Andriy Makukha / Mbed 2 deprecated football_project_wo_output

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Dependencies:   mbed

Fork of football_project by MZJ

proto_code.cpp@38:76e49d045a3b, 2016-01-08 (annotated)

Committer:
elmbed
Date:
Fri Jan 08 19:13:02 2016 +0000
Revision:
38:76e49d045a3b
Parent:
35:c1405da88d3a
Child:
39:b1f864b71318
Basic free form working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elmbed 17:d8b901d791fd 1 #include <TA.h>
elmbed 17:d8b901d791fd 2 #include <types.h>
elmbed 17:d8b901d791fd 3
elmbed 17:d8b901d791fd 4 #define RED p3
elmbed 17:d8b901d791fd 5 #define GREEN p5
elmbed 17:d8b901d791fd 6 #define BLUE p6
elmbed 17:d8b901d791fd 7
elmbed 17:d8b901d791fd 8 #define ENABLE_1 p4
elmbed 17:d8b901d791fd 9 #define ENABLE_2 p7
elmbed 17:d8b901d791fd 10 #define ENABLE_3 p8
elmbed 17:d8b901d791fd 11
elmbed 17:d8b901d791fd 12 #define DEBUG_BAUD 57600 //57600
elmbed 17:d8b901d791fd 13 #define MAX_LEN 24 // buffer input commands up to this length
elmbed 26:40a0c775ff27 14 #define NUM_CONES 3
elmbed 17:d8b901d791fd 15 #define STATIONS 20 // max length of a pattern
elmbed 17:d8b901d791fd 16 #define SEQUENCES 9 // number of patterns to store
elmbed 17:d8b901d791fd 17
elmbed 17:d8b901d791fd 18 #define TRILAT_CONE 99
elmbed 17:d8b901d791fd 19
elmbed 17:d8b901d791fd 20 #define DEBOUNCE_MS 100
AntonLS 30:c60b0d52b067 21 #define LIGHTS TOUCHLIGHTS
elmbed 17:d8b901d791fd 22 #define FAKEOUT 0x08
elmbed 17:d8b901d791fd 23 #define FAIL_QUICK 0x10
elmbed 17:d8b901d791fd 24 #define SILENT 0x20
elmbed 17:d8b901d791fd 25 #define GRACE_PERIOD 3000
elmbed 17:d8b901d791fd 26
elmbed 17:d8b901d791fd 27 #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need //////////////////////DEBUG messages on the console;
elmbed 17:d8b901d791fd 28 * it will have an impact on code-size and power consumption. */
elmbed 17:d8b901d791fd 29
elmbed 17:d8b901d791fd 30 #define LOOPBACK_MODE 0 // Loopback mode
elmbed 17:d8b901d791fd 31
elmbed 17:d8b901d791fd 32 #if NEED_CONSOLE_OUTPUT
elmbed 17:d8b901d791fd 33 #define DEBUG(...) { printf(__VA_ARGS__); }
elmbed 17:d8b901d791fd 34 #else
elmbed 17:d8b901d791fd 35 #define DEBUG(...) /* nothing */
elmbed 17:d8b901d791fd 36 #endif /* #if NEED_CONSOLE_OUTPUT */
elmbed 17:d8b901d791fd 37
elmbed 18:affef3a7db2a 38 #if 1
elmbed 17:d8b901d791fd 39 extern int random(int numberone, int numbertwo);
elmbed 17:d8b901d791fd 40
elmbed 17:d8b901d791fd 41 unsigned long millis();
elmbed 17:d8b901d791fd 42 unsigned long micros();
elmbed 17:d8b901d791fd 43
elmbed 17:d8b901d791fd 44 TA ta;
elmbed 17:d8b901d791fd 45
elmbed 18:affef3a7db2a 46 static bool active_cones[NUM_CONES + 1]; // + 1 so we can be 1 based like the cone numbers are
elmbed 17:d8b901d791fd 47
elmbed 28:8e74ddc4f70f 48 const static int CONTROL_CONE = 1;
elmbed 28:8e74ddc4f70f 49
elmbed 23:26f27c462976 50 #ifdef MASTER
elmbed 18:affef3a7db2a 51 static Mode_t mode = PATTERN;
elmbed 18:affef3a7db2a 52 static patternState_t state_p = IDLE_P;
elmbed 18:affef3a7db2a 53 static inputState_t state_i = IDLE_I;
elmbed 23:26f27c462976 54 #else
elmbed 23:26f27c462976 55 State_t state = IDLE;
elmbed 23:26f27c462976 56 #endif
elmbed 17:d8b901d791fd 57
elmbed 18:affef3a7db2a 58 static Message m1 = { 'm',0,2 };
elmbed 17:d8b901d791fd 59
elmbed 18:affef3a7db2a 60 static Message *m = &m1;
elmbed 18:affef3a7db2a 61 static Message m2 = { 'm',0,2 };
elmbed 18:affef3a7db2a 62 static Message *m_in = &m2;
elmbed 17:d8b901d791fd 63
elmbed 18:affef3a7db2a 64 static uint8_t active_cone = 0;
elmbed 38:76e49d045a3b 65 static unsigned long timeout = 10000L;
elmbed 18:affef3a7db2a 66 static uint8_t mask = 0x07;
elmbed 18:affef3a7db2a 67 static uint8_t fakeout = 0;
elmbed 18:affef3a7db2a 68 static uint8_t fail_quick = 0;
elmbed 18:affef3a7db2a 69 static uint8_t index = 0;
elmbed 18:affef3a7db2a 70 static bool new_state = false;
elmbed 18:affef3a7db2a 71 static bool tag_start = false; // flag to indicate we should wait for the user to activate the first station before going through the sequence
elmbed 18:affef3a7db2a 72
elmbed 17:d8b901d791fd 73 static bool in_menu = false;
elmbed 17:d8b901d791fd 74 static bool warning = false;
elmbed 17:d8b901d791fd 75 static bool penalty = false;
elmbed 17:d8b901d791fd 76 static bool logging = false;
elmbed 17:d8b901d791fd 77
elmbed 17:d8b901d791fd 78 // course setup (probably should make some of these persistant settings)
elmbed 18:affef3a7db2a 79 static uint8_t active_sequence = 0;
elmbed 18:affef3a7db2a 80 static uint8_t station = 1;
elmbed 18:affef3a7db2a 81 static uint8_t cone = 0;
elmbed 18:affef3a7db2a 82 static uint16_t ltime = 0;
elmbed 17:d8b901d791fd 83
elmbed 17:d8b901d791fd 84 volatile bool triggered;
elmbed 17:d8b901d791fd 85 volatile bool pin;
elmbed 17:d8b901d791fd 86 volatile bool ping = false;
elmbed 18:affef3a7db2a 87
elmbed 17:d8b901d791fd 88 static volatile bool captured = false;
elmbed 17:d8b901d791fd 89 static volatile unsigned long ping_timer = 0;
elmbed 17:d8b901d791fd 90 static volatile unsigned long dist_timeout = 0;
elmbed 17:d8b901d791fd 91
elmbed 17:d8b901d791fd 92 // all sequence data
elmbed 17:d8b901d791fd 93 uint8_t cone_table[STATIONS * SEQUENCES];
elmbed 17:d8b901d791fd 94 uint8_t mask_table[STATIONS * SEQUENCES];
elmbed 17:d8b901d791fd 95 uint16_t time_table[STATIONS * SEQUENCES];
elmbed 17:d8b901d791fd 96
elmbed 17:d8b901d791fd 97 // pointer to active table
elmbed 17:d8b901d791fd 98 uint8_t *cones = (uint8_t*)cone_table;
elmbed 17:d8b901d791fd 99 uint8_t *masks = (uint8_t*)mask_table;
elmbed 17:d8b901d791fd 100 uint16_t *times = (uint16_t*)time_table;
elmbed 17:d8b901d791fd 101
elmbed 17:d8b901d791fd 102 static bool lonely = false;
elmbed 17:d8b901d791fd 103
elmbed 17:d8b901d791fd 104 // Function prototypes
elmbed 23:26f27c462976 105 #ifdef MASTER
elmbed 17:d8b901d791fd 106 void spin();
elmbed 17:d8b901d791fd 107 patternState_t stateFromCone(uint8_t cone);
elmbed 17:d8b901d791fd 108 void printSplit(unsigned long timer);
elmbed 17:d8b901d791fd 109 uint8_t getRandomCone(void);
elmbed 17:d8b901d791fd 110 void clearCones(void);
elmbed 17:d8b901d791fd 111 void powerupCones(uint8_t sound);
elmbed 17:d8b901d791fd 112 void failCones(void);
elmbed 17:d8b901d791fd 113 void resetSensors(void);
elmbed 17:d8b901d791fd 114 void successCones(void);
elmbed 17:d8b901d791fd 115 void find_cones(void);
elmbed 17:d8b901d791fd 116 void printMsAsSeconds(unsigned long number);
elmbed 17:d8b901d791fd 117 void spinButtons(void);
elmbed 17:d8b901d791fd 118 uint8_t checkButtons(void);
elmbed 17:d8b901d791fd 119 Event getInputEvent(void);
elmbed 17:d8b901d791fd 120 void getRadioInput(char *ibuffer, int size);
elmbed 17:d8b901d791fd 121 void interpret(char parameter, int value);
elmbed 23:26f27c462976 122 #endif
elmbed 23:26f27c462976 123
elmbed 23:26f27c462976 124 extern "C" void writeToPhone(char *format, ...);
elmbed 17:d8b901d791fd 125
elmbed 38:76e49d045a3b 126
elmbed 38:76e49d045a3b 127 static const int active_colour = 0x00FF;
elmbed 38:76e49d045a3b 128 static const int warn_colour = 0xF050;
elmbed 38:76e49d045a3b 129 static const int fail_colour = 0x0000FF;
elmbed 38:76e49d045a3b 130 static const int touch_colour = 0x005050;
elmbed 38:76e49d045a3b 131 static const int success_colour = 0xFFFF;
elmbed 38:76e49d045a3b 132 static const int pen_colour = 0x10FF;
elmbed 38:76e49d045a3b 133 static const int idle_colour = 0x00;
elmbed 38:76e49d045a3b 134
elmbed 17:d8b901d791fd 135 char local_input[50] = {0};
elmbed 17:d8b901d791fd 136
elmbed 17:d8b901d791fd 137 //DigitalOut red(RED);
elmbed 17:d8b901d791fd 138 //DigitalOut enable1(ENABLE_1);
elmbed 17:d8b901d791fd 139 //DigitalOut green(GREEN);
elmbed 17:d8b901d791fd 140 //DigitalOut blue(BLUE);
elmbed 17:d8b901d791fd 141 //DigitalOut enable2(ENABLE_2);
elmbed 17:d8b901d791fd 142 //DigitalOut enable3(ENABLE_3);
elmbed 17:d8b901d791fd 143
elmbed 23:26f27c462976 144 #ifdef MASTER
elmbed 23:26f27c462976 145 static void master_setup()
elmbed 17:d8b901d791fd 146 {
elmbed 28:8e74ddc4f70f 147 ta.initialize(NODE_ID);
elmbed 17:d8b901d791fd 148
elmbed 17:d8b901d791fd 149 uint16_t sent = 0;
elmbed 17:d8b901d791fd 150 uint16_t lost = 0;
elmbed 17:d8b901d791fd 151 unsigned long start = micros();
elmbed 17:d8b901d791fd 152 //while (millis() - now <= ACK_TIME){
elmbed 17:d8b901d791fd 153 m->command = 'p';
elmbed 17:d8b901d791fd 154 m->value = 0;
elmbed 17:d8b901d791fd 155 m->cone = 0;
elmbed 17:d8b901d791fd 156
elmbed 23:26f27c462976 157
elmbed 23:26f27c462976 158 //find_cones(); // this causes the beep to be interrupted
elmbed 23:26f27c462976 159 //ta.beep(100);
elmbed 17:d8b901d791fd 160 int i;
elmbed 23:26f27c462976 161
elmbed 28:8e74ddc4f70f 162 for(i = 1; i < NUM_CONES + 1; ++i)
elmbed 28:8e74ddc4f70f 163 {
elmbed 28:8e74ddc4f70f 164 active_cones[i] = false;
elmbed 28:8e74ddc4f70f 165 }
elmbed 17:d8b901d791fd 166
elmbed 28:8e74ddc4f70f 167 unsigned long time = 0;
elmbed 17:d8b901d791fd 168
elmbed 17:d8b901d791fd 169 // pull course sequences from non-volatile memory
elmbed 28:8e74ddc4f70f 170 for(uint8_t i = 0; i <STATIONS * SEQUENCES; ++i)
elmbed 28:8e74ddc4f70f 171 {
elmbed 17:d8b901d791fd 172 cone_table[i] = i+1;
elmbed 17:d8b901d791fd 173 mask_table[i] = 1;
elmbed 17:d8b901d791fd 174 time_table[i] = 1000;
elmbed 17:d8b901d791fd 175 }
elmbed 18:affef3a7db2a 176
elmbed 18:affef3a7db2a 177 ta.post_color(0xFF0000);
elmbed 17:d8b901d791fd 178 }
elmbed 23:26f27c462976 179 #else
elmbed 23:26f27c462976 180 static void slave_setup()
elmbed 23:26f27c462976 181 {
elmbed 28:8e74ddc4f70f 182 ta.initialize(NODE_ID);
elmbed 23:26f27c462976 183 ta.beep(250);
elmbed 23:26f27c462976 184 }
elmbed 23:26f27c462976 185 #endif
elmbed 23:26f27c462976 186
elmbed 23:26f27c462976 187 void setup()
elmbed 23:26f27c462976 188 {
elmbed 23:26f27c462976 189 #ifdef MASTER
elmbed 23:26f27c462976 190 master_setup();
elmbed 23:26f27c462976 191 #else
elmbed 23:26f27c462976 192 slave_setup();
elmbed 23:26f27c462976 193 #endif
elmbed 23:26f27c462976 194 }
elmbed 23:26f27c462976 195
elmbed 23:26f27c462976 196 #ifdef SLAVE
elmbed 23:26f27c462976 197 static void slave_loop()
elmbed 23:26f27c462976 198 {
elmbed 23:26f27c462976 199 static unsigned long start = 0;
elmbed 23:26f27c462976 200 static unsigned long timeout;
elmbed 23:26f27c462976 201 static bool process_next_as_time = false;
elmbed 23:26f27c462976 202 static bool process_next_as_mask = false;
elmbed 23:26f27c462976 203 static unsigned long timer;
elmbed 23:26f27c462976 204 static State_t last_state = IDLE;
elmbed 28:8e74ddc4f70f 205 static int counter = 0;
elmbed 23:26f27c462976 206
elmbed 23:26f27c462976 207 if(last_state != state)
elmbed 23:26f27c462976 208 {
elmbed 23:26f27c462976 209 if(state == ACTIVE_TARGET)
elmbed 38:76e49d045a3b 210 writeToPhone("State is ACTIVE_TARGET\r\n");
elmbed 23:26f27c462976 211 if(state == IDLE)
elmbed 38:76e49d045a3b 212 writeToPhone("State is IDLE\r\n");
elmbed 23:26f27c462976 213 if(state == FAIL)
elmbed 38:76e49d045a3b 214 writeToPhone("State is FAIL\r\n");
elmbed 23:26f27c462976 215 if(state == SUCCESS)
elmbed 38:76e49d045a3b 216 writeToPhone("State is SUCCESS\r\n");
elmbed 23:26f27c462976 217 }
elmbed 23:26f27c462976 218
elmbed 23:26f27c462976 219 last_state = state;
AntonLS 31:a6110950f385 220
AntonLS 31:a6110950f385 221 ta.resetTouchIfStuck();
elmbed 23:26f27c462976 222
elmbed 23:26f27c462976 223 char message = 'n';
elmbed 23:26f27c462976 224 timer = millis() - start;
elmbed 23:26f27c462976 225
elmbed 23:26f27c462976 226 if(ta.recieve(m_in))
elmbed 23:26f27c462976 227 {
elmbed 28:8e74ddc4f70f 228 //ta.beep(1000);
elmbed 28:8e74ddc4f70f 229
elmbed 23:26f27c462976 230 message = m_in->command;
elmbed 23:26f27c462976 231 switch(m_in->command)
elmbed 23:26f27c462976 232 {
elmbed 23:26f27c462976 233 case 't':
elmbed 38:76e49d045a3b 234 timeout = 10000L;//m_in->value;
elmbed 23:26f27c462976 235 //serial.printf("timeout: ");
elmbed 23:26f27c462976 236 //serial.printf("%d\n",timeout);
elmbed 23:26f27c462976 237 break;
elmbed 23:26f27c462976 238 case 'm':
elmbed 23:26f27c462976 239 //serial.printf("config bits: ");
elmbed 23:26f27c462976 240 mask = m_in->value;
elmbed 23:26f27c462976 241 ta.setMask(mask);// & LIGHTS);
elmbed 23:26f27c462976 242 //serial.printf("%s\n",byte_to_binary(mask));
elmbed 23:26f27c462976 243 fakeout = mask & FAKEOUT;
elmbed 23:26f27c462976 244
elmbed 23:26f27c462976 245 //if(fakeout)
elmbed 23:26f27c462976 246 // serial.printf("fakeout!");
elmbed 23:26f27c462976 247
elmbed 23:26f27c462976 248 fail_quick = mask & FAIL_QUICK;
elmbed 23:26f27c462976 249 break;
elmbed 23:26f27c462976 250 default: break;
elmbed 23:26f27c462976 251 }
elmbed 23:26f27c462976 252 }
elmbed 23:26f27c462976 253
elmbed 23:26f27c462976 254 if(message == 'x')
elmbed 23:26f27c462976 255 {
elmbed 23:26f27c462976 256 //a3 = 0;
elmbed 23:26f27c462976 257 wait_ms(100);
elmbed 23:26f27c462976 258 //a3 = 1;
elmbed 23:26f27c462976 259 }
elmbed 23:26f27c462976 260
elmbed 23:26f27c462976 261 if(message == 'f')
elmbed 23:26f27c462976 262 { // Fail
elmbed 23:26f27c462976 263 //serial.printf("Fail!\n");
elmbed 38:76e49d045a3b 264 writeToPhone("FAIL\r\n");
elmbed 38:76e49d045a3b 265 ta.post_color(fail_colour);
elmbed 38:76e49d045a3b 266 //ta.pulse(25,200,3000,0xFF0000);
elmbed 23:26f27c462976 267 state = FAIL;
elmbed 23:26f27c462976 268 }
elmbed 23:26f27c462976 269
elmbed 23:26f27c462976 270 if(message == 's')
elmbed 23:26f27c462976 271 { // Success
elmbed 23:26f27c462976 272 //serial.printf("Success!\n");
elmbed 38:76e49d045a3b 273 ta.post_color(0x0FFF00);
elmbed 23:26f27c462976 274 ta.beep(1500);
elmbed 23:26f27c462976 275 state = SUCCESS;
elmbed 23:26f27c462976 276 }
elmbed 23:26f27c462976 277
elmbed 23:26f27c462976 278 if(message == 'g')
elmbed 23:26f27c462976 279 { // This cone is the active target, GO!
elmbed 23:26f27c462976 280 start = millis();
elmbed 23:26f27c462976 281 warning = false;
elmbed 23:26f27c462976 282 penalty = false;
elmbed 38:76e49d045a3b 283 ta.post_color(active_colour);
elmbed 38:76e49d045a3b 284 //ta.pulse(50,750,0L,0x00FF00);
elmbed 23:26f27c462976 285 state = ACTIVE_TARGET;
elmbed 23:26f27c462976 286 //serial.printf("fakeout, fail_quick\n");
elmbed 23:26f27c462976 287 //serial.printf("%d",fakeout);
elmbed 23:26f27c462976 288 //serial.printf(", ");
elmbed 23:26f27c462976 289 //serial.printf("%d\n",fail_quick);
elmbed 23:26f27c462976 290 }
elmbed 23:26f27c462976 291
elmbed 23:26f27c462976 292 if(message == 'q')
elmbed 23:26f27c462976 293 { // Quit
elmbed 28:8e74ddc4f70f 294 writeToPhone("Clear!\r\n");
elmbed 23:26f27c462976 295 ta.pulse_off();
elmbed 38:76e49d045a3b 296 ta.mask_color(idle_colour);
elmbed 23:26f27c462976 297 state = IDLE;
elmbed 23:26f27c462976 298 }
elmbed 23:26f27c462976 299
elmbed 23:26f27c462976 300 if(message != 'n')
elmbed 23:26f27c462976 301 {
elmbed 23:26f27c462976 302 //serial.printf("%d",message);
elmbed 23:26f27c462976 303 //serial.printf(", ");
elmbed 23:26f27c462976 304 //serial.printf("%d\n",m_in->value);
elmbed 23:26f27c462976 305 }
elmbed 23:26f27c462976 306
elmbed 23:26f27c462976 307 if(message == 'u')
elmbed 23:26f27c462976 308 { // powerup noise
elmbed 23:26f27c462976 309 ta.powerup(m_in->value);
elmbed 23:26f27c462976 310 }
elmbed 23:26f27c462976 311
elmbed 23:26f27c462976 312 if(message == 'z')
elmbed 23:26f27c462976 313 {
elmbed 23:26f27c462976 314 m->value = m_in->value;
elmbed 23:26f27c462976 315 m->command = 'z';
elmbed 28:8e74ddc4f70f 316 m->cone = 1;
elmbed 23:26f27c462976 317 ta.send(m);
elmbed 23:26f27c462976 318 }
elmbed 23:26f27c462976 319
elmbed 23:26f27c462976 320 timer = millis() - start;
elmbed 23:26f27c462976 321
elmbed 23:26f27c462976 322 switch(state)
elmbed 23:26f27c462976 323 {
elmbed 23:26f27c462976 324 case ACTIVE_TARGET:
elmbed 23:26f27c462976 325 if(ta.activated() || ((timer > timeout) && (fakeout)))
elmbed 23:26f27c462976 326 {
elmbed 23:26f27c462976 327 m->command = 'd';
elmbed 23:26f27c462976 328 m->cone = CONTROL_CONE;
elmbed 23:26f27c462976 329 ta.send(m);
elmbed 38:76e49d045a3b 330 ta.post_color(success_colour);
elmbed 23:26f27c462976 331 ta.pulse_off();
elmbed 23:26f27c462976 332 state = IDLE;
elmbed 23:26f27c462976 333 //serial.printf("Done!\n");
elmbed 23:26f27c462976 334 }
elmbed 23:26f27c462976 335 else if(timer > timeout && !penalty)
elmbed 23:26f27c462976 336 {
elmbed 38:76e49d045a3b 337 writeToPhone("PEN\r\n");
elmbed 23:26f27c462976 338 //serial.printf("Penalty!\n");
elmbed 23:26f27c462976 339 penalty = true;
elmbed 38:76e49d045a3b 340 //ta.pulse(350,600,~0L,0xFF00FF);
elmbed 38:76e49d045a3b 341 ta.post_color(pen_colour);
elmbed 23:26f27c462976 342 }
elmbed 23:26f27c462976 343 else if(timer > ((timeout*3)/4) && !warning)
elmbed 23:26f27c462976 344 {
elmbed 38:76e49d045a3b 345 writeToPhone("WARN\r\n");
elmbed 23:26f27c462976 346 //serial.printf("Warning!\n");
elmbed 23:26f27c462976 347 warning = true;
elmbed 38:76e49d045a3b 348 //ta.pulse(350,750,~0L,0xFFFF00);
elmbed 38:76e49d045a3b 349 ta.post_color(warn_colour);
elmbed 23:26f27c462976 350 }
elmbed 23:26f27c462976 351 break;
elmbed 23:26f27c462976 352 case IDLE:
elmbed 38:76e49d045a3b 353 bool act = ta.activated();
elmbed 38:76e49d045a3b 354 ta.post_color(act?touch_colour:idle_colour);
elmbed 23:26f27c462976 355 break;
elmbed 23:26f27c462976 356 default:
elmbed 23:26f27c462976 357 break;
elmbed 23:26f27c462976 358 }
elmbed 23:26f27c462976 359 }
elmbed 23:26f27c462976 360 #endif
elmbed 23:26f27c462976 361
elmbed 23:26f27c462976 362 #ifdef MASTER
elmbed 23:26f27c462976 363 static void master_loop()
elmbed 23:26f27c462976 364 {
elmbed 23:26f27c462976 365 static Mode_t last_mode = mode;
elmbed 28:8e74ddc4f70f 366 static int counter = 0;
elmbed 23:26f27c462976 367
elmbed 23:26f27c462976 368 if (last_mode != mode)
elmbed 23:26f27c462976 369 {
elmbed 23:26f27c462976 370 if (mode == FREEFORM)
elmbed 38:76e49d045a3b 371 writeToPhone("RR.\r\n");
elmbed 23:26f27c462976 372
elmbed 23:26f27c462976 373 if (mode == PATTERN)
elmbed 38:76e49d045a3b 374 writeToPhone("SP.\r\n");
elmbed 23:26f27c462976 375 }
elmbed 23:26f27c462976 376
elmbed 23:26f27c462976 377 last_mode = mode;
elmbed 23:26f27c462976 378
elmbed 23:26f27c462976 379 ta.spin();
elmbed 23:26f27c462976 380 //spinButtons();
elmbed 38:76e49d045a3b 381 //if((logging || micros() < dist_timeout) && ta.recieve(m_in))
elmbed 38:76e49d045a3b 382 // writeToPhone("CMD: %c",m_in->command);
elmbed 38:76e49d045a3b 383 // else
elmbed 23:26f27c462976 384 spin();
elmbed 23:26f27c462976 385 }
elmbed 23:26f27c462976 386 #endif
elmbed 17:d8b901d791fd 387
elmbed 17:d8b901d791fd 388 void loop()
elmbed 17:d8b901d791fd 389 {
elmbed 23:26f27c462976 390 #ifdef MASTER
elmbed 23:26f27c462976 391 master_loop();
elmbed 23:26f27c462976 392 #else
elmbed 23:26f27c462976 393 slave_loop();
elmbed 23:26f27c462976 394 #endif
elmbed 17:d8b901d791fd 395 }
elmbed 17:d8b901d791fd 396
elmbed 23:26f27c462976 397 static void getNext()
elmbed 17:d8b901d791fd 398 {
elmbed 23:26f27c462976 399 #ifdef MASTER
elmbed 17:d8b901d791fd 400 if(mode == FREEFORM)
elmbed 17:d8b901d791fd 401 {
elmbed 17:d8b901d791fd 402 ++active_cone;//getRandomCone();
elmbed 38:76e49d045a3b 403
elmbed 38:76e49d045a3b 404 if (active_cone > NUM_CONES)
elmbed 17:d8b901d791fd 405 {
elmbed 17:d8b901d791fd 406 active_cone = 1;
elmbed 17:d8b901d791fd 407 }
elmbed 38:76e49d045a3b 408
elmbed 38:76e49d045a3b 409 writeToPhone("GN_AC: %d\r\n", active_cone);
elmbed 38:76e49d045a3b 410
elmbed 17:d8b901d791fd 411 mask = 0x07;
elmbed 17:d8b901d791fd 412 ta.setMask(mask & LIGHTS);
elmbed 38:76e49d045a3b 413 //timeout = ~0;
elmbed 38:76e49d045a3b 414
elmbed 17:d8b901d791fd 415 return;
elmbed 17:d8b901d791fd 416 }
elmbed 17:d8b901d791fd 417
elmbed 17:d8b901d791fd 418 active_cone = cones[index];
elmbed 17:d8b901d791fd 419 mask = masks[index];
elmbed 17:d8b901d791fd 420 fakeout = mask & FAKEOUT;
elmbed 17:d8b901d791fd 421 fail_quick = mask & FAIL_QUICK;
elmbed 17:d8b901d791fd 422 timeout = times[index];
elmbed 17:d8b901d791fd 423 index++;
elmbed 17:d8b901d791fd 424 DEBUG("Next cone is \n");
elmbed 17:d8b901d791fd 425 DEBUG("%d\n",active_cone);
elmbed 23:26f27c462976 426 #endif
elmbed 17:d8b901d791fd 427 }
elmbed 18:affef3a7db2a 428 #if 1
elmbed 23:26f27c462976 429 static void spin()
elmbed 17:d8b901d791fd 430 {
elmbed 23:26f27c462976 431 #ifdef MASTER
elmbed 17:d8b901d791fd 432 static patternState_t last_state = START_P;
elmbed 17:d8b901d791fd 433 static uint8_t last_cone = 255;
elmbed 17:d8b901d791fd 434 static unsigned long start;
elmbed 17:d8b901d791fd 435 static unsigned long timer;
elmbed 17:d8b901d791fd 436 static bool first; // first should be true when we first enter a state (even if we just exited the same state)
elmbed 17:d8b901d791fd 437 char command = 'n';
elmbed 17:d8b901d791fd 438 unsigned long value = 0;
elmbed 17:d8b901d791fd 439
elmbed 17:d8b901d791fd 440 m_in->command = 0;
elmbed 17:d8b901d791fd 441 m_in->value = 0;
elmbed 17:d8b901d791fd 442 m_in->cone = 0;
elmbed 17:d8b901d791fd 443
elmbed 17:d8b901d791fd 444 if(ta.recieve(m_in))
elmbed 17:d8b901d791fd 445 {
elmbed 38:76e49d045a3b 446 writeToPhone("SR: %d '%c'\r\n", m_in->cone, m_in->command);
elmbed 17:d8b901d791fd 447 command = m_in->command;
elmbed 17:d8b901d791fd 448 value = m_in->value;
elmbed 17:d8b901d791fd 449 }
elmbed 17:d8b901d791fd 450
elmbed 17:d8b901d791fd 451 first = false;
elmbed 17:d8b901d791fd 452
elmbed 17:d8b901d791fd 453 if(last_state != state_p || new_state)
elmbed 17:d8b901d791fd 454 {
elmbed 17:d8b901d791fd 455 if(state_p == START_P)
elmbed 17:d8b901d791fd 456 DEBUG("State is START\n");
elmbed 17:d8b901d791fd 457 if(state_p == WAITING_P)
elmbed 17:d8b901d791fd 458 DEBUG("State is WAITING\n");
elmbed 17:d8b901d791fd 459 if(state_p == ACTIVE_TARGET_P)
elmbed 17:d8b901d791fd 460 DEBUG("State is ACTIVE_TARGET\n");
elmbed 17:d8b901d791fd 461 if(state_p == IDLE_P)
elmbed 17:d8b901d791fd 462 DEBUG("State is IDLE\n");
elmbed 17:d8b901d791fd 463 if(state_p == FAIL_P)
elmbed 17:d8b901d791fd 464 DEBUG("State is FAIL\n");
elmbed 17:d8b901d791fd 465 if(state_p == SUCCESS_P)
elmbed 17:d8b901d791fd 466 DEBUG("State is SUCCESS)\n");
elmbed 17:d8b901d791fd 467
elmbed 17:d8b901d791fd 468 first = true;
elmbed 17:d8b901d791fd 469 new_state = false;
elmbed 17:d8b901d791fd 470 }
elmbed 17:d8b901d791fd 471
elmbed 17:d8b901d791fd 472 last_state = state_p;
elmbed 17:d8b901d791fd 473 last_cone = active_cone;
elmbed 17:d8b901d791fd 474
elmbed 17:d8b901d791fd 475 timer = millis() - start;
elmbed 17:d8b901d791fd 476
elmbed 17:d8b901d791fd 477 switch(state_p)
elmbed 17:d8b901d791fd 478 {
elmbed 17:d8b901d791fd 479 case IDLE_P:
AntonLS 30:c60b0d52b067 480 ta.setMask( DEFTOUCHMASK );
elmbed 17:d8b901d791fd 481 if(!in_menu)
elmbed 38:76e49d045a3b 482 ta.post_color((ta.activated())?touch_colour:idle_colour);
elmbed 17:d8b901d791fd 483 break;
elmbed 17:d8b901d791fd 484
elmbed 17:d8b901d791fd 485 case START_P:
elmbed 38:76e49d045a3b 486 clearCones();
elmbed 17:d8b901d791fd 487 tag_start = false;
elmbed 38:76e49d045a3b 488 ta.post_color(idle_colour);
elmbed 17:d8b901d791fd 489 index = 0;
elmbed 17:d8b901d791fd 490 getNext();
elmbed 17:d8b901d791fd 491
elmbed 17:d8b901d791fd 492 if(timeout == 0)
elmbed 17:d8b901d791fd 493 { // timeout of 0 means wait indefinitely for the first cone to be activated, then start the rest of the sequence
elmbed 17:d8b901d791fd 494 timeout = ~0;
elmbed 17:d8b901d791fd 495 tag_start = true;
elmbed 38:76e49d045a3b 496
elmbed 38:76e49d045a3b 497 writeToPhone("ACS: %d\r\n", active_cone);
elmbed 17:d8b901d791fd 498 }
elmbed 17:d8b901d791fd 499
elmbed 17:d8b901d791fd 500 start = millis();
elmbed 17:d8b901d791fd 501 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 502 if(active_cone == 0)
elmbed 17:d8b901d791fd 503 { // in this case stateFromCone returns SUCCESS_P, but really there was no course sequence
elmbed 17:d8b901d791fd 504 DEBUG("\n");
elmbed 17:d8b901d791fd 505 DEBUG("Empty course sequence!\n");
elmbed 38:76e49d045a3b 506 writeToPhone("ECS\r\n");
elmbed 17:d8b901d791fd 507 ta.post_color(0x0000FF);
elmbed 17:d8b901d791fd 508 state_p = IDLE_P;
elmbed 17:d8b901d791fd 509 break;
elmbed 17:d8b901d791fd 510 }
elmbed 17:d8b901d791fd 511 break;
elmbed 17:d8b901d791fd 512
elmbed 17:d8b901d791fd 513 case WAITING_P:
elmbed 17:d8b901d791fd 514 if(first)
elmbed 17:d8b901d791fd 515 {
elmbed 17:d8b901d791fd 516 m->command = 'm';
elmbed 17:d8b901d791fd 517 m->value = mask;
elmbed 17:d8b901d791fd 518 m->cone = active_cone;
elmbed 17:d8b901d791fd 519 ta.send(m);
elmbed 38:76e49d045a3b 520
elmbed 38:76e49d045a3b 521 wait_ms(300);
elmbed 17:d8b901d791fd 522 m->command = 't';
elmbed 17:d8b901d791fd 523 m->value = (uint32_t)timeout;
elmbed 17:d8b901d791fd 524 ta.send(m);
elmbed 38:76e49d045a3b 525
elmbed 38:76e49d045a3b 526 wait_ms(300);
elmbed 17:d8b901d791fd 527 m->command = 'g';
elmbed 17:d8b901d791fd 528 ta.send(m);
elmbed 17:d8b901d791fd 529
elmbed 38:76e49d045a3b 530 writeToPhone("ACW: %d\r\n", active_cone);
elmbed 17:d8b901d791fd 531 }
elmbed 17:d8b901d791fd 532
elmbed 38:76e49d045a3b 533 ta.post_color(( ta.activated())?touch_colour:idle_colour);
elmbed 17:d8b901d791fd 534
elmbed 17:d8b901d791fd 535 DEBUG("Waiting: %d %d %c\n", m_in->cone, active_cone, command);
elmbed 17:d8b901d791fd 536
elmbed 17:d8b901d791fd 537 if((m_in->cone == active_cone && command == 'd' ) || ((timer >= timeout) && fakeout))
elmbed 17:d8b901d791fd 538 {
elmbed 17:d8b901d791fd 539 if((timer >= timeout) && !fakeout)
elmbed 17:d8b901d791fd 540 {
elmbed 38:76e49d045a3b 541 writeToPhone("TSP\r\n");
elmbed 17:d8b901d791fd 542 }
elmbed 17:d8b901d791fd 543 printSplit(timer);
elmbed 17:d8b901d791fd 544 getNext();
elmbed 17:d8b901d791fd 545 start = millis();
elmbed 17:d8b901d791fd 546
elmbed 17:d8b901d791fd 547 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 548
elmbed 17:d8b901d791fd 549 if(state_p == WAITING_P)
elmbed 17:d8b901d791fd 550 {
elmbed 38:76e49d045a3b 551 writeToPhone("NSW\r\n");
elmbed 17:d8b901d791fd 552 new_state = true;
elmbed 17:d8b901d791fd 553 }
elmbed 17:d8b901d791fd 554 }
elmbed 17:d8b901d791fd 555 else if(~timeout != 0 && mode == PATTERN && timer >= (timeout + ((fail_quick)?0:GRACE_PERIOD)))
elmbed 17:d8b901d791fd 556 {
elmbed 38:76e49d045a3b 557 writeToPhone("FW\r\n");
elmbed 17:d8b901d791fd 558 state_p = FAIL_P;
elmbed 17:d8b901d791fd 559 }
elmbed 17:d8b901d791fd 560 break;
elmbed 17:d8b901d791fd 561
elmbed 17:d8b901d791fd 562 case ACTIVE_TARGET_P:
elmbed 17:d8b901d791fd 563 if(first)
elmbed 17:d8b901d791fd 564 {
elmbed 17:d8b901d791fd 565 ta.setMask(mask);
elmbed 17:d8b901d791fd 566
elmbed 17:d8b901d791fd 567 warning = false;
elmbed 17:d8b901d791fd 568 penalty = false;
elmbed 38:76e49d045a3b 569 ta.post_color(active_colour);
elmbed 38:76e49d045a3b 570 //ta.pulse(50,750,~0L,0x00FF00);
elmbed 17:d8b901d791fd 571 //if(!(mask & SILENT))ta.pulse(50,750,~0L,0c00FF00);
elmbed 17:d8b901d791fd 572 }
elmbed 17:d8b901d791fd 573 if(timer >= timeout)
elmbed 17:d8b901d791fd 574 {
elmbed 17:d8b901d791fd 575 if(!penalty)
elmbed 17:d8b901d791fd 576 {
elmbed 38:76e49d045a3b 577 ta.post_color(pen_colour);
elmbed 38:76e49d045a3b 578 //ta.pulse(50,325,~0L,0xFF00FF);
elmbed 17:d8b901d791fd 579
elmbed 17:d8b901d791fd 580 penalty = true;
elmbed 17:d8b901d791fd 581 }
elmbed 38:76e49d045a3b 582 ta.post_color(pen_colour);
elmbed 17:d8b901d791fd 583 }
elmbed 17:d8b901d791fd 584 else if(timer > ((timeout*3)/4) && !warning)
elmbed 17:d8b901d791fd 585 {
elmbed 17:d8b901d791fd 586 warning = true;
elmbed 38:76e49d045a3b 587 ta.post_color(warn_colour);
elmbed 38:76e49d045a3b 588 //ta.pulse(50,750,~0L,0xFFFF00);
elmbed 17:d8b901d791fd 589 }
elmbed 17:d8b901d791fd 590
elmbed 17:d8b901d791fd 591 if(ta.activated() || ((timer >= timeout) && fakeout))
elmbed 17:d8b901d791fd 592 {
elmbed 17:d8b901d791fd 593 if((timer >= timeout) && !fakeout)
elmbed 17:d8b901d791fd 594 DEBUG("Timesplit penalty! ");
elmbed 17:d8b901d791fd 595
elmbed 17:d8b901d791fd 596 printSplit(timer);
elmbed 38:76e49d045a3b 597 ta.post_color(success_colour);
elmbed 17:d8b901d791fd 598 getNext();
elmbed 17:d8b901d791fd 599 start = millis();
elmbed 17:d8b901d791fd 600 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 601
elmbed 17:d8b901d791fd 602 if(state_p == ACTIVE_TARGET_P)
elmbed 17:d8b901d791fd 603 new_state = true;
elmbed 17:d8b901d791fd 604 ta.pulse_off();
elmbed 17:d8b901d791fd 605
elmbed 17:d8b901d791fd 606 }
elmbed 17:d8b901d791fd 607 else if(~timeout != 0 && mode == PATTERN && timer >= (timeout + ((fail_quick)?0:GRACE_PERIOD)))
elmbed 17:d8b901d791fd 608 {
elmbed 17:d8b901d791fd 609 state_p = FAIL_P;
elmbed 17:d8b901d791fd 610 ta.pulse_off();
elmbed 17:d8b901d791fd 611 }
elmbed 17:d8b901d791fd 612 //DEBUG.println(timeout + ((fail_quick)?0:GRACE_PERIOD));
elmbed 17:d8b901d791fd 613 //DEBUG.println(timeout);
elmbed 17:d8b901d791fd 614
elmbed 17:d8b901d791fd 615 break;
elmbed 17:d8b901d791fd 616
elmbed 17:d8b901d791fd 617 case FAIL_P:
elmbed 17:d8b901d791fd 618 if(first)
elmbed 17:d8b901d791fd 619 {
elmbed 17:d8b901d791fd 620 start = millis();
elmbed 17:d8b901d791fd 621 DEBUG("\n");
elmbed 17:d8b901d791fd 622 DEBUG("Timeout\n");
elmbed 17:d8b901d791fd 623 //ta.post_color();
elmbed 38:76e49d045a3b 624 //ta.pulse(25,200,3000,0xFF0000);
elmbed 38:76e49d045a3b 625 ta.post_color(fail_colour);
elmbed 17:d8b901d791fd 626
elmbed 17:d8b901d791fd 627 failCones();
elmbed 17:d8b901d791fd 628 //ta.fail();
elmbed 17:d8b901d791fd 629 }
elmbed 17:d8b901d791fd 630 else if(timer > 3000)
elmbed 17:d8b901d791fd 631 {
elmbed 17:d8b901d791fd 632 DEBUG("Clear!\n");
elmbed 17:d8b901d791fd 633 state_p = IDLE_P;
elmbed 17:d8b901d791fd 634 clearCones();
elmbed 17:d8b901d791fd 635 }
elmbed 17:d8b901d791fd 636 break;
elmbed 17:d8b901d791fd 637 case SUCCESS_P:
elmbed 17:d8b901d791fd 638 if(first)
elmbed 17:d8b901d791fd 639 {
elmbed 17:d8b901d791fd 640 start = millis();
elmbed 17:d8b901d791fd 641 DEBUG("\n");
elmbed 17:d8b901d791fd 642 DEBUG("Done!\n");
elmbed 38:76e49d045a3b 643 ta.post_color(success_colour);
elmbed 17:d8b901d791fd 644 ta.beep(1500);
elmbed 17:d8b901d791fd 645 successCones();
elmbed 17:d8b901d791fd 646 //ta.success();
elmbed 17:d8b901d791fd 647 }
elmbed 17:d8b901d791fd 648 else if(timer > 1500)
elmbed 17:d8b901d791fd 649 {
elmbed 17:d8b901d791fd 650 DEBUG("Clear!\n");
elmbed 17:d8b901d791fd 651 state_p = IDLE_P;
elmbed 17:d8b901d791fd 652 clearCones();
elmbed 17:d8b901d791fd 653 }
elmbed 17:d8b901d791fd 654 break;
elmbed 17:d8b901d791fd 655
elmbed 17:d8b901d791fd 656 default:
elmbed 38:76e49d045a3b 657 ta.post_color(idle_colour);
elmbed 17:d8b901d791fd 658 break;
elmbed 17:d8b901d791fd 659 }
elmbed 23:26f27c462976 660 #endif
elmbed 17:d8b901d791fd 661 }
elmbed 18:affef3a7db2a 662 #endif
elmbed 18:affef3a7db2a 663
elmbed 23:26f27c462976 664 #ifdef MASTER
elmbed 17:d8b901d791fd 665 void getRadioInput(char *ibuffer, int size)
elmbed 17:d8b901d791fd 666 {
elmbed 17:d8b901d791fd 667 static int i = 0;
elmbed 17:d8b901d791fd 668 int buffer_counter = 0;
elmbed 17:d8b901d791fd 669 static char parameter = '_';
elmbed 17:d8b901d791fd 670 static char buffer[MAX_LEN + 1];
elmbed 17:d8b901d791fd 671 int value = 0;
elmbed 17:d8b901d791fd 672 char *endp = NULL;
elmbed 17:d8b901d791fd 673
elmbed 17:d8b901d791fd 674 // listen for commands coming over bluetooth
elmbed 17:d8b901d791fd 675 while (buffer_counter < size)
elmbed 17:d8b901d791fd 676 {
elmbed 17:d8b901d791fd 677 char ch = ibuffer[buffer_counter++];
elmbed 17:d8b901d791fd 678
elmbed 17:d8b901d791fd 679 if((ch == '\r' || ch == ';' || ch == '\n') && parameter != '_')
elmbed 17:d8b901d791fd 680 {
elmbed 17:d8b901d791fd 681 if(i > 1)
elmbed 17:d8b901d791fd 682 {
elmbed 17:d8b901d791fd 683 buffer[i-1] = 0;
elmbed 17:d8b901d791fd 684 value = atoi(buffer);
elmbed 17:d8b901d791fd 685
elmbed 17:d8b901d791fd 686 if(parameter == 'l')
elmbed 17:d8b901d791fd 687 value = strtoul(buffer, &endp, 2);
elmbed 17:d8b901d791fd 688 }
elmbed 18:affef3a7db2a 689
elmbed 17:d8b901d791fd 690 interpret(parameter, value);
elmbed 17:d8b901d791fd 691 DEBUG("After interp: '%c'\r\n", parameter);
elmbed 17:d8b901d791fd 692 parameter = '_';
elmbed 17:d8b901d791fd 693 buffer[0] = 0;
elmbed 17:d8b901d791fd 694 i=0;
elmbed 17:d8b901d791fd 695 }
elmbed 17:d8b901d791fd 696 else
elmbed 17:d8b901d791fd 697 {
elmbed 17:d8b901d791fd 698 if(i==0)
elmbed 17:d8b901d791fd 699 parameter = ch;
elmbed 17:d8b901d791fd 700 else
elmbed 17:d8b901d791fd 701 buffer[i-1] = ch;
elmbed 17:d8b901d791fd 702 i++;
elmbed 17:d8b901d791fd 703 }
elmbed 17:d8b901d791fd 704
elmbed 17:d8b901d791fd 705 if(ch == '_' || ch == '\r' || ch == ';' || ch == '\n')
elmbed 17:d8b901d791fd 706 {
elmbed 17:d8b901d791fd 707 parameter = '_';
elmbed 17:d8b901d791fd 708 buffer[0] = 0;
elmbed 17:d8b901d791fd 709 i=0;
elmbed 17:d8b901d791fd 710 }
elmbed 17:d8b901d791fd 711 }
elmbed 17:d8b901d791fd 712 }
elmbed 17:d8b901d791fd 713
elmbed 23:26f27c462976 714 static void interpret(char parameter, int value)
elmbed 17:d8b901d791fd 715 {
elmbed 18:affef3a7db2a 716 int remainder;
elmbed 18:affef3a7db2a 717 uint16_t split;
elmbed 18:affef3a7db2a 718 uint16_t t;
elmbed 18:affef3a7db2a 719 uint8_t c;
elmbed 18:affef3a7db2a 720 uint8_t l;
elmbed 18:affef3a7db2a 721 int last;
elmbed 18:affef3a7db2a 722 int middle;
elmbed 18:affef3a7db2a 723 uint8_t length;
elmbed 18:affef3a7db2a 724 uint8_t offset;
elmbed 18:affef3a7db2a 725 int i;
elmbed 18:affef3a7db2a 726 uint8_t v;
elmbed 18:affef3a7db2a 727 uint16_t val;
elmbed 17:d8b901d791fd 728
elmbed 17:d8b901d791fd 729 switch(parameter)
elmbed 17:d8b901d791fd 730 {
elmbed 17:d8b901d791fd 731 case 'f':
elmbed 17:d8b901d791fd 732 if(lonely)
elmbed 17:d8b901d791fd 733 {
elmbed 18:affef3a7db2a 734 writeToPhone("Sorry, no other cones detected, please try detecting cones first.\r\n");
elmbed 17:d8b901d791fd 735 break;
elmbed 17:d8b901d791fd 736 }
elmbed 18:affef3a7db2a 737
elmbed 18:affef3a7db2a 738 writeToPhone("Entered freeform\r\n");
elmbed 17:d8b901d791fd 739 mode = FREEFORM;
elmbed 17:d8b901d791fd 740 state_p = START_P;
elmbed 17:d8b901d791fd 741 clearCones();
elmbed 18:affef3a7db2a 742 //find_cones();
elmbed 17:d8b901d791fd 743 break;
elmbed 17:d8b901d791fd 744 case 'p':
elmbed 17:d8b901d791fd 745 if(value == 0)
elmbed 17:d8b901d791fd 746 {
elmbed 18:affef3a7db2a 747 writeToPhone("\r\n");
elmbed 18:affef3a7db2a 748 writeToPhone("Running pattern %d\r\n", active_sequence + 1);
elmbed 18:affef3a7db2a 749
elmbed 17:d8b901d791fd 750 mode = PATTERN;
elmbed 17:d8b901d791fd 751 state_p = START_P;
elmbed 17:d8b901d791fd 752 active_cone = 0;
elmbed 18:affef3a7db2a 753
elmbed 17:d8b901d791fd 754 clearCones();
elmbed 17:d8b901d791fd 755 }
elmbed 17:d8b901d791fd 756 else
elmbed 17:d8b901d791fd 757 {
elmbed 18:affef3a7db2a 758 writeToPhone("Selected pattern %d\r\n", value);
elmbed 18:affef3a7db2a 759
elmbed 17:d8b901d791fd 760 if(value <= SEQUENCES && value > 0)
elmbed 17:d8b901d791fd 761 {
elmbed 17:d8b901d791fd 762 active_sequence = value - 1;
elmbed 17:d8b901d791fd 763 cones = (uint8_t*)cone_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 764 times = (uint16_t*)time_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 765 masks = (uint8_t*)mask_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 766 }
elmbed 17:d8b901d791fd 767 else
elmbed 17:d8b901d791fd 768 {
elmbed 18:affef3a7db2a 769 writeToPhone("This pattern is not available. Please select a value between 1 and %d", SEQUENCES);
elmbed 17:d8b901d791fd 770 }
elmbed 17:d8b901d791fd 771 }
elmbed 17:d8b901d791fd 772 break;
elmbed 17:d8b901d791fd 773 case 's':
elmbed 17:d8b901d791fd 774 station = value;
AntonLS 19:afcbb425b3cf 775 writeToPhone("Selected station %d\r\n", value);
elmbed 17:d8b901d791fd 776 break;
elmbed 17:d8b901d791fd 777 case 'd':
elmbed 18:affef3a7db2a 778 if(value == 0){
elmbed 17:d8b901d791fd 779 logging = false;
elmbed 17:d8b901d791fd 780 m->value = 0;
elmbed 17:d8b901d791fd 781 dist_timeout = micros() + 2000000;
elmbed 17:d8b901d791fd 782 }
elmbed 18:affef3a7db2a 783 if(value == 1){
elmbed 17:d8b901d791fd 784 logging = true;
elmbed 17:d8b901d791fd 785 m->value = 1;
elmbed 17:d8b901d791fd 786 }
elmbed 17:d8b901d791fd 787 m->command = 'd';
elmbed 17:d8b901d791fd 788 m->cone = TRILAT_CONE;
elmbed 17:d8b901d791fd 789 ta.send(m);
elmbed 18:affef3a7db2a 790 //Serial.print("Sent d");
elmbed 18:affef3a7db2a 791 //Serial.println(value);
elmbed 17:d8b901d791fd 792 break;
elmbed 17:d8b901d791fd 793 case 'c':
elmbed 17:d8b901d791fd 794 c = value;
elmbed 18:affef3a7db2a 795 writeToPhone("Station %d will be cone %d\r\n", station, value);
elmbed 18:affef3a7db2a 796 if(station <= STATIONS && station > 0)cones[station-1] = c;
elmbed 17:d8b901d791fd 797 break;
elmbed 17:d8b901d791fd 798 case 't':
elmbed 17:d8b901d791fd 799 t = (uint16_t)value;
elmbed 17:d8b901d791fd 800 remainder = t%1000;
AntonLS 19:afcbb425b3cf 801 writeToPhone("Station %d split time is: %d.%03d seconds.\r\n", station, t/1000, remainder);
AntonLS 19:afcbb425b3cf 802 /// if(remainder < 100)writeToPhone("0");
AntonLS 19:afcbb425b3cf 803 /// if(remainder < 10)writeToPhone("0");
AntonLS 19:afcbb425b3cf 804 /// writeToPhone("%d seconds.\r\n",remainder);
elmbed 18:affef3a7db2a 805 if(station <= STATIONS && station > 0)times[station-1] = t;
elmbed 17:d8b901d791fd 806 break;
elmbed 17:d8b901d791fd 807 case 'l':
elmbed 17:d8b901d791fd 808 l = 0;
elmbed 17:d8b901d791fd 809 l = (uint8_t)value;
elmbed 17:d8b901d791fd 810 masks[station-1] = l;
AntonLS 19:afcbb425b3cf 811 writeToPhone( "Station %d config bits: ", station );
AntonLS 19:afcbb425b3cf 812 writeBitsToPhone( l );
AntonLS 19:afcbb425b3cf 813 writeToPhone( "\r\n" );
elmbed 17:d8b901d791fd 814 break;
elmbed 17:d8b901d791fd 815 case 'q':
elmbed 17:d8b901d791fd 816 state_p = IDLE_P;
elmbed 17:d8b901d791fd 817 new_state = true; // force state reporting, even if we're already in IDLE
elmbed 23:26f27c462976 818 //ta.pulse_off();
elmbed 23:26f27c462976 819 //clearCones();
elmbed 17:d8b901d791fd 820 break;
elmbed 17:d8b901d791fd 821 case 'r':
elmbed 18:affef3a7db2a 822 //Serial.println(F(""));
AntonLS 19:afcbb425b3cf 823 writeToPhone("Current pattern is %d:\r\n", active_sequence+1);
elmbed 18:affef3a7db2a 824 for(int i=0; i<STATIONS; i++){
elmbed 18:affef3a7db2a 825 writeToPhone("Station %d: cone %d, ", i+1, cones[i]);
elmbed 17:d8b901d791fd 826 split = times[i];
AntonLS 19:afcbb425b3cf 827 printMsAsSeconds(split);
elmbed 18:affef3a7db2a 828 //Serial.print(F("s timeout, lights: "));
elmbed 18:affef3a7db2a 829 writeToPhone("s timeout, config bits: ");
elmbed 17:d8b901d791fd 830 l = masks[i];
elmbed 17:d8b901d791fd 831 /*
elmbed 18:affef3a7db2a 832 if(l<0b10000000)
elmbed 18:affef3a7db2a 833 writeToPhone("0");
elmbed 18:affef3a7db2a 834 if(l<0b1000000)
elmbed 18:affef3a7db2a 835 writeToPhone("0");
elmbed 18:affef3a7db2a 836 if(l<0b100000)
elmbed 18:affef3a7db2a 837 writeToPhone("0");
elmbed 18:affef3a7db2a 838 if(l<0b10000)
elmbed 18:affef3a7db2a 839 writeToPhone("0");
elmbed 18:affef3a7db2a 840 if(l<0b1000)
elmbed 18:affef3a7db2a 841 writeToPhone("0");
elmbed 18:affef3a7db2a 842 if(l<0b100)
elmbed 18:affef3a7db2a 843 writeToPhone("0");
elmbed 18:affef3a7db2a 844 if(l<0b10)
elmbed 18:affef3a7db2a 845 writeToPhone("0");
elmbed 18:affef3a7db2a 846 */
AntonLS 19:afcbb425b3cf 847 writeBitsToPhone( l, 3 );
AntonLS 19:afcbb425b3cf 848 writeToPhone( "\r\n" );
elmbed 18:affef3a7db2a 849 //Serial.println(l, BIN);
elmbed 17:d8b901d791fd 850 }
elmbed 17:d8b901d791fd 851 break;
elmbed 17:d8b901d791fd 852 case 'u':
elmbed 17:d8b901d791fd 853 // let any pending messages clear
elmbed 18:affef3a7db2a 854 while(ta.get_buffer_size()){
elmbed 17:d8b901d791fd 855 ta.spin();
elmbed 17:d8b901d791fd 856 }
elmbed 18:affef3a7db2a 857 if(value == 1){
elmbed 18:affef3a7db2a 858 writeToPhone("Course leader!\r\n");
elmbed 17:d8b901d791fd 859 powerupCones(value);
elmbed 17:d8b901d791fd 860 ta.powerup(value);
elmbed 17:d8b901d791fd 861 }
elmbed 18:affef3a7db2a 862 if(value == 2){
elmbed 18:affef3a7db2a 863 writeToPhone("Split leader!\r\n");
elmbed 17:d8b901d791fd 864 powerupCones(value);
elmbed 18:affef3a7db2a 865 //ta.powerup(value);
elmbed 17:d8b901d791fd 866 }
elmbed 18:affef3a7db2a 867 if(value > 10 && value < 5000){
elmbed 17:d8b901d791fd 868 ta.beep(value);
elmbed 17:d8b901d791fd 869 }
elmbed 17:d8b901d791fd 870 break;
elmbed 17:d8b901d791fd 871 case 'w':
elmbed 18:affef3a7db2a 872 if(value > 0 && value <= SEQUENCES){
elmbed 17:d8b901d791fd 873 length = STATIONS;
elmbed 17:d8b901d791fd 874 offset = (value - 1) * STATIONS;
elmbed 18:affef3a7db2a 875 writeToPhone("Saved sequence %d\r\n", value);
elmbed 17:d8b901d791fd 876 }
elmbed 18:affef3a7db2a 877 else{
elmbed 17:d8b901d791fd 878 length = STATIONS * SEQUENCES;
elmbed 17:d8b901d791fd 879 offset = 0;
elmbed 18:affef3a7db2a 880 writeToPhone("Saved all sequences.\r\n");
elmbed 17:d8b901d791fd 881 }
elmbed 18:affef3a7db2a 882 for(i=offset;i<length+offset;i++){
elmbed 18:affef3a7db2a 883 //eeprom_update_byte(addressConeTable + i, cone_table[i]);
elmbed 18:affef3a7db2a 884 //eeprom_update_byte(addressMaskTable + i, mask_table[i]);
elmbed 18:affef3a7db2a 885 //eeprom_update_word(addressTimeTable + i, time_table[i]);
elmbed 17:d8b901d791fd 886 }
elmbed 17:d8b901d791fd 887 break;
elmbed 17:d8b901d791fd 888 case 'x':
elmbed 17:d8b901d791fd 889 resetSensors();
elmbed 18:affef3a7db2a 890 //digitalWrite(A3, LOW);
elmbed 18:affef3a7db2a 891 //delay(100);
elmbed 18:affef3a7db2a 892 //digitalWrite(A3, HIGH);
elmbed 17:d8b901d791fd 893 break;
elmbed 17:d8b901d791fd 894
elmbed 17:d8b901d791fd 895 case 'z':
elmbed 17:d8b901d791fd 896 find_cones();
elmbed 18:affef3a7db2a 897 /*m->value = value;
elmbed 17:d8b901d791fd 898 m->command = 'z';
elmbed 17:d8b901d791fd 899 m->cone = 2;
elmbed 18:affef3a7db2a 900 Serial.println("sending...");
elmbed 17:d8b901d791fd 901 ta.send(m);
elmbed 18:affef3a7db2a 902 Serial.println("sent");*/
elmbed 17:d8b901d791fd 903 break;
elmbed 17:d8b901d791fd 904 }
elmbed 17:d8b901d791fd 905 }
elmbed 23:26f27c462976 906
elmbed 23:26f27c462976 907 static patternState_t stateFromCone(uint8_t cone)
elmbed 17:d8b901d791fd 908 {
elmbed 17:d8b901d791fd 909 if(cone == 0 || index == STATIONS)
elmbed 17:d8b901d791fd 910 return SUCCESS_P;
elmbed 17:d8b901d791fd 911 if(cone == 1)
elmbed 17:d8b901d791fd 912 return ACTIVE_TARGET_P;
elmbed 17:d8b901d791fd 913
elmbed 17:d8b901d791fd 914 return WAITING_P;
elmbed 17:d8b901d791fd 915 }
elmbed 17:d8b901d791fd 916
elmbed 23:26f27c462976 917 static void printSplit(unsigned long timer)
elmbed 17:d8b901d791fd 918 {
elmbed 17:d8b901d791fd 919 if(tag_start)
elmbed 17:d8b901d791fd 920 {
elmbed 17:d8b901d791fd 921 //DEBUG("Sequence started at cone ");
elmbed 17:d8b901d791fd 922 //DEBUG("%d",active_cone);
elmbed 17:d8b901d791fd 923 //DEBUG(" (");
elmbed 17:d8b901d791fd 924 printMsAsSeconds(timer);
elmbed 17:d8b901d791fd 925 //DEBUG(" seconds).\n");
elmbed 17:d8b901d791fd 926 tag_start = false;
elmbed 17:d8b901d791fd 927 }
elmbed 17:d8b901d791fd 928 else
elmbed 17:d8b901d791fd 929 {
elmbed 17:d8b901d791fd 930 //DEBUG("Target cone is: ");
elmbed 17:d8b901d791fd 931 //DEBUG("%d",active_cone);
elmbed 17:d8b901d791fd 932 //DEBUG(", ");
elmbed 17:d8b901d791fd 933 printMsAsSeconds(timer);
elmbed 17:d8b901d791fd 934 //DEBUG(" split");
elmbed 17:d8b901d791fd 935 }
elmbed 17:d8b901d791fd 936 }
elmbed 17:d8b901d791fd 937
elmbed 23:26f27c462976 938 static uint8_t getRandomCone(void)
elmbed 17:d8b901d791fd 939 {
elmbed 17:d8b901d791fd 940 static uint8_t lastCone = 0;
elmbed 17:d8b901d791fd 941 uint8_t cone;
elmbed 17:d8b901d791fd 942
elmbed 17:d8b901d791fd 943 do
elmbed 17:d8b901d791fd 944 {
elmbed 17:d8b901d791fd 945 cone = random(1, NUM_CONES + 1);
elmbed 17:d8b901d791fd 946 }
elmbed 17:d8b901d791fd 947 while(cone == lastCone || active_cones[cone] == false);
elmbed 17:d8b901d791fd 948
elmbed 17:d8b901d791fd 949 //DEBUG("Target cone is ");
elmbed 17:d8b901d791fd 950 //DEBUG("%d\n",cone);
elmbed 17:d8b901d791fd 951 lastCone = cone;
elmbed 17:d8b901d791fd 952 return cone;
elmbed 17:d8b901d791fd 953 }
elmbed 17:d8b901d791fd 954
elmbed 23:26f27c462976 955 static void clearCones(void)
elmbed 17:d8b901d791fd 956 {
elmbed 38:76e49d045a3b 957 #if 1
elmbed 17:d8b901d791fd 958 uint8_t i;
elmbed 17:d8b901d791fd 959 m->command = 'q';
elmbed 17:d8b901d791fd 960
elmbed 17:d8b901d791fd 961 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 962 {
elmbed 17:d8b901d791fd 963 m->cone = i;
elmbed 17:d8b901d791fd 964 if(active_cones[i])
elmbed 17:d8b901d791fd 965 ta.send(m);
elmbed 17:d8b901d791fd 966 active_cones[i] = false;
elmbed 17:d8b901d791fd 967 //ta.send("q", i);
elmbed 17:d8b901d791fd 968 }
elmbed 17:d8b901d791fd 969
elmbed 17:d8b901d791fd 970 DEBUG("sent clear\r\n");
elmbed 23:26f27c462976 971 #endif
elmbed 17:d8b901d791fd 972 }
elmbed 17:d8b901d791fd 973
elmbed 23:26f27c462976 974 static void powerupCones(uint8_t sound)
elmbed 17:d8b901d791fd 975 {
elmbed 23:26f27c462976 976 #if 1
elmbed 17:d8b901d791fd 977 uint8_t i;
elmbed 17:d8b901d791fd 978 m->command = 'u';
elmbed 17:d8b901d791fd 979 m->value = sound;
elmbed 17:d8b901d791fd 980
elmbed 17:d8b901d791fd 981 if(sound == 2)
elmbed 17:d8b901d791fd 982 {
elmbed 28:8e74ddc4f70f 983 if(active_cone == NODE_ID)
elmbed 17:d8b901d791fd 984 {
elmbed 17:d8b901d791fd 985 ta.powerup(sound);
elmbed 17:d8b901d791fd 986 }
elmbed 17:d8b901d791fd 987 else
elmbed 17:d8b901d791fd 988 {
elmbed 17:d8b901d791fd 989 m->cone = active_cone;
elmbed 17:d8b901d791fd 990 ta.send(m);
elmbed 17:d8b901d791fd 991 }
elmbed 17:d8b901d791fd 992 }
elmbed 17:d8b901d791fd 993 else
elmbed 17:d8b901d791fd 994 {
elmbed 17:d8b901d791fd 995 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 996 {
elmbed 17:d8b901d791fd 997 m->cone = i;
elmbed 17:d8b901d791fd 998 if(active_cones[i])
elmbed 17:d8b901d791fd 999 ta.send(m);
elmbed 17:d8b901d791fd 1000 //ta.send("f", i);
elmbed 17:d8b901d791fd 1001 }
elmbed 17:d8b901d791fd 1002 }
elmbed 23:26f27c462976 1003 #endif
elmbed 17:d8b901d791fd 1004 //DEBUG("sent powerup");
elmbed 17:d8b901d791fd 1005 }
elmbed 17:d8b901d791fd 1006
elmbed 23:26f27c462976 1007 static void failCones(void)
elmbed 17:d8b901d791fd 1008 {
elmbed 38:76e49d045a3b 1009 #if 1
elmbed 17:d8b901d791fd 1010 uint8_t i;
elmbed 17:d8b901d791fd 1011 m->command = 'f';
elmbed 17:d8b901d791fd 1012
elmbed 17:d8b901d791fd 1013 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1014 {
elmbed 17:d8b901d791fd 1015 m->cone = i;
elmbed 17:d8b901d791fd 1016
elmbed 17:d8b901d791fd 1017 if(active_cones[i])
elmbed 17:d8b901d791fd 1018 ta.send(m);
elmbed 17:d8b901d791fd 1019 //ta.send("f", i);
elmbed 17:d8b901d791fd 1020 }
elmbed 17:d8b901d791fd 1021
elmbed 17:d8b901d791fd 1022 while(ta.get_buffer_size())
elmbed 17:d8b901d791fd 1023 {
elmbed 17:d8b901d791fd 1024 ta.spin();
elmbed 17:d8b901d791fd 1025 }
elmbed 17:d8b901d791fd 1026
elmbed 17:d8b901d791fd 1027 //DEBUG("sent fail\n");
elmbed 23:26f27c462976 1028 #endif
elmbed 17:d8b901d791fd 1029 }
elmbed 17:d8b901d791fd 1030
elmbed 23:26f27c462976 1031 static void resetSensors(void)
elmbed 17:d8b901d791fd 1032 {
elmbed 38:76e49d045a3b 1033 #if 1
elmbed 17:d8b901d791fd 1034 uint8_t i;
elmbed 17:d8b901d791fd 1035 m->command = 'x';
elmbed 17:d8b901d791fd 1036
elmbed 17:d8b901d791fd 1037 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1038 {
elmbed 17:d8b901d791fd 1039 m->cone = i;
elmbed 17:d8b901d791fd 1040 if(active_cones[i])
elmbed 17:d8b901d791fd 1041 ta.send(m);
elmbed 17:d8b901d791fd 1042 //ta.send("f", i);
elmbed 17:d8b901d791fd 1043 }
elmbed 17:d8b901d791fd 1044
elmbed 17:d8b901d791fd 1045 DEBUG("sent sensor reset\n");
elmbed 23:26f27c462976 1046 #endif
elmbed 17:d8b901d791fd 1047 }
elmbed 17:d8b901d791fd 1048
elmbed 23:26f27c462976 1049 static void successCones(void)
elmbed 17:d8b901d791fd 1050 {
elmbed 38:76e49d045a3b 1051 #if 1
elmbed 17:d8b901d791fd 1052 uint8_t i;
elmbed 17:d8b901d791fd 1053 m->command = 's';
elmbed 17:d8b901d791fd 1054
elmbed 17:d8b901d791fd 1055 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1056 {
elmbed 17:d8b901d791fd 1057 m->cone = i;
elmbed 17:d8b901d791fd 1058 if(active_cones[i])
elmbed 17:d8b901d791fd 1059 ta.send(m);
elmbed 17:d8b901d791fd 1060 //ta.send("s", i);
elmbed 17:d8b901d791fd 1061 }
elmbed 17:d8b901d791fd 1062
elmbed 17:d8b901d791fd 1063 while(ta.get_buffer_size())
elmbed 17:d8b901d791fd 1064 {
elmbed 17:d8b901d791fd 1065 ta.spin();
elmbed 17:d8b901d791fd 1066 }
elmbed 17:d8b901d791fd 1067
elmbed 17:d8b901d791fd 1068 //DEBUG("sent success\n");
elmbed 23:26f27c462976 1069 #endif
elmbed 17:d8b901d791fd 1070 }
elmbed 17:d8b901d791fd 1071
elmbed 23:26f27c462976 1072 static void find_cones(void)
elmbed 17:d8b901d791fd 1073 {
elmbed 17:d8b901d791fd 1074 while(ta.get_buffer_size())
elmbed 23:26f27c462976 1075 {
elmbed 17:d8b901d791fd 1076 ta.spin(); // wait for all messages to leave queue
elmbed 28:8e74ddc4f70f 1077 }
elmbed 17:d8b901d791fd 1078
elmbed 23:26f27c462976 1079 ta.beep_off();
elmbed 17:d8b901d791fd 1080 uint8_t i;
elmbed 17:d8b901d791fd 1081 m->command = 'z';
elmbed 28:8e74ddc4f70f 1082
elmbed 17:d8b901d791fd 1083 lonely = true;
elmbed 17:d8b901d791fd 1084
elmbed 29:ae208b014987 1085 writeToPhone("FC\r\n");
elmbed 29:ae208b014987 1086
elmbed 29:ae208b014987 1087 int retry_count = 0;
AntonLS 32:64e5d7340d82 1088
elmbed 26:40a0c775ff27 1089 for(i = 2; i < NUM_CONES + 1; ++i)
elmbed 17:d8b901d791fd 1090 {
elmbed 29:ae208b014987 1091 retry_count = 0;
elmbed 29:ae208b014987 1092 go_again:
elmbed 17:d8b901d791fd 1093 active_cones[i] = false;
elmbed 17:d8b901d791fd 1094 m->cone = i;
elmbed 17:d8b901d791fd 1095 ta.send_immediate(m);
elmbed 17:d8b901d791fd 1096
elmbed 17:d8b901d791fd 1097 unsigned long st = millis();
elmbed 29:ae208b014987 1098 unsigned long current = 0L;
elmbed 29:ae208b014987 1099 unsigned long delta = 0L;
elmbed 17:d8b901d791fd 1100
AntonLS 32:64e5d7340d82 1101 writeToPhone("S: %lu F: %d\r\n", st, i); /// DEBUG-only message
elmbed 23:26f27c462976 1102
elmbed 17:d8b901d791fd 1103 while(1)
elmbed 17:d8b901d791fd 1104 {
elmbed 23:26f27c462976 1105 current = millis();
elmbed 23:26f27c462976 1106 delta = current - st;
elmbed 17:d8b901d791fd 1107
elmbed 35:c1405da88d3a 1108 if(delta > 300L)
elmbed 23:26f27c462976 1109 {
elmbed 29:ae208b014987 1110 writeToPhone("FT: %d %lu\r\n", i, current);
elmbed 29:ae208b014987 1111
elmbed 29:ae208b014987 1112 if (++retry_count < 3)
elmbed 29:ae208b014987 1113 {
elmbed 29:ae208b014987 1114 goto go_again;
elmbed 29:ae208b014987 1115 }
elmbed 29:ae208b014987 1116 else
elmbed 29:ae208b014987 1117 {
elmbed 29:ae208b014987 1118 break;
elmbed 29:ae208b014987 1119 }
elmbed 28:8e74ddc4f70f 1120 }
elmbed 17:d8b901d791fd 1121 if(ta.recieve(m_in))
elmbed 17:d8b901d791fd 1122 {
elmbed 17:d8b901d791fd 1123 lonely = false;
elmbed 17:d8b901d791fd 1124 active_cones[m_in->cone] = true;
elmbed 17:d8b901d791fd 1125
elmbed 29:ae208b014987 1126 writeToPhone("FS: %d\r\n", m_in->cone);
elmbed 17:d8b901d791fd 1127 break;
elmbed 17:d8b901d791fd 1128 }
elmbed 17:d8b901d791fd 1129 }
elmbed 29:ae208b014987 1130
elmbed 29:ae208b014987 1131 wait_us(50);
elmbed 17:d8b901d791fd 1132 }
elmbed 17:d8b901d791fd 1133
elmbed 26:40a0c775ff27 1134 writeToPhone("available cones are: (1");
elmbed 17:d8b901d791fd 1135
elmbed 26:40a0c775ff27 1136 for(i = 2; i < NUM_CONES + 1; ++i)
elmbed 17:d8b901d791fd 1137 {
elmbed 17:d8b901d791fd 1138 if(active_cones[i])
elmbed 17:d8b901d791fd 1139 {
elmbed 26:40a0c775ff27 1140 writeToPhone(", %d", i);
elmbed 17:d8b901d791fd 1141 }
elmbed 17:d8b901d791fd 1142 }
elmbed 26:40a0c775ff27 1143
elmbed 26:40a0c775ff27 1144 writeToPhone(")\r\n");
elmbed 17:d8b901d791fd 1145 }
elmbed 17:d8b901d791fd 1146
elmbed 23:26f27c462976 1147 static void printMsAsSeconds(unsigned long number)
elmbed 17:d8b901d791fd 1148 {
elmbed 17:d8b901d791fd 1149 uint16_t remainder;
elmbed 17:d8b901d791fd 1150
elmbed 17:d8b901d791fd 1151 remainder = number%1000;
AntonLS 19:afcbb425b3cf 1152
elmbed 38:76e49d045a3b 1153 writeToPhone( "%d.%03d\r\n", number/1000, remainder );
elmbed 17:d8b901d791fd 1154 }
elmbed 17:d8b901d791fd 1155
elmbed 23:26f27c462976 1156 static void spinButtons(void)
elmbed 17:d8b901d791fd 1157 {
elmbed 17:d8b901d791fd 1158 static inputState_t last_state = IDLE_I;
elmbed 17:d8b901d791fd 1159 static bool first_i; // first should be true when we first enter a state (even if we just exited the same state)
elmbed 17:d8b901d791fd 1160 static Event event;
elmbed 17:d8b901d791fd 1161 static uint8_t sequence = 0;
elmbed 17:d8b901d791fd 1162 static unsigned long start = 0;
elmbed 17:d8b901d791fd 1163 uint8_t section = 0;
elmbed 17:d8b901d791fd 1164
elmbed 17:d8b901d791fd 1165 //uint8_t buttons;
elmbed 17:d8b901d791fd 1166
elmbed 17:d8b901d791fd 1167 //timer = millis() - start;
elmbed 17:d8b901d791fd 1168 if(millis() > 500)
elmbed 17:d8b901d791fd 1169 event = getInputEvent();
elmbed 17:d8b901d791fd 1170
elmbed 17:d8b901d791fd 1171 if(event.type == Event::press)
elmbed 17:d8b901d791fd 1172 {
elmbed 17:d8b901d791fd 1173 in_menu = true;
elmbed 17:d8b901d791fd 1174 state_i = MENU_I;
elmbed 17:d8b901d791fd 1175 }
elmbed 17:d8b901d791fd 1176
elmbed 17:d8b901d791fd 1177 first_i = false;
elmbed 17:d8b901d791fd 1178
elmbed 17:d8b901d791fd 1179 if(last_state != state_i)
elmbed 17:d8b901d791fd 1180 {
elmbed 17:d8b901d791fd 1181 //if(state_i == IDLE_I)////////////DEBUG.println(F("");
elmbed 17:d8b901d791fd 1182 //if(state_i == RUNNING_I)//////////////DEBUG.println(F("State is WAITING");
elmbed 17:d8b901d791fd 1183 // need to print menu timeout?
elmbed 17:d8b901d791fd 1184 if(state_i == MENU_I)
elmbed 17:d8b901d791fd 1185 ////DEBUG("Menu\n");
elmbed 17:d8b901d791fd 1186 if(state_i == PATTERN_SELECT_I)
elmbed 17:d8b901d791fd 1187 ////DEBUG("Choosing pattern");
elmbed 17:d8b901d791fd 1188 first_i = true;
elmbed 17:d8b901d791fd 1189 }
elmbed 17:d8b901d791fd 1190
elmbed 17:d8b901d791fd 1191 last_state = state_i;
elmbed 17:d8b901d791fd 1192
elmbed 17:d8b901d791fd 1193 if(state_i == RUNNING_I)
elmbed 17:d8b901d791fd 1194 in_menu = false;
elmbed 17:d8b901d791fd 1195
elmbed 17:d8b901d791fd 1196 switch(state_i)
elmbed 17:d8b901d791fd 1197 {
elmbed 17:d8b901d791fd 1198 case IDLE_I:
elmbed 17:d8b901d791fd 1199 // display something distinctive
elmbed 17:d8b901d791fd 1200 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1201 {
elmbed 17:d8b901d791fd 1202 state_i = RUNNING_I;
elmbed 17:d8b901d791fd 1203 //send 'p' or 'f' command as appropriate
elmbed 17:d8b901d791fd 1204 if(mode == FREEFORM)
elmbed 17:d8b901d791fd 1205 interpret('f', 0);
elmbed 17:d8b901d791fd 1206 else
elmbed 17:d8b901d791fd 1207 interpret('p', 0);
elmbed 17:d8b901d791fd 1208 }
elmbed 35:c1405da88d3a 1209
elmbed 17:d8b901d791fd 1210 break;
elmbed 17:d8b901d791fd 1211 case RUNNING_I:
elmbed 17:d8b901d791fd 1212 if(event.type == Event::finish)
elmbed 17:d8b901d791fd 1213 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1214 break;
elmbed 17:d8b901d791fd 1215 case MENU_I:
elmbed 17:d8b901d791fd 1216 if(first_i)
elmbed 17:d8b901d791fd 1217 interpret('q', 0);
elmbed 17:d8b901d791fd 1218 // every 3 seconds we cycle through the menu
elmbed 17:d8b901d791fd 1219 // one option per second
elmbed 17:d8b901d791fd 1220 // light changes color and stays on for 500ms
elmbed 17:d8b901d791fd 1221 section = ((millis() - start)%3000)/500;
elmbed 17:d8b901d791fd 1222
elmbed 17:d8b901d791fd 1223 if(section == 0)
elmbed 17:d8b901d791fd 1224 ta.post_color(0xFF);
elmbed 17:d8b901d791fd 1225 if(section == 1)
elmbed 17:d8b901d791fd 1226 ta.post_color(0);
elmbed 17:d8b901d791fd 1227 if(section == 2)
elmbed 17:d8b901d791fd 1228 ta.post_color(0xFF00);
elmbed 17:d8b901d791fd 1229 if(section == 3)
elmbed 17:d8b901d791fd 1230 ta.post_color(0);
elmbed 17:d8b901d791fd 1231 if(section == 4)
elmbed 17:d8b901d791fd 1232 ta.post_color(0xFF0000);
elmbed 17:d8b901d791fd 1233 if(section == 5)
elmbed 17:d8b901d791fd 1234 ta.post_color(0);
elmbed 17:d8b901d791fd 1235 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1236 {
elmbed 17:d8b901d791fd 1237 // set state here based on current light color
elmbed 17:d8b901d791fd 1238 if(section < 2)
elmbed 17:d8b901d791fd 1239 {
elmbed 17:d8b901d791fd 1240 mode = FREEFORM;
elmbed 17:d8b901d791fd 1241 ta.post_color(0xFF);
elmbed 17:d8b901d791fd 1242 ////////DEBUG.println(F("Freeform mode.");
elmbed 17:d8b901d791fd 1243 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1244 break;
elmbed 17:d8b901d791fd 1245 }
elmbed 17:d8b901d791fd 1246
elmbed 17:d8b901d791fd 1247 if(section < 4)
elmbed 17:d8b901d791fd 1248 {
elmbed 17:d8b901d791fd 1249 mode = PATTERN;
elmbed 17:d8b901d791fd 1250 ta.post_color(0xFF00);
elmbed 17:d8b901d791fd 1251 ////////DEBUG.println(F("Pattern mode.");
elmbed 17:d8b901d791fd 1252 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1253 break;
elmbed 17:d8b901d791fd 1254 }
elmbed 17:d8b901d791fd 1255
elmbed 17:d8b901d791fd 1256 if(section < 6)
elmbed 17:d8b901d791fd 1257 {
elmbed 17:d8b901d791fd 1258 state_i = PATTERN_SELECT_I;
elmbed 17:d8b901d791fd 1259 ta.post_color(0xFF0000);
elmbed 17:d8b901d791fd 1260 break;
elmbed 17:d8b901d791fd 1261 }
elmbed 17:d8b901d791fd 1262 }
elmbed 17:d8b901d791fd 1263 break;
elmbed 17:d8b901d791fd 1264 case PATTERN_SELECT_I:
elmbed 17:d8b901d791fd 1265 if(first_i)
elmbed 17:d8b901d791fd 1266 {
elmbed 17:d8b901d791fd 1267 sequence = active_sequence;
elmbed 17:d8b901d791fd 1268 mode = PATTERN;
elmbed 17:d8b901d791fd 1269 //start = millis();
elmbed 17:d8b901d791fd 1270 }
elmbed 17:d8b901d791fd 1271 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1272 {
elmbed 17:d8b901d791fd 1273 ta.beep(50);
elmbed 17:d8b901d791fd 1274 if(event.value == 1 && sequence > 0)
elmbed 17:d8b901d791fd 1275 {
elmbed 17:d8b901d791fd 1276 sequence--;
elmbed 17:d8b901d791fd 1277 }
elmbed 17:d8b901d791fd 1278
elmbed 17:d8b901d791fd 1279 if(event.value == 2 && sequence < SEQUENCES - 1)
elmbed 17:d8b901d791fd 1280 {
elmbed 17:d8b901d791fd 1281 sequence++;
elmbed 17:d8b901d791fd 1282 }
elmbed 17:d8b901d791fd 1283
elmbed 17:d8b901d791fd 1284 if(event.value == 3)
elmbed 17:d8b901d791fd 1285 {
elmbed 17:d8b901d791fd 1286 interpret('p', sequence + 1);
elmbed 17:d8b901d791fd 1287 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1288 }
elmbed 17:d8b901d791fd 1289
elmbed 17:d8b901d791fd 1290 if(event.value != 3)
elmbed 17:d8b901d791fd 1291 {
elmbed 17:d8b901d791fd 1292 ////DEBUG("Menu says: sequence ");
elmbed 17:d8b901d791fd 1293 ////DEBUG("%d\n",sequence + 1);
elmbed 17:d8b901d791fd 1294 }
elmbed 17:d8b901d791fd 1295 break;
elmbed 17:d8b901d791fd 1296 case TEACH_I:
elmbed 17:d8b901d791fd 1297 // not implemented yet
elmbed 17:d8b901d791fd 1298 break;
elmbed 17:d8b901d791fd 1299 default: break;
elmbed 17:d8b901d791fd 1300 }
elmbed 17:d8b901d791fd 1301 }
elmbed 17:d8b901d791fd 1302 }
elmbed 17:d8b901d791fd 1303
elmbed 23:26f27c462976 1304 static uint8_t checkButtons(void)
elmbed 17:d8b901d791fd 1305 {
elmbed 17:d8b901d791fd 1306 static unsigned long last_time = 0;
elmbed 17:d8b901d791fd 1307 //static uint8_t last = 0;
elmbed 17:d8b901d791fd 1308 static uint8_t buttons = 0;
elmbed 17:d8b901d791fd 1309
elmbed 17:d8b901d791fd 1310 // listen for commands from the buttons
elmbed 17:d8b901d791fd 1311 unsigned long time = millis();
elmbed 17:d8b901d791fd 1312 // only check every DEBOUNCE_MS to avoid jitter
elmbed 17:d8b901d791fd 1313 if(time - last_time > DEBOUNCE_MS)
elmbed 17:d8b901d791fd 1314 {
elmbed 17:d8b901d791fd 1315 last_time = time;
AntonLS 31:a6110950f385 1316 buttons = ta.buttons() | TA::buttonsRising;
AntonLS 31:a6110950f385 1317 TA::buttonsRising = 0;
elmbed 17:d8b901d791fd 1318 }
elmbed 17:d8b901d791fd 1319
elmbed 17:d8b901d791fd 1320 return buttons;
elmbed 17:d8b901d791fd 1321 }
elmbed 17:d8b901d791fd 1322
elmbed 23:26f27c462976 1323 static Event getInputEvent(void)
elmbed 17:d8b901d791fd 1324 {
elmbed 17:d8b901d791fd 1325 static uint8_t last_buttons = 0;
elmbed 17:d8b901d791fd 1326 static unsigned long time1 = 0;
elmbed 17:d8b901d791fd 1327 static unsigned long time2 = 0;
elmbed 17:d8b901d791fd 1328 static unsigned long time3 = 0;
elmbed 17:d8b901d791fd 1329 unsigned long duration = 0;
elmbed 17:d8b901d791fd 1330 uint8_t buttons = 0;
elmbed 17:d8b901d791fd 1331 Event event;
elmbed 17:d8b901d791fd 1332 event.type = Event::none;
elmbed 17:d8b901d791fd 1333 event.value = 0;
elmbed 17:d8b901d791fd 1334
elmbed 17:d8b901d791fd 1335 buttons = checkButtons();
elmbed 17:d8b901d791fd 1336 uint8_t rising = buttons & ~last_buttons;
elmbed 17:d8b901d791fd 1337 uint8_t falling = ~buttons & last_buttons;
elmbed 17:d8b901d791fd 1338
elmbed 17:d8b901d791fd 1339 /*if(rising){
elmbed 17:d8b901d791fd 1340 //DEBUG.print("Rising ");
elmbed 17:d8b901d791fd 1341 //DEBUG.println(rising);
elmbed 17:d8b901d791fd 1342 }
elmbed 17:d8b901d791fd 1343 if(falling){
elmbed 17:d8b901d791fd 1344 //DEBUG.print("Falling ");
elmbed 17:d8b901d791fd 1345 //DEBUG.println(falling);
elmbed 17:d8b901d791fd 1346 }*/
elmbed 17:d8b901d791fd 1347 if(rising & 0x01)
elmbed 17:d8b901d791fd 1348 time1 = millis();
elmbed 17:d8b901d791fd 1349 if(rising & 0x02)
elmbed 17:d8b901d791fd 1350 time2 = millis();
elmbed 17:d8b901d791fd 1351 if(rising & 0x04)
elmbed 17:d8b901d791fd 1352 time3 = millis();
elmbed 17:d8b901d791fd 1353
elmbed 17:d8b901d791fd 1354 // simultaneous falling edges will cause lower values to be ignored
elmbed 17:d8b901d791fd 1355 if(falling & 0x01)
elmbed 17:d8b901d791fd 1356 {
elmbed 17:d8b901d791fd 1357 duration = millis() - time1;
elmbed 17:d8b901d791fd 1358 event.value = 1;
elmbed 17:d8b901d791fd 1359 }
elmbed 17:d8b901d791fd 1360
elmbed 17:d8b901d791fd 1361 if(falling & 0x02)
elmbed 17:d8b901d791fd 1362 {
elmbed 17:d8b901d791fd 1363 duration = millis() - time2;
elmbed 17:d8b901d791fd 1364 event.value = 2;
elmbed 17:d8b901d791fd 1365 }
elmbed 17:d8b901d791fd 1366
elmbed 17:d8b901d791fd 1367 if(falling & 0x04)
elmbed 17:d8b901d791fd 1368 {
elmbed 17:d8b901d791fd 1369 duration = millis() - time3;
elmbed 17:d8b901d791fd 1370 event.value = 3;
elmbed 17:d8b901d791fd 1371 }
elmbed 17:d8b901d791fd 1372
elmbed 17:d8b901d791fd 1373 if(duration > 0)
elmbed 17:d8b901d791fd 1374 event.type = Event::tap;
elmbed 17:d8b901d791fd 1375 if(duration > 2000)
elmbed 17:d8b901d791fd 1376 event.type = Event::press;
elmbed 17:d8b901d791fd 1377
elmbed 17:d8b901d791fd 1378 // give feedback that we've waited lng enough for a press
elmbed 17:d8b901d791fd 1379 unsigned long t = millis() - time1;
elmbed 17:d8b901d791fd 1380
elmbed 17:d8b901d791fd 1381 if(2020 > t && t > 2000 && (buttons & 0x01))
elmbed 17:d8b901d791fd 1382 ta.beep(20);
elmbed 17:d8b901d791fd 1383
elmbed 17:d8b901d791fd 1384 t = millis() - time2;
elmbed 17:d8b901d791fd 1385
elmbed 17:d8b901d791fd 1386 if(2020 > t && t > 2000 && (buttons & 0x02))
elmbed 17:d8b901d791fd 1387 ta.beep(20);
elmbed 17:d8b901d791fd 1388
elmbed 17:d8b901d791fd 1389 t = millis() - time3;
elmbed 17:d8b901d791fd 1390
elmbed 17:d8b901d791fd 1391 if(2020 > t && t > 2000 && (buttons & 0x04))
elmbed 17:d8b901d791fd 1392 ta.beep(20);
elmbed 17:d8b901d791fd 1393
elmbed 17:d8b901d791fd 1394 if(event.type != Event::none)
elmbed 17:d8b901d791fd 1395 {
elmbed 17:d8b901d791fd 1396 //DEBUG("Event: ");
elmbed 17:d8b901d791fd 1397 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1398 ////DEBUG("tap, ");
elmbed 17:d8b901d791fd 1399 if(event.type == Event::press)
elmbed 17:d8b901d791fd 1400 ////DEBUG("press, ");
elmbed 17:d8b901d791fd 1401
elmbed 17:d8b901d791fd 1402 uint8_t val = event.value;
elmbed 17:d8b901d791fd 1403 //DEBUG("%d\n",val);
elmbed 17:d8b901d791fd 1404 //////DEBUG.println(duration);
elmbed 17:d8b901d791fd 1405 }
elmbed 17:d8b901d791fd 1406
elmbed 17:d8b901d791fd 1407 last_buttons = buttons;
elmbed 17:d8b901d791fd 1408 return event;
elmbed 17:d8b901d791fd 1409 }
elmbed 18:affef3a7db2a 1410 #endif
elmbed 18:affef3a7db2a 1411
elmbed 18:affef3a7db2a 1412 #endif