Andriy Makukha / Mbed 2 deprecated football_project_wo_output

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Dependencies:   mbed

Fork of football_project by MZJ

proto_code.cpp@28:8e74ddc4f70f, 2016-01-03 (annotated)

Committer:
elmbed
Date:
Sun Jan 03 20:05:15 2016 +0000
Revision:
28:8e74ddc4f70f
Parent:
26:40a0c775ff27
Child:
29:ae208b014987
Child:
30:c60b0d52b067
Fixed 'z' command

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