Alexander Rao / Mbed 2 deprecated object_counter

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Dependencies:   mbed mbed-rtos 4DGL-uLCD-SE X_NUCLEO_53L0A1

main.cpp@6:b720519bdfe8, 2019-04-18 (annotated)

Committer:
alexhrao
Date:
Thu Apr 18 21:33:13 2019 +0000
Revision:
6:b720519bdfe8
Parent:
5:b566bcb20d94 
Add capability for 2 players

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alexhrao 0:fc7ce4e596ff 1 #include "mbed.h"
alexhrao 0:fc7ce4e596ff 2 #include "rtos.h"
alexhrao 0:fc7ce4e596ff 3 #include <stdio.h>
alexhrao 0:fc7ce4e596ff 4 #include "uLCD_4DGL.h"
alexhrao 0:fc7ce4e596ff 5 #include "XNucleo53L0A1.h"
alexhrao 1:e82997c13013 6 #include <time.h>
alexhrao 0:fc7ce4e596ff 7
alexhrao 0:fc7ce4e596ff 8 #define VL53L0_I2C_SDA p28
alexhrao 0:fc7ce4e596ff 9 #define VL53L0_I2C_SCL p27
alexhrao 6:b720519bdfe8 10 #define INIT_TIME 90
alexhrao 6:b720519bdfe8 11 #define THRESHOLD 100
alexhrao 0:fc7ce4e596ff 12
alexhrao 2:54e1a301de72 13 // We need this for being able to reset the MBED (similar to watch dogs)
alexhrao 6:b720519bdfe8 14 extern "C" void mbed_reset();
alexhrao 0:fc7ce4e596ff 15
alexhrao 2:54e1a301de72 16 // Game Data
alexhrao 1:e82997c13013 17 volatile int num_points = 0;
alexhrao 6:b720519bdfe8 18 volatile int time_left = INIT_TIME;
alexhrao 0:fc7ce4e596ff 19 volatile bool is_point = false;
alexhrao 6:b720519bdfe8 20 volatile int player_1 = 0;
alexhrao 6:b720519bdfe8 21 volatile int player_2 = 0;
alexhrao 6:b720519bdfe8 22
alexhrao 6:b720519bdfe8 23 int player_1_color = GREEN + RED;
alexhrao 6:b720519bdfe8 24 int player_2_color = RED + (.707 * GREEN);
alexhrao 6:b720519bdfe8 25
alexhrao 6:b720519bdfe8 26 volatile int player_color = GREEN;
alexhrao 6:b720519bdfe8 27
alexhrao 6:b720519bdfe8 28
alexhrao 0:fc7ce4e596ff 29
alexhrao 0:fc7ce4e596ff 30 // LIDAR
alexhrao 0:fc7ce4e596ff 31 static XNucleo53L0A1* lidar = NULL;
alexhrao 0:fc7ce4e596ff 32 uint32_t dist;
alexhrao 0:fc7ce4e596ff 33 DigitalOut shdn(p26);
alexhrao 0:fc7ce4e596ff 34
alexhrao 0:fc7ce4e596ff 35 // LCD
alexhrao 0:fc7ce4e596ff 36 Mutex lcd_lock;
alexhrao 2:54e1a301de72 37 // **NOTE**: do NOT use p9, p10, p11
alexhrao 1:e82997c13013 38 // There is a bug in LIDAR system and uLCD system - they can't BOTH BE ON
alexhrao 1:e82997c13013 39 // I2C! It just so happens, p9 and p10 are I2C, so the systems will get
alexhrao 2:54e1a301de72 40 // confused, and you'll get weird hangs with the uLCD screen!
alexhrao 1:e82997c13013 41 uLCD_4DGL uLCD(p13, p14, p15); // serial tx, serial rx, reset pin;
alexhrao 0:fc7ce4e596ff 42
alexhrao 0:fc7ce4e596ff 43 // Speaker
alexhrao 0:fc7ce4e596ff 44 PwmOut speaker(p25);
alexhrao 0:fc7ce4e596ff 45
alexhrao 0:fc7ce4e596ff 46 // Threads
alexhrao 0:fc7ce4e596ff 47 Thread sound_thread;
alexhrao 0:fc7ce4e596ff 48 Thread time_thread;
alexhrao 0:fc7ce4e596ff 49 Thread points_thread;
alexhrao 0:fc7ce4e596ff 50
alexhrao 0:fc7ce4e596ff 51 // Debugging
alexhrao 2:54e1a301de72 52 Serial pc(USBTX, USBRX);
alexhrao 0:fc7ce4e596ff 53 DigitalOut err_led(LED1);
alexhrao 1:e82997c13013 54
alexhrao 0:fc7ce4e596ff 55 void time(void) {
alexhrao 0:fc7ce4e596ff 56 while (1) {
alexhrao 0:fc7ce4e596ff 57 // every second, change LED and update screen
alexhrao 0:fc7ce4e596ff 58 if (time_left > 0) {
alexhrao 0:fc7ce4e596ff 59 lcd_lock.lock();
alexhrao 6:b720519bdfe8 60 uLCD.locate(4, 6);
alexhrao 0:fc7ce4e596ff 61 uLCD.text_height(2);
alexhrao 0:fc7ce4e596ff 62 uLCD.text_width(2);
alexhrao 1:e82997c13013 63 uLCD.color(RED);
alexhrao 6:b720519bdfe8 64 uLCD.printf("%03d", time_left);
alexhrao 0:fc7ce4e596ff 65 lcd_lock.unlock();
alexhrao 0:fc7ce4e596ff 66 Thread::wait(1000);
alexhrao 1:e82997c13013 67 time_left--;
alexhrao 0:fc7ce4e596ff 68 } else {
alexhrao 0:fc7ce4e596ff 69 break;
alexhrao 0:fc7ce4e596ff 70 }
alexhrao 0:fc7ce4e596ff 71 }
alexhrao 0:fc7ce4e596ff 72 lcd_lock.lock();
alexhrao 6:b720519bdfe8 73 uLCD.locate(4, 6);
alexhrao 0:fc7ce4e596ff 74 uLCD.text_height(2);
alexhrao 0:fc7ce4e596ff 75 uLCD.text_width(2);
alexhrao 1:e82997c13013 76 uLCD.color(RED);
alexhrao 6:b720519bdfe8 77 uLCD.printf("000");
alexhrao 0:fc7ce4e596ff 78 lcd_lock.unlock();
alexhrao 2:54e1a301de72 79 // We're done - thread will die
alexhrao 0:fc7ce4e596ff 80 }
alexhrao 0:fc7ce4e596ff 81 void sound(void) {
alexhrao 0:fc7ce4e596ff 82 int is_new = 1;
alexhrao 6:b720519bdfe8 83 speaker.period(1.0 / 500.0);
alexhrao 6:b720519bdfe8 84 speaker = 0.5;
alexhrao 6:b720519bdfe8 85 Thread::wait(250);
alexhrao 6:b720519bdfe8 86 speaker = 0.0;
alexhrao 6:b720519bdfe8 87 Thread::wait(100);
alexhrao 6:b720519bdfe8 88 speaker = 0.5;
alexhrao 6:b720519bdfe8 89 Thread::wait(250);
alexhrao 6:b720519bdfe8 90 speaker = 0.0;
alexhrao 0:fc7ce4e596ff 91 speaker.period(1.0 / 900.0);
alexhrao 0:fc7ce4e596ff 92 while (1) {
alexhrao 2:54e1a301de72 93 // if we have a point, sound
alexhrao 2:54e1a301de72 94 // If there's no more time left, die
alexhrao 2:54e1a301de72 95 if (time_left <= 0) {
alexhrao 2:54e1a301de72 96 break;
alexhrao 2:54e1a301de72 97 } else if (is_point && is_new == 1) {
alexhrao 0:fc7ce4e596ff 98 is_new = 0;
alexhrao 0:fc7ce4e596ff 99 // sound that
alexhrao 1:e82997c13013 100 speaker = 0.5;
alexhrao 1:e82997c13013 101 Thread::wait(100);
alexhrao 1:e82997c13013 102 speaker = 0;
alexhrao 0:fc7ce4e596ff 103 } else if (!is_point) {
alexhrao 2:54e1a301de72 104 // We've engaged, get ready for next
alexhrao 0:fc7ce4e596ff 105 is_new = 1;
alexhrao 0:fc7ce4e596ff 106 }
alexhrao 0:fc7ce4e596ff 107 Thread::wait(10);
alexhrao 0:fc7ce4e596ff 108 }
alexhrao 6:b720519bdfe8 109 speaker.period(1.0 / 100.0);
alexhrao 6:b720519bdfe8 110 speaker = 0.5;
alexhrao 6:b720519bdfe8 111 Thread::wait(2000);
alexhrao 6:b720519bdfe8 112 speaker = 0.0;
alexhrao 0:fc7ce4e596ff 113 }
alexhrao 0:fc7ce4e596ff 114
alexhrao 1:e82997c13013 115 void points(void) {
alexhrao 1:e82997c13013 116 int prev_points = -1;
alexhrao 5:b566bcb20d94 117 lcd_lock.lock();
alexhrao 6:b720519bdfe8 118 uLCD.circle(110, 10, 10, player_color);
alexhrao 5:b566bcb20d94 119 lcd_lock.unlock();
alexhrao 0:fc7ce4e596ff 120 while (1) {
alexhrao 2:54e1a301de72 121 if (time_left <= 0) {
alexhrao 1:e82997c13013 122 break;
alexhrao 2:54e1a301de72 123 } else if (num_points != prev_points) {
alexhrao 0:fc7ce4e596ff 124 lcd_lock.lock();
alexhrao 6:b720519bdfe8 125 uLCD.locate(4, 3);
alexhrao 0:fc7ce4e596ff 126 uLCD.text_width(2);
alexhrao 0:fc7ce4e596ff 127 uLCD.text_height(2);
alexhrao 6:b720519bdfe8 128 uLCD.color(player_color);
alexhrao 1:e82997c13013 129 uLCD.printf("%d", num_points);
alexhrao 0:fc7ce4e596ff 130 lcd_lock.unlock();
alexhrao 1:e82997c13013 131 prev_points = num_points;
alexhrao 0:fc7ce4e596ff 132 }
alexhrao 6:b720519bdfe8 133 if (is_point) {
alexhrao 3:efb572ef5f15 134 // changed from no to yes
alexhrao 3:efb572ef5f15 135 lcd_lock.lock();
alexhrao 6:b720519bdfe8 136 uLCD.filled_circle(110, 10, 9, player_color);
alexhrao 3:efb572ef5f15 137 lcd_lock.unlock();
alexhrao 6:b720519bdfe8 138 } else {
alexhrao 3:efb572ef5f15 139 lcd_lock.lock();
alexhrao 5:b566bcb20d94 140 uLCD.filled_circle(110, 10, 9, BLACK);
alexhrao 3:efb572ef5f15 141 lcd_lock.unlock();
alexhrao 3:efb572ef5f15 142 }
alexhrao 6:b720519bdfe8 143 Thread::wait(10);
alexhrao 0:fc7ce4e596ff 144 }
alexhrao 0:fc7ce4e596ff 145 }
alexhrao 0:fc7ce4e596ff 146
alexhrao 6:b720519bdfe8 147 void run_game() {
alexhrao 6:b720519bdfe8 148 // Initialize
alexhrao 6:b720519bdfe8 149 time_left = INIT_TIME;
alexhrao 6:b720519bdfe8 150 is_point = false;
alexhrao 6:b720519bdfe8 151
alexhrao 6:b720519bdfe8 152 uLCD.text_width(2);
alexhrao 6:b720519bdfe8 153 uLCD.text_height(2);
alexhrao 6:b720519bdfe8 154 uLCD.locate(1, 2);
alexhrao 6:b720519bdfe8 155 uLCD.color(player_color);
alexhrao 6:b720519bdfe8 156 uLCD.printf("POINTS");
alexhrao 6:b720519bdfe8 157
alexhrao 6:b720519bdfe8 158 uLCD.locate(2, 5);
alexhrao 6:b720519bdfe8 159 uLCD.color(RED);
alexhrao 6:b720519bdfe8 160 uLCD.printf("TIME");
alexhrao 6:b720519bdfe8 161
alexhrao 6:b720519bdfe8 162 // Start up threads
alexhrao 6:b720519bdfe8 163 time_thread.start(time);
alexhrao 6:b720519bdfe8 164 points_thread.start(points);
alexhrao 6:b720519bdfe8 165 sound_thread.start(sound);
alexhrao 6:b720519bdfe8 166
alexhrao 6:b720519bdfe8 167 // Continually measure distance
alexhrao 6:b720519bdfe8 168 Thread::wait(2000);
alexhrao 6:b720519bdfe8 169 while (1) {
alexhrao 6:b720519bdfe8 170 if (time_left == 0)
alexhrao 6:b720519bdfe8 171 break;
alexhrao 6:b720519bdfe8 172 int status = lidar->sensor_centre->get_distance(&dist);
alexhrao 6:b720519bdfe8 173 if (status == VL53L0X_ERROR_NONE) {
alexhrao 6:b720519bdfe8 174
alexhrao 6:b720519bdfe8 175 // Determine if we've hit the threshold (4 cases):
alexhrao 6:b720519bdfe8 176 // 1. NOT in the threshold, current distance is above
alexhrao 6:b720519bdfe8 177 // 2. NOT in the threshold, current distance is below
alexhrao 6:b720519bdfe8 178 // 3. IN the threshold, current distance is above
alexhrao 6:b720519bdfe8 179 // 4. IN the threshold, current distance is below
alexhrao 6:b720519bdfe8 180 //pc.printf("D=%ld mm\r\n", dist);
alexhrao 6:b720519bdfe8 181 if (!is_point && dist <= THRESHOLD) {
alexhrao 6:b720519bdfe8 182 // We don't need to check this every time - save our previous
alexhrao 6:b720519bdfe8 183 // loop time!
alexhrao 6:b720519bdfe8 184 if (time_left == 0)
alexhrao 6:b720519bdfe8 185 break;
alexhrao 6:b720519bdfe8 186 // increment our points
alexhrao 6:b720519bdfe8 187 ++num_points;
alexhrao 6:b720519bdfe8 188 is_point = true;
alexhrao 6:b720519bdfe8 189 } else if (is_point && dist > THRESHOLD) {
alexhrao 6:b720519bdfe8 190 is_point = false;
alexhrao 6:b720519bdfe8 191 }
alexhrao 6:b720519bdfe8 192 } else {
alexhrao 6:b720519bdfe8 193 is_point = false;
alexhrao 6:b720519bdfe8 194 }
alexhrao 6:b720519bdfe8 195 }
alexhrao 6:b720519bdfe8 196 // wait for time_left (should be handled above, but just in case?
alexhrao 6:b720519bdfe8 197 }
alexhrao 0:fc7ce4e596ff 198 int main() {
alexhrao 0:fc7ce4e596ff 199 // Tell the user we're spinning up
alexhrao 0:fc7ce4e596ff 200 uLCD.cls();
alexhrao 0:fc7ce4e596ff 201 uLCD.text_height(2);
alexhrao 0:fc7ce4e596ff 202 uLCD.text_width(2);
alexhrao 2:54e1a301de72 203 uLCD.locate(0, 0);
alexhrao 0:fc7ce4e596ff 204 uLCD.color(RED);
alexhrao 2:54e1a301de72 205 uLCD.printf("SPINNING\nUP");
alexhrao 2:54e1a301de72 206
alexhrao 0:fc7ce4e596ff 207 DevI2C* device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
alexhrao 0:fc7ce4e596ff 208 lidar = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
alexhrao 1:e82997c13013 209
alexhrao 0:fc7ce4e596ff 210 // Reset shdn (?):
alexhrao 0:fc7ce4e596ff 211 shdn = 0;
alexhrao 0:fc7ce4e596ff 212 wait(0.1);
alexhrao 0:fc7ce4e596ff 213 shdn = 1;
alexhrao 0:fc7ce4e596ff 214 wait(0.1);
alexhrao 0:fc7ce4e596ff 215
alexhrao 0:fc7ce4e596ff 216 int status = lidar->init_board();
alexhrao 0:fc7ce4e596ff 217 while (status) {
alexhrao 2:54e1a301de72 218 err_led = 1;
alexhrao 0:fc7ce4e596ff 219 status = lidar->init_board();
alexhrao 0:fc7ce4e596ff 220 wait(1);
alexhrao 0:fc7ce4e596ff 221 }
alexhrao 2:54e1a301de72 222 err_led = 0;
alexhrao 6:b720519bdfe8 223 // We have nothing left to do... Just wait
alexhrao 6:b720519bdfe8 224 // Wait for the LIDAR
alexhrao 6:b720519bdfe8 225 player_color = player_1_color;
alexhrao 1:e82997c13013 226 uLCD.cls();
alexhrao 1:e82997c13013 227 uLCD.locate(0, 0);
alexhrao 6:b720519bdfe8 228 uLCD.color(player_color);
alexhrao 1:e82997c13013 229 uLCD.text_height(2);
alexhrao 1:e82997c13013 230 uLCD.text_width(2);
alexhrao 6:b720519bdfe8 231 uLCD.printf("Ready\nPlayer\n1");
alexhrao 2:54e1a301de72 232
alexhrao 4:44b4158fc494 233 // Wait for the LIDAR
alexhrao 3:efb572ef5f15 234 while(true){
alexhrao 3:efb572ef5f15 235 if(lidar->sensor_centre->get_distance(&dist) == VL53L0X_ERROR_NONE){
alexhrao 6:b720519bdfe8 236 if(dist<THRESHOLD){
alexhrao 6:b720519bdfe8 237 break;
alexhrao 6:b720519bdfe8 238 }
alexhrao 6:b720519bdfe8 239 }
alexhrao 6:b720519bdfe8 240 }
alexhrao 6:b720519bdfe8 241 uLCD.cls();
alexhrao 6:b720519bdfe8 242 uLCD.locate(0, 0);
alexhrao 6:b720519bdfe8 243 uLCD.color(player_color);
alexhrao 6:b720519bdfe8 244 uLCD.text_width(2);
alexhrao 6:b720519bdfe8 245 uLCD.text_height(2);
alexhrao 6:b720519bdfe8 246 uLCD.printf("P1");
alexhrao 6:b720519bdfe8 247 run_game();
alexhrao 6:b720519bdfe8 248 player_1 = num_points;
alexhrao 6:b720519bdfe8 249 Thread::wait(5000);
alexhrao 6:b720519bdfe8 250 player_color = player_2_color;
alexhrao 6:b720519bdfe8 251 num_points = 0;
alexhrao 6:b720519bdfe8 252 lcd_lock.lock();
alexhrao 6:b720519bdfe8 253 uLCD.cls();
alexhrao 6:b720519bdfe8 254 uLCD.locate(0, 0);
alexhrao 6:b720519bdfe8 255 uLCD.color(player_color);
alexhrao 6:b720519bdfe8 256 uLCD.text_height(2);
alexhrao 6:b720519bdfe8 257 uLCD.text_width(2);
alexhrao 6:b720519bdfe8 258 uLCD.printf("Ready\nPlayer\n2");
alexhrao 6:b720519bdfe8 259 lcd_lock.unlock();
alexhrao 6:b720519bdfe8 260 // Wait for the LIDAR
alexhrao 6:b720519bdfe8 261 while(true){
alexhrao 6:b720519bdfe8 262 if(lidar->sensor_centre->get_distance(&dist) == VL53L0X_ERROR_NONE){
alexhrao 6:b720519bdfe8 263 if(dist<THRESHOLD){
alexhrao 3:efb572ef5f15 264 break;
alexhrao 3:efb572ef5f15 265 }
alexhrao 3:efb572ef5f15 266 }
alexhrao 3:efb572ef5f15 267 }
alexhrao 1:e82997c13013 268 uLCD.cls();
alexhrao 6:b720519bdfe8 269 uLCD.locate(0, 0);
alexhrao 6:b720519bdfe8 270 uLCD.color(player_color);
alexhrao 1:e82997c13013 271 uLCD.text_width(2);
alexhrao 1:e82997c13013 272 uLCD.text_height(2);
alexhrao 6:b720519bdfe8 273 uLCD.printf("P2");
alexhrao 6:b720519bdfe8 274 run_game();
alexhrao 6:b720519bdfe8 275 player_2 = num_points;
alexhrao 2:54e1a301de72 276
alexhrao 6:b720519bdfe8 277 lcd_lock.lock();
alexhrao 6:b720519bdfe8 278 // Lock foever
alexhrao 6:b720519bdfe8 279 uLCD.cls();
alexhrao 6:b720519bdfe8 280 uLCD.color(GREEN);
alexhrao 6:b720519bdfe8 281 uLCD.locate(0, 0);
alexhrao 6:b720519bdfe8 282 uLCD.text_width(3);
alexhrao 6:b720519bdfe8 283 uLCD.text_height(3);
alexhrao 6:b720519bdfe8 284 if (player_1 > player_2) {
alexhrao 6:b720519bdfe8 285 uLCD.text_string("Player", 0, 0, FONT_7X8, player_1_color);
alexhrao 6:b720519bdfe8 286 uLCD.text_string("1", 0, 1, FONT_7X8, player_1_color);
alexhrao 6:b720519bdfe8 287 uLCD.text_string("Wins!", 0, 2, FONT_7X8, player_1_color);
alexhrao 6:b720519bdfe8 288 } else if (player_2 > player_1) {
alexhrao 6:b720519bdfe8 289 uLCD.text_string("Player", 0, 0, FONT_7X8, player_2_color);
alexhrao 6:b720519bdfe8 290 uLCD.text_string("2", 0, 1, FONT_7X8, player_2_color);
alexhrao 6:b720519bdfe8 291 uLCD.text_string("Wins!", 0, 2, FONT_7X8, player_2_color);
alexhrao 6:b720519bdfe8 292 } else {
alexhrao 6:b720519bdfe8 293 uLCD.printf("Draw!");
alexhrao 6:b720519bdfe8 294 }
alexhrao 6:b720519bdfe8 295 uLCD.locate(0, 3);
alexhrao 6:b720519bdfe8 296 uLCD.color(player_1_color);
alexhrao 6:b720519bdfe8 297 uLCD.printf("P1: %d", player_1);
alexhrao 6:b720519bdfe8 298 uLCD.locate(0, 4);
alexhrao 6:b720519bdfe8 299 uLCD.color(player_2_color);
alexhrao 6:b720519bdfe8 300 uLCD.printf("P2: %d", player_2);
alexhrao 6:b720519bdfe8 301 lcd_lock.unlock();
alexhrao 6:b720519bdfe8 302
alexhrao 6:b720519bdfe8 303 Thread::wait(5000);
alexhrao 6:b720519bdfe8 304 while(true){
alexhrao 6:b720519bdfe8 305 if(lidar->sensor_centre->get_distance(&dist) == VL53L0X_ERROR_NONE){
alexhrao 6:b720519bdfe8 306 if(dist<THRESHOLD){
alexhrao 6:b720519bdfe8 307 break;
alexhrao 1:e82997c13013 308 }
alexhrao 0:fc7ce4e596ff 309 }
alexhrao 0:fc7ce4e596ff 310 }
alexhrao 6:b720519bdfe8 311 mbed_reset();
alexhrao 2:54e1a301de72 312 }