Diff: BeautifulMeme/bmeme.cpp

Revision:

31:7fa2c47d73a2

Parent:

30:513457c1ad12

--- a/BeautifulMeme/bmeme.cpp	Tue Mar 15 00:58:43 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,306 +0,0 @@
-/// PsiSwarm Beautiful Meme Project Source Code
-/// Version 0.41
-/// James Hilder, Alan Millard, Homero Elizondo, Jon Timmis
-/// University of York
-
-/// Include bmeme.h - this includes main.h, psiswarm.h all the other necessary core files
-
-#include "bmeme.h"
-
-//  IMPORTANT!!!
-//  Do not call the IR functions at all as they will interfere with the correct operation of this program
-//  Instead, use the values held in the variables below; they are updated every 500ms
-
-char beacon_found = 0;                   // This will be a 1 when a beacon was detected during the previous 500ms window
-int beacon_heading = 0;                  // This is the heading from the last time a beacon was detected
-char robots_found[8];                    // These will be a 1 when the respective robot [excluding self] was detected during the previous 500ms window
-int robots_heading[8];                   // These are the headings from the last time the respective robots were detected
-unsigned short robots_distance[8];       // This is the maximum sensor value from the last time the respective robot was detected
-unsigned short reflected_sensor_data[8]; // The reflected IR values when this robots emitters are on
-unsigned short background_sensor_data[8];// The raw IR values when no robot (or beacon) should have its IR on
-
-char default_normal_program = 8;         // The program to run on turn on (after 'face beacon' program)
-char use_recharging_program = 0;         // Set to 1 to force robot to run recharging program when battery voltage drops below a threshold
-char user_code_debug = 1;                // Set to 1 to show terminal messages from "out" function [specific to this code]
-char display_debug_inf = 0;              // Set to 1 to show debug info about beacon\robots on display [instead of running program info]
-char main_program_state;                 // Index of the currently running program
-char previous_program;                   // Used to hold previous running program when it is paused for switch press etc
-char program_changed = 0;                // Flag to update display when program is changed
-char program_run_init = 0;               // Flag to tell program to run its initialisation on first loop, if neccessary
-char success_count = 0;                  // Flag to indicate the success of a program
-char step_cycle = 0;                     // Alternates between 0 and 1 in successive time-steps
-char target_reached = 0;                 // Flag to indicate if a program target has been reached
-char prog_name [17];                     // Stores the name of the running program [line 0 on the display]
-char prog_info [17];                     // Stores information about the current state of the program [line 1 on the display]
-char disable_ir_emitters = 0;            // Used to disable IR emission during charging etc [use with caution!]
-char recharging_state = 0;               // Stores the state of the recharging program (0 is not currently running)
-char switch_held = 0;                    // Used for detected when the cursor switch is held to override program choice
-char choose_program_mode = 0;
-char program_count = 8;
-char program_selection;
-int flocking_headings[8];                // Beacon heading of each robot
-
-float battery_low_threshold = 3.60;      // Threshold at which to interrupt program and start recharging routine: suggest 3.55
-float battery_high_threshold = 3.95;     // Threshold at which to end battery recharging routine and resume normal program: suggest 4.0
-
-Ticker main_loop_ticker;
-
-///This is the main loop for the Beautiful Meme code.  The code block is run once every 250mS* [with 4Hz beacon] once all the IR samples have been collected.
-void bmeme_main_loop()
-{
-    if(switch_held == 1)switch_held=2;
-    if(switch_held == 3 && choose_program_mode == 0) {
-        //The switch has been held right and then released:  stop the current program
-        previous_program = main_program_state;
-        program_selection = previous_program;
-        choose_program_mode = 1;
-        set_program(255);
-        set_program_info(get_program_name(program_selection));
-    }
-    if(use_recharging_program == 1)recharging_program();
-    update_display();
-    if(recharging_state == 0) {
-        switch(main_program_state) {
-            case 0: //Case 0 is the initial program: turn to face beacon
-                if(step_cycle == 0) {
-                    char turn_status = turn_to_bearing(0);
-                    if(turn_status == 0) {
-                        success_count ++;
-                        if(success_count > 1) set_program(default_normal_program);
-                    } else success_count = 0;
-                }
-                break;
-            case 1:
-                target_reached = 0;
-                head_to_bearing_program(0);
-                if(target_reached == 1) set_program(2);
-                break;
-            case 2:
-                target_reached = 0;
-                head_to_bearing_program(180);
-                if(target_reached == 1) set_program(1);
-                break;
-            case 3:
-                curved_random_walk_with_interaction_program();
-                break;
-            case 4:
-                straight_random_walk_with_interaction_program();
-                break;
-            case 5:
-                find_space_program(1);
-                break;
-            case 6:
-                clustering_program(0,1);
-                break;
-            case 7:
-                tag_game_program();
-                break;
-            case 8:
-                flocking_program();
-                break;
-            case 255:
-                stop_program();
-                break;
-        }
-    }
-    step_cycle=1-step_cycle;
-}
-
-///Place user code here that should be run after initialisation but before the main loop
-void bmeme_user_code_setup()
-{
-    program_name = "B-Meme";
-    author_name  = "YRL";
-    version_name = "0.4";
-    
-    display.clear_display();
-    display.set_position(0,0);
-    display.write_string("BEAUTIFUL MEME");
-    display.set_position(1,0);
-    display.write_string("   PROJECT");
-    wait(0.2);
-    out("------------------------------------------------------\n");
-    out("Beautiful Meme Project Demo Code                      \n");
-    out("------------------------------------------------------\n");
-    locate_beacon();
-    while(beacon_found == 0) {
-        wait(0.5);
-        locate_beacon();
-    }
-    start_infrared_timers();
-    main_loop_ticker.attach_us(&bmeme_main_loop,BEACON_PERIOD * 10);
-    set_program(0);
-    set_leds(0x00,0x00);
-    set_center_led(3,0.5);
-    display.clear_display();
-    display.set_position(0,0);
-    display.write_string("BEACON FOUND AT");
-    display.set_position(1,0);
-    char degrees_string[16];
-    sprintf(degrees_string,"%d DEGREES",beacon_heading);
-    display.write_string(degrees_string);
-}
-
-/// Code goes here to handle what should happen when the user switch is pressed
-void bmeme_handle_switch_event(char switch_state)
-{
-    /// Switch_state = 1 if up is pressed, 2 if down is pressed, 4 if left is pressed, 8 if right is pressed and 16 if the center button is pressed
-    /// NB For maximum compatability it is recommended to minimise reliance on center button press
-    if(choose_program_mode == 0) {
-        if(switch_state == 8) switch_held = 1;
-        else if(switch_state == 0 && switch_held == 2) switch_held = 3;
-        else switch_held = 0;
-    } else {
-        // We are in choose program mode
-        if(switch_state == 8) {
-            program_selection ++;
-            if(program_selection > program_count) program_selection = 0;
-            if(program_selection == program_count) set_program_info("RECHARGE");
-            else set_program_info(get_program_name(program_selection));
-        }
-        if(switch_state == 4) {
-            if(program_selection == 0) program_selection = program_count; 
-            else program_selection --;  
-            if(program_selection == program_count) set_program_info("RECHARGE");
-            else set_program_info(get_program_name(program_selection));
-        }
-        if(switch_state == 1 || switch_state == 2){
-            if(program_selection == program_count){
-                  recharging_state = 1;
-                  set_program(previous_program);
-                  strcpy(prog_name,"CHARGING PROGRAM");
-                  set_program_info("HEAD TO BEACON");  
-                  
-            }   
-            else set_program(program_selection);
-            choose_program_mode = 0; 
-            switch_held = 0;
-        }
-    }
-    //out("Switch:%d Switch_held:%d Program_Selection:%d Program_count:%d Prog_Info:%s\n",switch_state,switch_held,program_selection,program_count,prog_info);
-}
-
-char * get_program_name(int index)
-{
-    char * ret_name = new char[17];
-    switch(index) {
-        case 0:
-            strcpy(ret_name,"FACE BEACON");
-            break;
-        case 1:
-            strcpy(ret_name,"HEAD TO BEACON");
-            break;
-        case 2:
-            strcpy(ret_name,"HEAD TO SOUTH");
-            break;
-        case 3:
-            strcpy(ret_name,"RANDOM WALK 1");
-            break;
-        case 4:
-            strcpy(ret_name,"RANDOM WALK 2");
-            break;
-        case 5:
-            strcpy(ret_name,"FIND SPACE");
-            break;
-        case 6:
-            strcpy(ret_name,"CLUSTERING");
-            break;
-        case 7:
-            strcpy(ret_name,"TAG GAME");
-            break;
-        case 8:
-            strcpy(ret_name,"FLOCKING");
-            break;
-        case 255:
-            strcpy(ret_name,"PROGRAM:");
-            break;
-    }
-    return ret_name;
-}
-
-void set_program(int index)
-{
-    main_program_state = index;
-    program_changed = 1;
-    program_run_init = 1;
-    strcpy(prog_info,"");
-    strcpy(prog_name,get_program_name(index));
-}
-
-void set_program_info(char * info)
-{
-    strcpy(prog_info,info);
-    program_changed = 1;
-}
-
-void update_display()
-{
-    if(program_changed == 1) {
-        program_changed = 0;
-        display.clear_display();
-
-        if(display_debug_inf==1) display_debug_info();
-        else {
-            display.set_position(0,0);
-            display.write_string(prog_name);
-        }
-        display.set_position(1,0);
-        display.write_string(prog_info);
-    }
-}
-
-void display_debug_info()
-{
-    char disp_line[16] = "- - - - - - - -";
-    if(beacon_found==1)disp_line[0]='B';
-    for(int i=1; i<8; i++) {
-        if(robots_found[i])disp_line[((i)*2)]=48+i;
-    }
-    display.set_position(0,0);
-    display.write_string(disp_line);
-}
-
-/// Verbose output
-void out(const char* format, ...)
-{
-    char buffer[256];
-    if (debug_mode) {
-        va_list vl;
-        va_start(vl, format);
-        vsprintf(buffer,format,vl);
-        if(user_code_debug == 1) pc.printf("%s", buffer);
-        va_end(vl);
-    }
-}
-
-
-void bmeme_handle_user_serial_message(char * message, char length, char interface)
-{
-    // This is where user code for handling a (non-system) serial message should go
-    //
-    // message = pointer to message char array
-    // length = length of message
-    // interface = 0 for PC serial connection, 1 for Bluetooth
-
-    if(interface) {
-        if(length == 8) {
-            for(int i = 0; i < length; i++) {
-                // Convert single byte value into a beacon heading in the range +/-180 degrees
-                float beacon_heading = message[i];
-                float degrees_per_value = 256.0f / 360.0f;
-
-                if(beacon_heading != 0)
-                    beacon_heading /= degrees_per_value;
-
-                beacon_heading -= 180;
-
-                flocking_headings[i] = beacon_heading;
-
-                debug("%d, ", flocking_headings[i]);
-                //debug("%f, ", beacon_heading);
-            }
-
-            debug("\n");
-        }
-    }
-}
\ No newline at end of file