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
IHM/ihm.cpp
- Committer:
- goldmas
- Date:
- 2021-05-12
- Revision:
- 33:c54841d11156
- Parent:
- 32:7f8e3ee2adac
- Child:
- 34:c314feaa0d3e
File content as of revision 33:c54841d11156:
#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
#define VERT_F 0xFF00C400
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, "BLEU");
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_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,"Num");
Button TEST_ATTRAPER(0,300,400,100,"Attraper");
Button TEST_RELACHER(0,450,400,100,"Relacher");
Button TEST_PLUS(205,355,195,100,"+");
Button TEST_MOINS(0,355,195,100,"-");
Button TEST_SERVO_0(0,50,120,100,"Bras 0");
Button TEST_SERVO_1(140,50,120,100,"Bras 1");
Button TEST_SERVO_2(280,50,120,100,"Bras 2");
Button TEST_SERVO_3(0,160,120,100,"Bras 3");
Button TEST_SERVO_4(140,160,120,100,"Bras 4");
Button TEST_SERVO_5(280,160,120,100,"Bras 5");
Button FORCE_LAUNCH(0, 600, 400, 100, "Force Launch");
Button SUIVANT(0,380,200,100,"Suivant");
////////////////////////////////////////////////////////////
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 SelectionStrat (unsigned char numeroStrat);
/****************************************************************************************/
/* FUNCTION NAME: automate_etat_ihm */
/* DESCRIPTION : Automate de gestion de l'affichage */
/****************************************************************************************/
void automate_etat_ihm(void)
{
char toto[12];
int j;
unsigned char maximilien=1, choix_groupe;
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);
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);
DrawCheck(30,30,50,243,can_present);
lcd.DisplayStringAt(100, 300, (uint8_t *)"Micro SD", LEFT_MODE);
DrawCheck(30,30,50,293,sd_present);
lcd.DisplayStringAt(100, 350, (uint8_t *)"Carte Moteur", LEFT_MODE);
lcd.DisplayStringAt(100, 400, (uint8_t *)"Balise IR", 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 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_NEXT.Draw(BLEU, 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_NEXT.Touched()) {
while(TEST_NEXT.Touched());
strat_etat_s = DEMO2;
} 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 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_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);
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(VENT_ETAT);
TEST_A.Draw(BLEU, BLANC);
} else if(TEST_NUM.Touched()) {
while (TEST_NUM.Touched());
TEST_NUM.Draw(BLEU, BLANC);
switch(maximilien){
case 1:
choix_groupe = 0 ;
SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
break;
case 2:
choix_groupe = 0 ;
SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
break;
case 3:
choix_groupe = 1 ;
SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
break;
case 4:
choix_groupe = 1 ;
SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
break;
case 5:
choix_groupe = 2 ;
SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
break;
case 6:
choix_groupe = 2 ;
SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
break;
case 7:
choix_groupe = 3 ;
SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
break;
case 8:
choix_groupe = 3 ;
SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
break;
case 9:
choix_groupe = 4 ;
SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
break;
case 10:
choix_groupe = 4 ;
SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
break;
case 11:
choix_groupe = 5 ;
SendMsgCan(VENT_AT, &choix_groupe, sizeof(choix_groupe)) ;
break;
case 12:
choix_groupe = 5 ;
SendMsgCan(VENT_RE, &choix_groupe, sizeof(choix_groupe)) ;
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:
char bras_select_0 = 7, bras_select_1 = 0, bras_select_2 = 0, bras_select_3 = 0, bras_select_4 = 0, bras_select_5 = 0 ;
unsigned char choix_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_ATTRAPER.Draw(BLEU, BLANC);
TEST_RELACHER.Draw(BLEU, BLANC);
TEST_SERVO_0.Draw(BLEU, BLANC);
TEST_SERVO_1.Draw(BLEU, BLANC);
TEST_SERVO_2.Draw(BLEU, BLANC);
TEST_SERVO_3.Draw(BLEU, BLANC);
TEST_SERVO_4.Draw(BLEU, BLANC);
TEST_SERVO_5.Draw(BLEU, BLANC);
while(strat_etat_s==TEST_SERVO_BRAS)
{
if(RETOUR.Touched())
{
while (RETOUR.Touched());
strat_etat_s=DEMO;
}
else if(TEST_SERVO_0.Touched())
{
while (TEST_SERVO_0.Touched());
if(bras_select_0 == 0)
{
bras_select_0 = 7 ;
TEST_SERVO_0.Draw(BLEU, BLANC);
}
else
{
bras_select_0 = 0 ;
TEST_SERVO_0.Draw(DIY_GREY, BLANC);
}
}
else if(TEST_SERVO_1.Touched())
{
while (TEST_SERVO_1.Touched());
if(bras_select_1 == 1)
{
bras_select_1 = 0 ;
TEST_SERVO_1.Draw(BLEU, BLANC);
}
else
{
bras_select_1 = 1 ;
TEST_SERVO_1.Draw(DIY_GREY, BLANC);
}
}
else if(TEST_SERVO_2.Touched())
{
while (TEST_SERVO_2.Touched());
if(bras_select_2 == 2)
{
bras_select_2 = 0 ;
TEST_SERVO_2.Draw(BLEU, BLANC);
}
else
{
bras_select_2 = 2 ;
TEST_SERVO_2.Draw(DIY_GREY, BLANC);
}
}
else if(TEST_SERVO_3.Touched())
{
while (TEST_SERVO_3.Touched());
if(bras_select_3 == 3)
{
bras_select_3 = 0 ;
TEST_SERVO_3.Draw(BLEU, BLANC);
}
else
{
bras_select_3 = 3 ;
TEST_SERVO_3.Draw(DIY_GREY, BLANC);
}
}
else if(TEST_SERVO_4.Touched())
{
while (TEST_SERVO_4.Touched());
if(bras_select_4 == 4)
{
bras_select_4 = 0 ;
TEST_SERVO_4.Draw(BLEU, BLANC);
}
else
{
bras_select_4 = 4 ;
TEST_SERVO_4.Draw(DIY_GREY, BLANC);
}
}
else if(TEST_SERVO_5.Touched())
{
while (TEST_SERVO_5.Touched());
if(bras_select_5 == 5)
{
bras_select_5 = 0 ;
TEST_SERVO_5.Draw(BLEU, BLANC);
}
else
{
bras_select_5 = 5 ;
TEST_SERVO_5.Draw(DIY_GREY, BLANC);
}
}
else if (TEST_ATTRAPER.Touched())
{
while(TEST_ATTRAPER.Touched()) ;
unsigned char message_droit_at, message_gauche_at, nombre_de_chiffre_droite, nombre_de_chiffre_gauche;
message_droit_at = 100 * bras_select_2 + 10 * bras_select_1 + bras_select_0 ;
message_gauche_at = 100 * bras_select_5 + 10 * bras_select_4 + bras_select_3 ;
switch (message_gauche_at)
{
case 31 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
choix_bras = 66 ;
SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 28 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
choix_bras = 54 ;
SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 247 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
choix_bras = 53 ;
SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 43 :
choix_bras = 43 ;
SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 244 : //on dépasse la taille d'un char donc on met la valeur en comptant le dépassement
choix_bras = 5 ;
SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 40 :
choix_bras = 4 ;
SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 3 :
choix_bras = 3 ;
SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
}
switch (message_droit_at)
{
case 210 :
choix_bras = 210 ;
SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 217 :
choix_bras = 21 ;
SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 200 :
choix_bras = 20 ;
SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 10 :
choix_bras = 10 ;
SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 207 :
choix_bras = 2 ;
SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 17 :
choix_bras = 1 ;
SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 0 :
choix_bras = 0 ;
SendMsgCan(BRAS_AT, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
}
message_droit_at = 0 ;
message_gauche_at = 0 ;
TEST_ATTRAPER.Draw(BLEU, BLANC);
}
else if (TEST_RELACHER.Touched())
{
while(TEST_RELACHER.Touched());
unsigned char message_droit_re, message_gauche_re;
message_droit_re = 100 * bras_select_2 + 10 * bras_select_1 + bras_select_0 ;
message_gauche_re = 100 * bras_select_5 + 10 * bras_select_4 + bras_select_3 ;
switch (message_droit_re)
{
case 210 :
choix_bras = 210 ;
SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 217 :
choix_bras = 21 ;
SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 200 :
choix_bras = 20 ;
SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 10 :
choix_bras = 10 ;
SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 207 :
choix_bras = 2 ;
SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 17 :
choix_bras = 1 ;
SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 0 :
choix_bras = 0 ;
SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
}
switch (message_gauche_re)
{
case 31 :
choix_bras = 66 ;
SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 28 :
choix_bras = 54 ;
SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 247 :
choix_bras = 53 ;
SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 43 :
choix_bras = 43 ;
SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 244 :
choix_bras = 5 ;
SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 40 :
choix_bras = 4 ;
SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
case 3 :
choix_bras = 3 ;
SendMsgCan(BRAS_RE, &choix_bras,sizeof(choix_bras));
waitingAckFrom = 0;
waitingAckID =0;
break ;
}
message_droit_re = 0 ;
message_gauche_re = 0 ;
TEST_RELACHER.Draw(BLEU, BLANC);
}
}
break;
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;
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 = 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_JAUNE.Touched());
}
if(COTE_VIOLET.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_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 == 1) {
lcd.Clear(JAUNE);
lcd.SetBackColor(JAUNE);
} else if (Cote == 0) {
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;
}
}
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);
}
}