Diff: main.cpp

Revision:

45:d589318238bf

Parent:

44:94870081aece

Child:

46:7a0933676b13

--- a/main.cpp	Mon Jun 18 13:51:39 2018 +0000
+++ b/main.cpp	Mon Jun 18 14:16:43 2018 +0000
@@ -71,6 +71,7 @@
 
 //......SENSOR POSITION VARS
 
+//Definition of D sensors, will be interpreted as ints for the program's logic
 #define D0 0
 #define D1 1
 #define D2 2
@@ -89,7 +90,6 @@
 #define D22 15
 
 
-
 /**
 *
 *Position class.
@@ -107,8 +107,6 @@
 *add_ccw() - 
 *
 **/
-
-
 class Position{
     private:
         int position; 
@@ -148,55 +146,84 @@
         };
 };
 
+
 //Creating a vector with all the positions.
 vector<Position> positions;
 
+
+/**
+*
+*Train class.
+*
+*@position - 
+*@going_cw - 
+*
+*Train(int, bool) - 
+*Train(bool) - 
+*
+*Vector get_next_sensors() - 
+*set_position(int) - 
+*set_goes_cw(bool) - 
+*Position get_position() - 
+*Int get_position_number() - 
+*Bool goes_cw() -
+*
+**/
 class Train{
+    
     private:
         Position *position;
         bool going_cw;
+        
     public:
         Train(int pos, bool cw){
+            
             position = &positions[pos];
             going_cw = cw;
         }
-        Train(bool cw){
-            going_cw = cw;    
-        }
+        
+        Train(bool cw){ going_cw = cw; }
         
         vector<int> get_next_sensors(){
             
             //Checking direction
             if(going_cw){
+                
                 return position->get_next_cw();
             }else{
+                
                 return position->get_next_ccw();
             }            
         }
         
         void set_position(int pos){
+            
             position = &positions[pos]; //Taking the new position from the positions vector
         }
         
         void set_goes_cw(bool cw){
+            
             going_cw = cw;
         }   
         
         Position get_position(){
+            
             return *position;
         }
         
         int get_position_number(){
+            
             return position->get_pos();
         }
         
         bool goes_cw(){
+            
             return going_cw;
         }
 };
 
+
 //Creation of all the positions. One for every sensor on the table - Position name(mapping)
-
 Position d0(D0);
 Position d1(D1);
 Position d2(D2);
@@ -214,6 +241,11 @@
 Position d21(D21);
 Position d22(D22);
 
+/**
+*Defining areas for train detection and collision logic.
+*area_A_arr/area_B_arr - Arrays that hold the Dsensors for each area, used to initialize the vectors.
+*area_A/area_B - Vectors that hold the different sensors of the corresponding areas of the track.
+**/
 int area_A_arr[] = {D21,D2,D22,D1,D0,D13,D12};
 int area_B_arr[] = {D6,D7,D8};
 
@@ -222,7 +254,6 @@
 
 
 
-
 //.....DCC TRAIN COMMAND VARS
 
 //typical out of box default engine DCC address is 3 (at least for Bachmann trains)
@@ -256,19 +287,31 @@
 const unsigned int SWBflip_4 = 0x88; //Flip SW4
 
 
-//Starting position and orientation of the trains
+/**
+*Creation of 2 Train objects. 
+*Using boolean constructor because position initialization will be done after initializing all position vectors.
+*DR_train = Dark Red train - LR_train = Light Red Train
+**/
 Train DR_train(true); //Position and going_cw
 Train LR_train(true);
 
+/**
+*Booleans that will determine if the train should be moving or not. 
+*Booleans will switch to false to stop any of the trains and avoid collisions.
+*DR_run - Boolean for DR_train / LR_run - Boolean for LR_train
+**/
 bool DR_run = true;
 bool LR_run = true;
 
 
+
 //**************** FUNCTIONS FOR DENVER TRAIN ****************//
 
 
 /**
+*
 *Activates the buzzer for 0.5 seconds.
+*
 **/
 void doBuzz(){
     
@@ -277,9 +320,14 @@
     buzz = 0;    
 }
 
+
+/**
+*
+*
+*
+**/
 void init_positions(){
       
-    
     d0.add_prev_cw(D1);
     d0.add_prev_ccw(D13);
     
@@ -351,6 +399,7 @@
     positions.push_back(d22);
 }
 
+
 /**
 *
 *Here we initialize the mcp that will be used to manage the interrupts.
@@ -374,32 +423,46 @@
     
 }
 
+
 /**
 *
 *Returns the number of the sensor where the train was detected.
 *
 **/
 int get_sensor(unsigned int number,int interrupt){
+    
     int sensor = -1;
     
     for(int i=0; i<8; i++){
         
-        if(~number & 1<<i){            
+        if(~number & 1<<i){
+                        
             sensor = i; 
         }
     }
     
     if(interrupt == 1){
+        
         sensor+= 8; // Sensors caught by interreupt1 are identified from 8 to 15.
     }
+    
     return sensor;
 }
 
+
+/**
+*
+*
+*
+**/
 bool in_vector(vector<int>v,int element){
+    
     bool exist = false;
     
     for(int i=0; i< v.size(); i++){
+        
         if(v[i] == element){
+            
             exist = true;
         }
     }
@@ -407,32 +470,40 @@
     return exist;
 }
 
+
 /**
 * Check if there is an avodable frontal collision:
 * Both trains in area A or B with different direction
 * Trains in (D11 and D5) or (D9 and D3) with same direction 
 */
 bool check_NAC(bool DR_in_A, bool DR_in_B,bool LR_in_A,bool LR_in_B){
+    
     bool NAC = false;
     
     if((DR_in_A && LR_in_A) || (DR_in_B && LR_in_B) ){ //Check if both are in same area
+    
         if(DR_train.goes_cw() ^ LR_train.goes_cw()){ //XOR: They must have different values to be true (Different direction)
+        
             NAC = true;
         }
     }else if((DR_train.get_position_number() == D11) && (LR_train.get_position_number() == D5 )){ //Check if they are in position D11 and D5
+    
         if(!(DR_train.goes_cw() ^ LR_train.goes_cw())){ // NOT XOR: They must have same values to be true (Same direction)
+        
             NAC = true;
         }
     }else if((DR_train.get_position_number() == D9) && (LR_train.get_position_number() == D3 )){//Check if they are in position D9 and D3
+    
         if(!(DR_train.goes_cw() ^ LR_train.goes_cw())){ // NOT XOR: They must have same values to be true (Same direction)
+        
             NAC = true;
         }   
     }
     
-    return NAC;    
-    
+    return NAC;     
 }
 
+
 /**
 * Check if there is an Avoidable Frontal Collision
 * Train in area A(ccw) and train in D4(cw)
@@ -441,15 +512,21 @@
 * Train in area B(ccw) and train in D10(ccw) 
 */
 bool check_AFC(bool DR_in_A, bool DR_in_B,bool LR_in_A,bool LR_in_B){
-    if( DR_train.get_position_number() == D4){           
+    
+    if( DR_train.get_position_number() == D4){  
+             
             if(DR_train.goes_cw()){
+                
                 if(LR_in_A && !LR_train.goes_cw()){
+                    
                 //Activate switch2
                 //DR_train has to stop
                 //When LR is at D3 DR continues
                 }
             }else{ //DR goes ccw
+            
                 if(LR_in_B && LR_train.goes_cw()){
+                    
                     //DR_train stops
                     //Activate switch3
                     //When LR is at D5 DR continues
@@ -457,14 +534,19 @@
             }
             
     }else if(DR_train.get_position_number() == D10){
+        
         if(DR_train.goes_cw()){
+            
             if(LR_in_B && !LR_train.goes_cw()){
+                
                 //DR train stops
                 //Activate switch4
                 //When LR is at D9 DR continues
             }
         }else{
+            
             if(LR_in_A && LR_train.goes_cw()){
+                
                 //DR train stops
                 //Activate switch1
                 //When LR is at D9 DR continues
@@ -473,7 +555,14 @@
     }
 }
 
+
+/**
+*
+*
+*
+**/
 void check_position(){
+    
     bool DR_in_A, DR_in_B, LR_in_A, LR_in_B;
     
     DR_in_A=in_vector(area_A,DR_train.get_position_number()); //Check if DR train is in area A
@@ -483,6 +572,12 @@
     
 }
 
+
+/**
+*
+*
+*
+**/
 void update_train_pos(int sensor){
     
     bool found_DR = false;
@@ -493,34 +588,41 @@
     
     //TODO: Do a for to print all next sensors.
     for(int i=0; i<DR_train.get_next_sensors().size(); i++){ 
+    
         lcd.printf("%d,",DR_train.get_next_sensors()[i]);
     }
+    
     lcd.printf(") LR(");
     
-    for(int i=0; i<LR_train.get_next_sensors().size(); i++){    
+    for(int i=0; i<LR_train.get_next_sensors().size(); i++){ 
+       
         lcd.printf("%d,",LR_train.get_next_sensors()[i]);
     }
+    
     lcd.printf(")");
-           
     wait(0.7);   
     
     //Checking next sensors for DR train
     for(int i=0; i<DR_train.get_next_sensors().size(); i++){         
         
         if(DR_train.get_next_sensors()[i] == sensor){ //If the sensor is one expected to visit by the train we update the position
+        
             found_DR = true;
             DR_train.set_position(sensor);
             
             if(DR_train.goes_cw()){
-                if(sensor == D9 || sensor == D3){                
+                
+                if(sensor == D9 || sensor == D3){  
+                              
                     DR_train.set_goes_cw(false); //If train goes cw and passes D5 or D11 we change orientation
                 }    
             }else{
+                
                 if(sensor == D5 || sensor == D11){
+                    
                     DR_train.set_goes_cw(true); //If train goes ccw and passes D9 or D3 we change orientation
                 }
             }                
-            
         }
     }
     
@@ -528,37 +630,43 @@
     for(int i=0; i<LR_train.get_next_sensors().size(); i++){
         
         if(LR_train.get_next_sensors()[i] == sensor){
+            
             lcd.cls();
             lcd.printf("Detected!"); 
             found_LR = true;
             LR_train.set_position(sensor);
             
-            if(LR_train.goes_cw()){                
+            if(LR_train.goes_cw()){   
+                         
                 if(sensor == D9 || sensor == D3){
+                    
                     LR_train.set_goes_cw(false); //If train goes cw and passes D5 or D11 we change orientation
                 }    
             }else{
                     
                 if(sensor == D5 || sensor == D11){
+                    
                     LR_train.set_goes_cw(true); //If train goes ccw and passes D9 or D3 we change orientation
                 }
             }  
         }
     }
                    
-     
      if(found_DR){
+        
         //doBuzz();
         lcd.cls();
         lcd.printf("DR is at D%d",DR_train.get_position_number());
-        
     }
+    
     if(found_LR){
 
         lcd.cls();
         lcd.printf("LR is at D%d",LR_train.get_position_number());   
     }
+    
     if(!found_DR && !found_LR){
+        
         lcd.cls();
         lcd.printf("No train before :(");
     }
@@ -578,12 +686,10 @@
      lcd.cls();
      lcd.printf("int0 0x%x \n Sensor: %d",sensor_data,sensor);
       
-     
      update_train_pos(sensor);
 }
 
 
-
 /**
 *
 *Method to catch interrupts 1
@@ -600,8 +706,13 @@
      update_train_pos(sensor);
 }
 
+/**
+*
+*
+*
+**/
+void init() { // Clear current interrupts 
 
-void init() { // Clear current interrupts 
     mcp->_read(GPIOA); 
     mcp->_read(GPIOB); // Register callbacks 
     int0.fall(&on_int0_change); 
@@ -620,8 +731,8 @@
 *@repeat_count - Number of times the command will be sent
 *
 **/
-void DCC_send_command(unsigned int address, unsigned int inst, unsigned int repeat_count)
-{
+void DCC_send_command(unsigned int address, unsigned int inst, unsigned int repeat_count){
+    
     unsigned __int64 command = 0x0000000000000000; // __int64 is the 64-bit integer type
     unsigned __int64 temp_command = 0x0000000000000000;
     unsigned __int64 prefix = 0x3FFF; // 14 "1" bits needed at start
@@ -650,7 +761,6 @@
                 Track=1;
                 wait_us(100);
                 //printf("0011");
-                
             }else{
                 
                 //send data for a "1"bit
@@ -682,30 +792,36 @@
     unsigned int SWBflip = SWBidle; //IDLE - Flip last activated SW.
     
     switch(switchId){
+        
         case 1:
             SWBflip = SWBflip_1;     //FLIP SW1
             break;
+            
         case 2:
             SWBflip = SWBflip_2;     //FLIP SW2
             break;
+            
         case 3:
             SWBflip = SWBflip_3;     //FLIP SW3
             break;
+            
         case 4:
             SWBflip = SWBflip_4;     //FLIP SW4
             break;
+            
         default:
             break;    
     }          
 
     //Security measure not to burn the switch.
     if(times <=5){ 
+    
         DCC_send_command(SWBaddress,SWBflip,times); //Activating switch
         if(!activate){
+              
               DCC_send_command(SWBaddress,SWBidle,times);  //Sending IDLE to flip back.
         }
      }
-    
 }
 
 
@@ -722,19 +838,16 @@
         lcd.cls();
         lcd.printf("Switch 1 ON - SW1");
         flipSwitch(1,5);
-        
      }else if(switch2 == 1){
         
             lcd.cls();
             lcd.printf("Switch 2 ON - SW2");
             flipSwitch(2,5);
-        
         }else if(switch3 == 0){
                 
                 lcd.cls();
                 lcd.printf("Switch 3 ON - SW3");
-                flipSwitch(3,5);
-                
+                flipSwitch(3,5); 
             }else if(switch4 == 0){
         
                     lcd.cls();
@@ -743,22 +856,36 @@
             }
     }
 
+
+/**
+*
+*
+*
+**/
 void send_command(){
+    
     if(DR_run){
+        
         DCC_send_command(DCCaddressDR,DCCinst_forward,1); // Forward half speed train addres DARK-RED 
     }else{
+        
         DCC_send_command(DCCaddressDR,DCCinst_stop,400);
     }
     
     if(LR_run){
+        
         DCC_send_command(DCCaddressLR,DCCinst_forward,1); // Forward half speed train addres DARK-RED 
     }else{
+        
         DCC_send_command(DCCaddressLR,DCCinst_stop,400);
     }
 }
 
+
+
 //**************** MAIN PROGRAM FOR DENVER TRAIN ****************//
 
+
 int main()
 {
     //RISE FOR INTERRUPTS?? NOT WORKING ATM