CANData;
+ trame_Tx.id=CHOICE_COLOR;
+ trame_Tx.data[0]=Cote;
+ can2.write(trame_Tx);
+ while(COTE_VIOLET.Touched());
+ }
+
+ if(RETOUR.Touched()) {
+ strat_etat_s = CHOIX;
+ while(RETOUR.Touched());
+ }
+ }
+
+ break;
+
+ case TACTIQUE : //AFFICHE LA LISTE DES STRATS AFIN DE SELECTIONNER CELLE VOULUE
+ if (Cote == 0) {
+ lcd.Clear(JAUNE);
+ lcd.SetBackColor(JAUNE);
+ } else if (Cote == 1) {
+ lcd.Clear(VIOLET);
+ lcd.SetBackColor(VIOLET);
+ } else {
+ lcd.Clear(BLEU);
+ lcd.SetBackColor(BLEU);
+ }
+
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+
+ lcd.DisplayStringAt(20, LINE(0), (uint8_t *)"Choisir une strategie", LEFT_MODE);
+
+ nbStrat = Bouton_Strat(); // retourne valeur de Strategie si bouton strat renvoi -1 on reviens en arriere
+ if (nbStrat == -1) {
+ strat_etat_s = SELECT_SIDE;
+ } else {
+ strat_etat_s = DETAILS;
+ }
+ wait(0.1);
+ break;
+
+ case DETAILS : //SECONDE VALIDATION DE LA STRAT
+ lcd.Clear(LCD_COLOR_WHITE);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+ CHECK.Draw(VERT);
+ RETOUR.Draw(LCD_COLOR_RED);
+
+ SelectionStrat(nbStrat); //affiche la stratégie selectionnée
+
+ while (strat_etat_s == DETAILS) {
+ canProcessRx();
+ if (CHECK.Touched()) {
+ if(gameEtat == ETAT_CONFIG) {
+ gameEtat = ETAT_GAME_INIT;
+ strat_etat_s=LECTURE;
+
+ }
+ while(CHECK.Touched());
+ }
+
+ if(RETOUR.Touched()) {
+ strat_etat_s = TACTIQUE;
+ while(RETOUR.Touched());
+ }
+ }
+ break;
+
+
+ case LECTURE :
+ break;
+ case AFF_WAIT_JACK : //FONCTIONS D'AFFICHAGE DE L'ATTENTE DU JACK
+ lcd.Clear(BLANC);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+
+ if (Cote == 0) {
+ lcd.Clear(VERT);
+ lcd.SetBackColor(VERT);
+ } else if (Cote == 1) {
+ lcd.Clear(ORANGE);
+ lcd.SetBackColor(ORANGE);
+ } else {
+ lcd.Clear(VERT);
+ lcd.SetBackColor(VERT);
+ }
+ canProcessRx();
+ lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"En attente du Jack", CENTER_MODE);
+ strat_etat_s=WAIT_JACK;
+ break;
+
+ case WAIT_JACK: //VERITABLE ATTENTE DU JACK
+ break;
+
+ case FIN : //AFFICHAGE DE FIN AVEC LE SCORE FINAL
+ lcd.Clear (LCD_COLOR_WHITE);
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+
+
+ while(1); // force le redemarage du robot
+ //break;
+
+ }
+ }
+/****************************************************************************************/
+/* FUNCTION NAME: Bouton_Strat */
+/* DESCRIPTION : Sélection de la strat sur le lcd puis envoie sur CAN (à modifier!) */
+/****************************************************************************************/
+signed char Bouton_Strat (void)
+{
+ char Ack_strat = 0;
+ signed char Strat = 0;
+ Button STRAT_1 (0, 30, 190, 110, strat_sd[0]);
+ Button STRAT_2 (210, 30, 190, 110, strat_sd[1]);
+ Button STRAT_3 (0, 150, 190, 110, strat_sd[2]);
+ Button STRAT_4 (210, 150, 190, 110, strat_sd[3]);
+ Button STRAT_5 (0, 270, 190, 110,strat_sd[4]);
+ Button STRAT_6 (210, 270, 190, 110, strat_sd[5]);
+ Button STRAT_7 (0, 390, 190, 110, strat_sd[6]);
+ Button STRAT_8 (210, 390, 190, 110, strat_sd[7]);
+ Button STRAT_9 (0, 510, 190, 110, strat_sd[8]);
+ Button STRAT_10 (210, 510, 190, 110, strat_sd[9]);
+ Button RETOUR (0, 680, 400, 110, "--Precedent--");
+ //Definition des boutons
+
+ Ack_strat = 0;
+ Strat = 0;
+ STRAT_1.Draw(0xFFF0F0F0, 0);
+ STRAT_2.Draw(0xFFF0F0F0, 0);
+ STRAT_3.Draw(0xFFF0F0F0, 0);
+ STRAT_4.Draw(0xFFF0F0F0, 0);
+ STRAT_5.Draw(0xFFF0F0F0, 0);
+ STRAT_6.Draw(0xFFF0F0F0, 0);
+ STRAT_7.Draw(0xFFF0F0F0, 0);
+ STRAT_8.Draw(0xFFF0F0F0, 0);
+ STRAT_9.Draw(0xFFF0F0F0, 0);
+ STRAT_10.Draw(0xFFF0F0F0, 0);
+ RETOUR.Draw(0xFFFF0000, 0);
+
+ while(Ack_strat == 0) {
+ canProcessRx();
+ CANMessage msgTx=CANMessage();
+ //msgTx.id=ECRAN_CHOICE_STRAT;
+ if (RETOUR.Touched())
+ return -1;
+ while(RETOUR.Touched());
+ //////////////////////////////STRATEGIE N°1
+ if (STRAT_1.Touched()) {
+ Strat = 0;
+ //msgTx.data[0] = 0x1;
+ //can2.write(msgTx);
+ while(STRAT_1.Touched());
+ Ack_strat =1;
+ }
+ /////////////////////////////STRATEGIE N°2
+ if (STRAT_2.Touched()) {
+ Strat = 1;
+ //msgTx.data[0] = 0x2;
+ //can2.write(msgTx);
+ while(STRAT_2.Touched());
+ Ack_strat =1;
+ }
+ //////////////////////////////STRATEGIE N°3
+ if (STRAT_3.Touched()) {
+ Strat = 2;
+ //msgTx.data[0] = 0x3;
+ //can2.write(msgTx);
+ while(STRAT_3.Touched());
+ Ack_strat =1;
+ }
+ /////////////////////////////STRATEGIE N°4
+ if (STRAT_4.Touched()) {
+ Strat = 3;
+ //msgTx.data[0] = 0x4;
+ //can2.write(msgTx);
+ while(STRAT_4.Touched());
+ Ack_strat =1;
+ }
+ ///////////////////////////////STRATEGIE N°5
+ if (STRAT_5.Touched()) {
+ Strat = 4;
+ //msgTx.data[0] = 0x5;
+ //can2.write(msgTx);
+ while(STRAT_5.Touched());
+ Ack_strat =1;
+ }
+ ////////////////////////////////STRATEGIE N°6
+ if (STRAT_6.Touched()) {
+ Strat = 5;
+ //msgTx.data[0] = 0x6;
+ //can2.write(msgTx);
+ while(STRAT_6.Touched());
+ Ack_strat =1;
+ }
+ /////////////////////////////////STRATEGIE N°7
+ if (STRAT_7.Touched()) {
+ Strat = 6;
+ //msgTx.data[0] = 0x7;
+ //can2.write(msgTx);
+ while(STRAT_7.Touched());
+ Ack_strat =1;
+ }
+ /////////////////////////////////STRATEGIE N°8
+ if (STRAT_8.Touched()) {
+ Strat = 7;
+ //msgTx.data[0] = 0x8;
+ //can2.write(msgTx);
+ while(STRAT_8.Touched());
+ Ack_strat =1;
+ }
+ /////////////////////////////////STRATEGIE N°9
+ if (STRAT_9.Touched()) {
+ Strat = 8;
+ //msgTx.data[0] = 0x9;
+ //can2.write(msgTx);
+ while(STRAT_9.Touched());
+ Ack_strat =1;
+ }
+ ///////////////////////////////////STRATEGIE N°10
+ if (STRAT_10.Touched()) {
+ Strat = 9;
+ //msgTx.data[0] = 0xA;
+ //can2.write(msgTx);
+ while(STRAT_10.Touched());
+ Ack_strat =1;
+ }
+
+ }
+ return Strat;
+
+}
+/****************************************************************************************/
+/* FUNCTION NAME: SelectionStrat */
+/* DESCRIPTION : Affiche la Stratégie sélectionnée sur l'ihm */
+/****************************************************************************************/
+
+
+void SelectionStrat (unsigned char Strategie)
+{
+ lcd.SetBackColor(LCD_COLOR_WHITE);
+ lcd.SetTextColor(LCD_COLOR_BLACK);
+
+ switch (Strategie+1) {
+ case 0x1 :
+ //description de Strategie n°1
+ lcd.DisplayStringAt(150, 0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
+ break;
+
+ case 0x2 :
+ //description de Strategie n°2
+ lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
+ break;
+
+ case 0x3 :
+ //description de Strategie n°3
+ lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
+ break;
+
+ case 0x4 :
+ //description de Strategie n°4
+ lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
+ break;
+
+ case 0x5 :
+ //description de Strategie n°5
+ lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
+ break;
+
+ case 0x6 :
+ //description de Strategie n°5
+ lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
+ break;
+
+ case 0x7 :
+ //description de Strategie n°5
+ lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
+ break;
+
+ case 0x8 :
+ //description de Strategie n°5
+ lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
+ break;
+
+ case 0x9 :
+ //description de Strategie n°5
+ lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
+ break;
+
+ case 0xA :
+ //description de Strategie n°5
+ lcd.DisplayStringAt(150,0, (uint8_t *)strat_sd[Strategie], LEFT_MODE);
+ break;
+ }
+}
\ No newline at end of file