Andriy Makukha / Mbed 2 deprecated football_project_wo_output

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Dependencies:   mbed

Fork of football_project by MZJ

proto_code.cpp@39:b1f864b71318, 2016-01-09 (annotated)

Committer:
AntonLS
Date:
Sat Jan 09 01:32:54 2016 +0000
Revision:
39:b1f864b71318
Parent:
38:76e49d045a3b
Child:
40:dec5270e03e9
Child:
41:dee3fd34e37a
Protocol fixes and r cmd optimizations. Colors tweaked. Typo fixed.

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
AntonLS 39:b1f864b71318 127 static const int active_colour = 0x00FF00; /// 0x00FF;
AntonLS 39:b1f864b71318 128 static const int warn_colour = 0xFFA500; /// 0xF050;
AntonLS 39:b1f864b71318 129 static const int fail_colour = 0x00; /// 0x0000FF;
AntonLS 39:b1f864b71318 130 static const int touch_colour = 0x0000FF; /// 0x005050;
AntonLS 39:b1f864b71318 131 static const int success_colour = 0x00FF00; /// 0xFFFF;
AntonLS 39:b1f864b71318 132 static const int pen_colour = 0xFFFF00; /// 0x10FF;
AntonLS 39:b1f864b71318 133 static const int idle_colour = 0xFF0000; /// 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 {
AntonLS 39:b1f864b71318 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)
AntonLS 39:b1f864b71318 456 writeToPhone("State is START\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 457 if(state_p == WAITING_P)
AntonLS 39:b1f864b71318 458 writeToPhone("State is WAITING\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 459 if(state_p == ACTIVE_TARGET_P)
AntonLS 39:b1f864b71318 460 writeToPhone("State is ACTIVE_TARGET\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 461 if(state_p == IDLE_P)
AntonLS 39:b1f864b71318 462 writeToPhone("State is IDLE\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 463 if(state_p == FAIL_P)
AntonLS 39:b1f864b71318 464 writeToPhone("State is FAIL\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 465 if(state_p == SUCCESS_P)
AntonLS 39:b1f864b71318 466 writeToPhone("State is SUCCESS\r\n"); // PROTOCOL
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;
AntonLS 39:b1f864b71318 496 // DEBUG("Activate cone "); // May use this again in future.
AntonLS 39:b1f864b71318 497 // DEBUG("%d",active_cone);
AntonLS 39:b1f864b71318 498 // DEBUG(" to start.\n");
elmbed 38:76e49d045a3b 499 writeToPhone("ACS: %d\r\n", active_cone);
elmbed 17:d8b901d791fd 500 }
elmbed 17:d8b901d791fd 501
elmbed 17:d8b901d791fd 502 start = millis();
elmbed 17:d8b901d791fd 503 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 504 if(active_cone == 0)
elmbed 17:d8b901d791fd 505 { // in this case stateFromCone returns SUCCESS_P, but really there was no course sequence
elmbed 17:d8b901d791fd 506 DEBUG("\n");
elmbed 17:d8b901d791fd 507 DEBUG("Empty course sequence!\n");
elmbed 38:76e49d045a3b 508 writeToPhone("ECS\r\n");
elmbed 17:d8b901d791fd 509 ta.post_color(0x0000FF);
elmbed 17:d8b901d791fd 510 state_p = IDLE_P;
elmbed 17:d8b901d791fd 511 break;
elmbed 17:d8b901d791fd 512 }
elmbed 17:d8b901d791fd 513 break;
elmbed 17:d8b901d791fd 514
elmbed 17:d8b901d791fd 515 case WAITING_P:
elmbed 17:d8b901d791fd 516 if(first)
elmbed 17:d8b901d791fd 517 {
elmbed 17:d8b901d791fd 518 m->command = 'm';
elmbed 17:d8b901d791fd 519 m->value = mask;
elmbed 17:d8b901d791fd 520 m->cone = active_cone;
elmbed 17:d8b901d791fd 521 ta.send(m);
elmbed 38:76e49d045a3b 522
elmbed 38:76e49d045a3b 523 wait_ms(300);
elmbed 17:d8b901d791fd 524 m->command = 't';
elmbed 17:d8b901d791fd 525 m->value = (uint32_t)timeout;
elmbed 17:d8b901d791fd 526 ta.send(m);
elmbed 38:76e49d045a3b 527
elmbed 38:76e49d045a3b 528 wait_ms(300);
elmbed 17:d8b901d791fd 529 m->command = 'g';
elmbed 17:d8b901d791fd 530 ta.send(m);
elmbed 17:d8b901d791fd 531
elmbed 38:76e49d045a3b 532 writeToPhone("ACW: %d\r\n", active_cone);
elmbed 17:d8b901d791fd 533 }
elmbed 17:d8b901d791fd 534
elmbed 38:76e49d045a3b 535 ta.post_color(( ta.activated())?touch_colour:idle_colour);
elmbed 17:d8b901d791fd 536
elmbed 17:d8b901d791fd 537 DEBUG("Waiting: %d %d %c\n", m_in->cone, active_cone, command);
elmbed 17:d8b901d791fd 538
elmbed 17:d8b901d791fd 539 if((m_in->cone == active_cone && command == 'd' ) || ((timer >= timeout) && fakeout))
elmbed 17:d8b901d791fd 540 {
elmbed 17:d8b901d791fd 541 if((timer >= timeout) && !fakeout)
elmbed 17:d8b901d791fd 542 {
elmbed 38:76e49d045a3b 543 writeToPhone("TSP\r\n");
elmbed 17:d8b901d791fd 544 }
elmbed 17:d8b901d791fd 545 printSplit(timer);
elmbed 17:d8b901d791fd 546 getNext();
elmbed 17:d8b901d791fd 547 start = millis();
elmbed 17:d8b901d791fd 548
elmbed 17:d8b901d791fd 549 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 550
elmbed 17:d8b901d791fd 551 if(state_p == WAITING_P)
elmbed 17:d8b901d791fd 552 {
elmbed 38:76e49d045a3b 553 writeToPhone("NSW\r\n");
elmbed 17:d8b901d791fd 554 new_state = true;
elmbed 17:d8b901d791fd 555 }
elmbed 17:d8b901d791fd 556 }
elmbed 17:d8b901d791fd 557 else if(~timeout != 0 && mode == PATTERN && timer >= (timeout + ((fail_quick)?0:GRACE_PERIOD)))
elmbed 17:d8b901d791fd 558 {
elmbed 38:76e49d045a3b 559 writeToPhone("FW\r\n");
elmbed 17:d8b901d791fd 560 state_p = FAIL_P;
elmbed 17:d8b901d791fd 561 }
elmbed 17:d8b901d791fd 562 break;
elmbed 17:d8b901d791fd 563
elmbed 17:d8b901d791fd 564 case ACTIVE_TARGET_P:
elmbed 17:d8b901d791fd 565 if(first)
elmbed 17:d8b901d791fd 566 {
elmbed 17:d8b901d791fd 567 ta.setMask(mask);
elmbed 17:d8b901d791fd 568
elmbed 17:d8b901d791fd 569 warning = false;
elmbed 17:d8b901d791fd 570 penalty = false;
elmbed 38:76e49d045a3b 571 ta.post_color(active_colour);
elmbed 38:76e49d045a3b 572 //ta.pulse(50,750,~0L,0x00FF00);
elmbed 17:d8b901d791fd 573 //if(!(mask & SILENT))ta.pulse(50,750,~0L,0c00FF00);
elmbed 17:d8b901d791fd 574 }
elmbed 17:d8b901d791fd 575 if(timer >= timeout)
elmbed 17:d8b901d791fd 576 {
elmbed 17:d8b901d791fd 577 if(!penalty)
elmbed 17:d8b901d791fd 578 {
elmbed 38:76e49d045a3b 579 ta.post_color(pen_colour);
elmbed 38:76e49d045a3b 580 //ta.pulse(50,325,~0L,0xFF00FF);
elmbed 17:d8b901d791fd 581
elmbed 17:d8b901d791fd 582 penalty = true;
elmbed 17:d8b901d791fd 583 }
elmbed 38:76e49d045a3b 584 ta.post_color(pen_colour);
elmbed 17:d8b901d791fd 585 }
elmbed 17:d8b901d791fd 586 else if(timer > ((timeout*3)/4) && !warning)
elmbed 17:d8b901d791fd 587 {
elmbed 17:d8b901d791fd 588 warning = true;
elmbed 38:76e49d045a3b 589 ta.post_color(warn_colour);
elmbed 38:76e49d045a3b 590 //ta.pulse(50,750,~0L,0xFFFF00);
elmbed 17:d8b901d791fd 591 }
elmbed 17:d8b901d791fd 592
elmbed 17:d8b901d791fd 593 if(ta.activated() || ((timer >= timeout) && fakeout))
elmbed 17:d8b901d791fd 594 {
elmbed 17:d8b901d791fd 595 if((timer >= timeout) && !fakeout)
elmbed 17:d8b901d791fd 596 DEBUG("Timesplit penalty! ");
elmbed 17:d8b901d791fd 597
elmbed 17:d8b901d791fd 598 printSplit(timer);
elmbed 38:76e49d045a3b 599 ta.post_color(success_colour);
elmbed 17:d8b901d791fd 600 getNext();
elmbed 17:d8b901d791fd 601 start = millis();
elmbed 17:d8b901d791fd 602 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 603
elmbed 17:d8b901d791fd 604 if(state_p == ACTIVE_TARGET_P)
elmbed 17:d8b901d791fd 605 new_state = true;
elmbed 17:d8b901d791fd 606 ta.pulse_off();
elmbed 17:d8b901d791fd 607
elmbed 17:d8b901d791fd 608 }
elmbed 17:d8b901d791fd 609 else if(~timeout != 0 && mode == PATTERN && timer >= (timeout + ((fail_quick)?0:GRACE_PERIOD)))
elmbed 17:d8b901d791fd 610 {
elmbed 17:d8b901d791fd 611 state_p = FAIL_P;
elmbed 17:d8b901d791fd 612 ta.pulse_off();
elmbed 17:d8b901d791fd 613 }
elmbed 17:d8b901d791fd 614 //DEBUG.println(timeout + ((fail_quick)?0:GRACE_PERIOD));
elmbed 17:d8b901d791fd 615 //DEBUG.println(timeout);
elmbed 17:d8b901d791fd 616
elmbed 17:d8b901d791fd 617 break;
elmbed 17:d8b901d791fd 618
elmbed 17:d8b901d791fd 619 case FAIL_P:
elmbed 17:d8b901d791fd 620 if(first)
elmbed 17:d8b901d791fd 621 {
elmbed 17:d8b901d791fd 622 start = millis();
elmbed 17:d8b901d791fd 623 DEBUG("\n");
elmbed 17:d8b901d791fd 624 DEBUG("Timeout\n");
elmbed 17:d8b901d791fd 625 //ta.post_color();
elmbed 38:76e49d045a3b 626 //ta.pulse(25,200,3000,0xFF0000);
elmbed 38:76e49d045a3b 627 ta.post_color(fail_colour);
elmbed 17:d8b901d791fd 628
elmbed 17:d8b901d791fd 629 failCones();
elmbed 17:d8b901d791fd 630 //ta.fail();
elmbed 17:d8b901d791fd 631 }
elmbed 17:d8b901d791fd 632 else if(timer > 3000)
elmbed 17:d8b901d791fd 633 {
elmbed 17:d8b901d791fd 634 DEBUG("Clear!\n");
elmbed 17:d8b901d791fd 635 state_p = IDLE_P;
elmbed 17:d8b901d791fd 636 clearCones();
elmbed 17:d8b901d791fd 637 }
elmbed 17:d8b901d791fd 638 break;
elmbed 17:d8b901d791fd 639 case SUCCESS_P:
elmbed 17:d8b901d791fd 640 if(first)
elmbed 17:d8b901d791fd 641 {
elmbed 17:d8b901d791fd 642 start = millis();
elmbed 17:d8b901d791fd 643 DEBUG("\n");
elmbed 17:d8b901d791fd 644 DEBUG("Done!\n");
elmbed 38:76e49d045a3b 645 ta.post_color(success_colour);
elmbed 17:d8b901d791fd 646 ta.beep(1500);
elmbed 17:d8b901d791fd 647 successCones();
elmbed 17:d8b901d791fd 648 //ta.success();
elmbed 17:d8b901d791fd 649 }
elmbed 17:d8b901d791fd 650 else if(timer > 1500)
elmbed 17:d8b901d791fd 651 {
elmbed 17:d8b901d791fd 652 DEBUG("Clear!\n");
elmbed 17:d8b901d791fd 653 state_p = IDLE_P;
elmbed 17:d8b901d791fd 654 clearCones();
elmbed 17:d8b901d791fd 655 }
elmbed 17:d8b901d791fd 656 break;
elmbed 17:d8b901d791fd 657
elmbed 17:d8b901d791fd 658 default:
elmbed 38:76e49d045a3b 659 ta.post_color(idle_colour);
elmbed 17:d8b901d791fd 660 break;
elmbed 17:d8b901d791fd 661 }
elmbed 23:26f27c462976 662 #endif
elmbed 17:d8b901d791fd 663 }
elmbed 18:affef3a7db2a 664 #endif
elmbed 18:affef3a7db2a 665
elmbed 23:26f27c462976 666 #ifdef MASTER
elmbed 17:d8b901d791fd 667 void getRadioInput(char *ibuffer, int size)
elmbed 17:d8b901d791fd 668 {
elmbed 17:d8b901d791fd 669 static int i = 0;
elmbed 17:d8b901d791fd 670 int buffer_counter = 0;
elmbed 17:d8b901d791fd 671 static char parameter = '_';
elmbed 17:d8b901d791fd 672 static char buffer[MAX_LEN + 1];
elmbed 17:d8b901d791fd 673 int value = 0;
elmbed 17:d8b901d791fd 674 char *endp = NULL;
elmbed 17:d8b901d791fd 675
elmbed 17:d8b901d791fd 676 // listen for commands coming over bluetooth
elmbed 17:d8b901d791fd 677 while (buffer_counter < size)
elmbed 17:d8b901d791fd 678 {
elmbed 17:d8b901d791fd 679 char ch = ibuffer[buffer_counter++];
elmbed 17:d8b901d791fd 680
elmbed 17:d8b901d791fd 681 if((ch == '\r' || ch == ';' || ch == '\n') && parameter != '_')
elmbed 17:d8b901d791fd 682 {
elmbed 17:d8b901d791fd 683 if(i > 1)
elmbed 17:d8b901d791fd 684 {
elmbed 17:d8b901d791fd 685 buffer[i-1] = 0;
elmbed 17:d8b901d791fd 686 value = atoi(buffer);
elmbed 17:d8b901d791fd 687
elmbed 17:d8b901d791fd 688 if(parameter == 'l')
elmbed 17:d8b901d791fd 689 value = strtoul(buffer, &endp, 2);
elmbed 17:d8b901d791fd 690 }
elmbed 18:affef3a7db2a 691
elmbed 17:d8b901d791fd 692 interpret(parameter, value);
elmbed 17:d8b901d791fd 693 DEBUG("After interp: '%c'\r\n", parameter);
elmbed 17:d8b901d791fd 694 parameter = '_';
elmbed 17:d8b901d791fd 695 buffer[0] = 0;
elmbed 17:d8b901d791fd 696 i=0;
elmbed 17:d8b901d791fd 697 }
elmbed 17:d8b901d791fd 698 else
elmbed 17:d8b901d791fd 699 {
elmbed 17:d8b901d791fd 700 if(i==0)
elmbed 17:d8b901d791fd 701 parameter = ch;
elmbed 17:d8b901d791fd 702 else
elmbed 17:d8b901d791fd 703 buffer[i-1] = ch;
elmbed 17:d8b901d791fd 704 i++;
elmbed 17:d8b901d791fd 705 }
elmbed 17:d8b901d791fd 706
elmbed 17:d8b901d791fd 707 if(ch == '_' || ch == '\r' || ch == ';' || ch == '\n')
elmbed 17:d8b901d791fd 708 {
elmbed 17:d8b901d791fd 709 parameter = '_';
elmbed 17:d8b901d791fd 710 buffer[0] = 0;
elmbed 17:d8b901d791fd 711 i=0;
elmbed 17:d8b901d791fd 712 }
elmbed 17:d8b901d791fd 713 }
elmbed 17:d8b901d791fd 714 }
elmbed 17:d8b901d791fd 715
elmbed 23:26f27c462976 716 static void interpret(char parameter, int value)
elmbed 17:d8b901d791fd 717 {
elmbed 18:affef3a7db2a 718 int remainder;
elmbed 18:affef3a7db2a 719 uint16_t split;
elmbed 18:affef3a7db2a 720 uint16_t t;
elmbed 18:affef3a7db2a 721 uint8_t c;
elmbed 18:affef3a7db2a 722 uint8_t l;
elmbed 18:affef3a7db2a 723 int last;
elmbed 18:affef3a7db2a 724 int middle;
elmbed 18:affef3a7db2a 725 uint8_t length;
elmbed 18:affef3a7db2a 726 uint8_t offset;
elmbed 18:affef3a7db2a 727 int i;
elmbed 18:affef3a7db2a 728 uint8_t v;
elmbed 18:affef3a7db2a 729 uint16_t val;
elmbed 17:d8b901d791fd 730
elmbed 17:d8b901d791fd 731 switch(parameter)
elmbed 17:d8b901d791fd 732 {
elmbed 17:d8b901d791fd 733 case 'f':
elmbed 17:d8b901d791fd 734 if(lonely)
elmbed 17:d8b901d791fd 735 {
elmbed 18:affef3a7db2a 736 writeToPhone("Sorry, no other cones detected, please try detecting cones first.\r\n");
elmbed 17:d8b901d791fd 737 break;
elmbed 17:d8b901d791fd 738 }
elmbed 18:affef3a7db2a 739
elmbed 18:affef3a7db2a 740 writeToPhone("Entered freeform\r\n");
elmbed 17:d8b901d791fd 741 mode = FREEFORM;
elmbed 17:d8b901d791fd 742 state_p = START_P;
elmbed 17:d8b901d791fd 743 clearCones();
elmbed 18:affef3a7db2a 744 //find_cones();
elmbed 17:d8b901d791fd 745 break;
elmbed 17:d8b901d791fd 746 case 'p':
elmbed 17:d8b901d791fd 747 if(value == 0)
elmbed 17:d8b901d791fd 748 {
elmbed 18:affef3a7db2a 749 writeToPhone("\r\n");
elmbed 18:affef3a7db2a 750 writeToPhone("Running pattern %d\r\n", active_sequence + 1);
elmbed 18:affef3a7db2a 751
elmbed 17:d8b901d791fd 752 mode = PATTERN;
elmbed 17:d8b901d791fd 753 state_p = START_P;
elmbed 17:d8b901d791fd 754 active_cone = 0;
elmbed 18:affef3a7db2a 755
elmbed 17:d8b901d791fd 756 clearCones();
elmbed 17:d8b901d791fd 757 }
elmbed 17:d8b901d791fd 758 else
elmbed 17:d8b901d791fd 759 {
elmbed 18:affef3a7db2a 760 writeToPhone("Selected pattern %d\r\n", value);
elmbed 18:affef3a7db2a 761
elmbed 17:d8b901d791fd 762 if(value <= SEQUENCES && value > 0)
elmbed 17:d8b901d791fd 763 {
elmbed 17:d8b901d791fd 764 active_sequence = value - 1;
elmbed 17:d8b901d791fd 765 cones = (uint8_t*)cone_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 766 times = (uint16_t*)time_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 767 masks = (uint8_t*)mask_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 768 }
elmbed 17:d8b901d791fd 769 else
elmbed 17:d8b901d791fd 770 {
elmbed 18:affef3a7db2a 771 writeToPhone("This pattern is not available. Please select a value between 1 and %d", SEQUENCES);
elmbed 17:d8b901d791fd 772 }
elmbed 17:d8b901d791fd 773 }
elmbed 17:d8b901d791fd 774 break;
elmbed 17:d8b901d791fd 775 case 's':
elmbed 17:d8b901d791fd 776 station = value;
AntonLS 19:afcbb425b3cf 777 writeToPhone("Selected station %d\r\n", value);
elmbed 17:d8b901d791fd 778 break;
elmbed 17:d8b901d791fd 779 case 'd':
elmbed 18:affef3a7db2a 780 if(value == 0){
elmbed 17:d8b901d791fd 781 logging = false;
elmbed 17:d8b901d791fd 782 m->value = 0;
elmbed 17:d8b901d791fd 783 dist_timeout = micros() + 2000000;
elmbed 17:d8b901d791fd 784 }
elmbed 18:affef3a7db2a 785 if(value == 1){
elmbed 17:d8b901d791fd 786 logging = true;
elmbed 17:d8b901d791fd 787 m->value = 1;
elmbed 17:d8b901d791fd 788 }
elmbed 17:d8b901d791fd 789 m->command = 'd';
elmbed 17:d8b901d791fd 790 m->cone = TRILAT_CONE;
elmbed 17:d8b901d791fd 791 ta.send(m);
elmbed 18:affef3a7db2a 792 //Serial.print("Sent d");
elmbed 18:affef3a7db2a 793 //Serial.println(value);
elmbed 17:d8b901d791fd 794 break;
elmbed 17:d8b901d791fd 795 case 'c':
elmbed 17:d8b901d791fd 796 c = value;
elmbed 18:affef3a7db2a 797 writeToPhone("Station %d will be cone %d\r\n", station, value);
elmbed 18:affef3a7db2a 798 if(station <= STATIONS && station > 0)cones[station-1] = c;
elmbed 17:d8b901d791fd 799 break;
elmbed 17:d8b901d791fd 800 case 't':
elmbed 17:d8b901d791fd 801 t = (uint16_t)value;
elmbed 17:d8b901d791fd 802 remainder = t%1000;
AntonLS 19:afcbb425b3cf 803 writeToPhone("Station %d split time is: %d.%03d seconds.\r\n", station, t/1000, remainder);
AntonLS 19:afcbb425b3cf 804 /// if(remainder < 100)writeToPhone("0");
AntonLS 19:afcbb425b3cf 805 /// if(remainder < 10)writeToPhone("0");
AntonLS 19:afcbb425b3cf 806 /// writeToPhone("%d seconds.\r\n",remainder);
elmbed 18:affef3a7db2a 807 if(station <= STATIONS && station > 0)times[station-1] = t;
elmbed 17:d8b901d791fd 808 break;
elmbed 17:d8b901d791fd 809 case 'l':
elmbed 17:d8b901d791fd 810 l = 0;
elmbed 17:d8b901d791fd 811 l = (uint8_t)value;
elmbed 17:d8b901d791fd 812 masks[station-1] = l;
AntonLS 19:afcbb425b3cf 813 writeToPhone( "Station %d config bits: ", station );
AntonLS 19:afcbb425b3cf 814 writeBitsToPhone( l );
AntonLS 19:afcbb425b3cf 815 writeToPhone( "\r\n" );
elmbed 17:d8b901d791fd 816 break;
elmbed 17:d8b901d791fd 817 case 'q':
elmbed 17:d8b901d791fd 818 state_p = IDLE_P;
elmbed 17:d8b901d791fd 819 new_state = true; // force state reporting, even if we're already in IDLE
elmbed 23:26f27c462976 820 //ta.pulse_off();
elmbed 23:26f27c462976 821 //clearCones();
elmbed 17:d8b901d791fd 822 break;
elmbed 17:d8b901d791fd 823 case 'r':
elmbed 18:affef3a7db2a 824 //Serial.println(F(""));
AntonLS 39:b1f864b71318 825 // writeToPhone("Current pattern is %d:\r\n", active_sequence+1);
AntonLS 39:b1f864b71318 826 writeToPhone("Pattern is %d:\r\n", active_sequence+1); // PROTOCOL optimization
elmbed 18:affef3a7db2a 827 for(int i=0; i<STATIONS; i++){
AntonLS 39:b1f864b71318 828 // writeToPhone("Station %d: cone %d, ", i+1, cones[i]);
AntonLS 39:b1f864b71318 829 writeToPhone("S%02d,C%02d", i+1, cones[i]); // PROTOCOL optimization
elmbed 17:d8b901d791fd 830 split = times[i];
AntonLS 39:b1f864b71318 831 // printMsAsSeconds(split); // Removed for PROTOCOL optimization
elmbed 18:affef3a7db2a 832 //Serial.print(F("s timeout, lights: "));
AntonLS 39:b1f864b71318 833 // writeToPhone("s timeout, config bits: ");
AntonLS 39:b1f864b71318 834 writeToPhone(",T%05d", split); // PROTOCOL optimization
elmbed 17:d8b901d791fd 835 l = masks[i];
elmbed 17:d8b901d791fd 836 /*
elmbed 18:affef3a7db2a 837 if(l<0b10000000)
elmbed 18:affef3a7db2a 838 writeToPhone("0");
elmbed 18:affef3a7db2a 839 if(l<0b1000000)
elmbed 18:affef3a7db2a 840 writeToPhone("0");
elmbed 18:affef3a7db2a 841 if(l<0b100000)
elmbed 18:affef3a7db2a 842 writeToPhone("0");
elmbed 18:affef3a7db2a 843 if(l<0b10000)
elmbed 18:affef3a7db2a 844 writeToPhone("0");
elmbed 18:affef3a7db2a 845 if(l<0b1000)
elmbed 18:affef3a7db2a 846 writeToPhone("0");
elmbed 18:affef3a7db2a 847 if(l<0b100)
elmbed 18:affef3a7db2a 848 writeToPhone("0");
elmbed 18:affef3a7db2a 849 if(l<0b10)
elmbed 18:affef3a7db2a 850 writeToPhone("0");
elmbed 18:affef3a7db2a 851 */
AntonLS 39:b1f864b71318 852 // writeBitsToPhone( l, 3 ); // Removed for PROTOCOL optimization
AntonLS 39:b1f864b71318 853 writeToPhone(",B%02x", l); // PROTOCOL optimization
AntonLS 19:afcbb425b3cf 854 writeToPhone( "\r\n" );
elmbed 18:affef3a7db2a 855 //Serial.println(l, BIN);
elmbed 17:d8b901d791fd 856 }
elmbed 17:d8b901d791fd 857 break;
elmbed 17:d8b901d791fd 858 case 'u':
elmbed 17:d8b901d791fd 859 // let any pending messages clear
elmbed 18:affef3a7db2a 860 while(ta.get_buffer_size()){
elmbed 17:d8b901d791fd 861 ta.spin();
elmbed 17:d8b901d791fd 862 }
elmbed 18:affef3a7db2a 863 if(value == 1){
elmbed 18:affef3a7db2a 864 writeToPhone("Course leader!\r\n");
elmbed 17:d8b901d791fd 865 powerupCones(value);
elmbed 17:d8b901d791fd 866 ta.powerup(value);
elmbed 17:d8b901d791fd 867 }
elmbed 18:affef3a7db2a 868 if(value == 2){
elmbed 18:affef3a7db2a 869 writeToPhone("Split leader!\r\n");
elmbed 17:d8b901d791fd 870 powerupCones(value);
elmbed 18:affef3a7db2a 871 //ta.powerup(value);
elmbed 17:d8b901d791fd 872 }
elmbed 18:affef3a7db2a 873 if(value > 10 && value < 5000){
elmbed 17:d8b901d791fd 874 ta.beep(value);
elmbed 17:d8b901d791fd 875 }
elmbed 17:d8b901d791fd 876 break;
elmbed 17:d8b901d791fd 877 case 'w':
elmbed 18:affef3a7db2a 878 if(value > 0 && value <= SEQUENCES){
elmbed 17:d8b901d791fd 879 length = STATIONS;
elmbed 17:d8b901d791fd 880 offset = (value - 1) * STATIONS;
elmbed 18:affef3a7db2a 881 writeToPhone("Saved sequence %d\r\n", value);
elmbed 17:d8b901d791fd 882 }
elmbed 18:affef3a7db2a 883 else{
elmbed 17:d8b901d791fd 884 length = STATIONS * SEQUENCES;
elmbed 17:d8b901d791fd 885 offset = 0;
elmbed 18:affef3a7db2a 886 writeToPhone("Saved all sequences.\r\n");
elmbed 17:d8b901d791fd 887 }
elmbed 18:affef3a7db2a 888 for(i=offset;i<length+offset;i++){
elmbed 18:affef3a7db2a 889 //eeprom_update_byte(addressConeTable + i, cone_table[i]);
elmbed 18:affef3a7db2a 890 //eeprom_update_byte(addressMaskTable + i, mask_table[i]);
elmbed 18:affef3a7db2a 891 //eeprom_update_word(addressTimeTable + i, time_table[i]);
elmbed 17:d8b901d791fd 892 }
elmbed 17:d8b901d791fd 893 break;
elmbed 17:d8b901d791fd 894 case 'x':
elmbed 17:d8b901d791fd 895 resetSensors();
elmbed 18:affef3a7db2a 896 //digitalWrite(A3, LOW);
elmbed 18:affef3a7db2a 897 //delay(100);
elmbed 18:affef3a7db2a 898 //digitalWrite(A3, HIGH);
elmbed 17:d8b901d791fd 899 break;
elmbed 17:d8b901d791fd 900
elmbed 17:d8b901d791fd 901 case 'z':
elmbed 17:d8b901d791fd 902 find_cones();
elmbed 18:affef3a7db2a 903 /*m->value = value;
elmbed 17:d8b901d791fd 904 m->command = 'z';
elmbed 17:d8b901d791fd 905 m->cone = 2;
elmbed 18:affef3a7db2a 906 Serial.println("sending...");
elmbed 17:d8b901d791fd 907 ta.send(m);
elmbed 18:affef3a7db2a 908 Serial.println("sent");*/
elmbed 17:d8b901d791fd 909 break;
elmbed 17:d8b901d791fd 910 }
elmbed 17:d8b901d791fd 911 }
elmbed 23:26f27c462976 912
elmbed 23:26f27c462976 913 static patternState_t stateFromCone(uint8_t cone)
elmbed 17:d8b901d791fd 914 {
elmbed 17:d8b901d791fd 915 if(cone == 0 || index == STATIONS)
elmbed 17:d8b901d791fd 916 return SUCCESS_P;
elmbed 17:d8b901d791fd 917 if(cone == 1)
elmbed 17:d8b901d791fd 918 return ACTIVE_TARGET_P;
elmbed 17:d8b901d791fd 919
elmbed 17:d8b901d791fd 920 return WAITING_P;
elmbed 17:d8b901d791fd 921 }
elmbed 17:d8b901d791fd 922
elmbed 23:26f27c462976 923 static void printSplit(unsigned long timer)
elmbed 17:d8b901d791fd 924 {
elmbed 17:d8b901d791fd 925 if(tag_start)
elmbed 17:d8b901d791fd 926 {
elmbed 17:d8b901d791fd 927 //DEBUG("Sequence started at cone ");
elmbed 17:d8b901d791fd 928 //DEBUG("%d",active_cone);
elmbed 17:d8b901d791fd 929 //DEBUG(" (");
elmbed 17:d8b901d791fd 930 printMsAsSeconds(timer);
elmbed 17:d8b901d791fd 931 //DEBUG(" seconds).\n");
elmbed 17:d8b901d791fd 932 tag_start = false;
elmbed 17:d8b901d791fd 933 }
elmbed 17:d8b901d791fd 934 else
elmbed 17:d8b901d791fd 935 {
elmbed 17:d8b901d791fd 936 //DEBUG("Target cone is: ");
elmbed 17:d8b901d791fd 937 //DEBUG("%d",active_cone);
elmbed 17:d8b901d791fd 938 //DEBUG(", ");
elmbed 17:d8b901d791fd 939 printMsAsSeconds(timer);
elmbed 17:d8b901d791fd 940 //DEBUG(" split");
elmbed 17:d8b901d791fd 941 }
elmbed 17:d8b901d791fd 942 }
elmbed 17:d8b901d791fd 943
elmbed 23:26f27c462976 944 static uint8_t getRandomCone(void)
elmbed 17:d8b901d791fd 945 {
elmbed 17:d8b901d791fd 946 static uint8_t lastCone = 0;
elmbed 17:d8b901d791fd 947 uint8_t cone;
elmbed 17:d8b901d791fd 948
elmbed 17:d8b901d791fd 949 do
elmbed 17:d8b901d791fd 950 {
elmbed 17:d8b901d791fd 951 cone = random(1, NUM_CONES + 1);
elmbed 17:d8b901d791fd 952 }
elmbed 17:d8b901d791fd 953 while(cone == lastCone || active_cones[cone] == false);
elmbed 17:d8b901d791fd 954
elmbed 17:d8b901d791fd 955 //DEBUG("Target cone is ");
elmbed 17:d8b901d791fd 956 //DEBUG("%d\n",cone);
elmbed 17:d8b901d791fd 957 lastCone = cone;
elmbed 17:d8b901d791fd 958 return cone;
elmbed 17:d8b901d791fd 959 }
elmbed 17:d8b901d791fd 960
elmbed 23:26f27c462976 961 static void clearCones(void)
elmbed 17:d8b901d791fd 962 {
elmbed 38:76e49d045a3b 963 #if 1
elmbed 17:d8b901d791fd 964 uint8_t i;
elmbed 17:d8b901d791fd 965 m->command = 'q';
elmbed 17:d8b901d791fd 966
elmbed 17:d8b901d791fd 967 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 968 {
elmbed 17:d8b901d791fd 969 m->cone = i;
elmbed 17:d8b901d791fd 970 if(active_cones[i])
elmbed 17:d8b901d791fd 971 ta.send(m);
elmbed 17:d8b901d791fd 972 active_cones[i] = false;
elmbed 17:d8b901d791fd 973 //ta.send("q", i);
elmbed 17:d8b901d791fd 974 }
elmbed 17:d8b901d791fd 975
elmbed 17:d8b901d791fd 976 DEBUG("sent clear\r\n");
elmbed 23:26f27c462976 977 #endif
elmbed 17:d8b901d791fd 978 }
elmbed 17:d8b901d791fd 979
elmbed 23:26f27c462976 980 static void powerupCones(uint8_t sound)
elmbed 17:d8b901d791fd 981 {
elmbed 23:26f27c462976 982 #if 1
elmbed 17:d8b901d791fd 983 uint8_t i;
elmbed 17:d8b901d791fd 984 m->command = 'u';
elmbed 17:d8b901d791fd 985 m->value = sound;
elmbed 17:d8b901d791fd 986
elmbed 17:d8b901d791fd 987 if(sound == 2)
elmbed 17:d8b901d791fd 988 {
elmbed 28:8e74ddc4f70f 989 if(active_cone == NODE_ID)
elmbed 17:d8b901d791fd 990 {
elmbed 17:d8b901d791fd 991 ta.powerup(sound);
elmbed 17:d8b901d791fd 992 }
elmbed 17:d8b901d791fd 993 else
elmbed 17:d8b901d791fd 994 {
elmbed 17:d8b901d791fd 995 m->cone = active_cone;
elmbed 17:d8b901d791fd 996 ta.send(m);
elmbed 17:d8b901d791fd 997 }
elmbed 17:d8b901d791fd 998 }
elmbed 17:d8b901d791fd 999 else
elmbed 17:d8b901d791fd 1000 {
elmbed 17:d8b901d791fd 1001 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1002 {
elmbed 17:d8b901d791fd 1003 m->cone = i;
elmbed 17:d8b901d791fd 1004 if(active_cones[i])
elmbed 17:d8b901d791fd 1005 ta.send(m);
elmbed 17:d8b901d791fd 1006 //ta.send("f", i);
elmbed 17:d8b901d791fd 1007 }
elmbed 17:d8b901d791fd 1008 }
elmbed 23:26f27c462976 1009 #endif
elmbed 17:d8b901d791fd 1010 //DEBUG("sent powerup");
elmbed 17:d8b901d791fd 1011 }
elmbed 17:d8b901d791fd 1012
elmbed 23:26f27c462976 1013 static void failCones(void)
elmbed 17:d8b901d791fd 1014 {
elmbed 38:76e49d045a3b 1015 #if 1
elmbed 17:d8b901d791fd 1016 uint8_t i;
elmbed 17:d8b901d791fd 1017 m->command = 'f';
elmbed 17:d8b901d791fd 1018
elmbed 17:d8b901d791fd 1019 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1020 {
elmbed 17:d8b901d791fd 1021 m->cone = i;
elmbed 17:d8b901d791fd 1022
elmbed 17:d8b901d791fd 1023 if(active_cones[i])
elmbed 17:d8b901d791fd 1024 ta.send(m);
elmbed 17:d8b901d791fd 1025 //ta.send("f", i);
elmbed 17:d8b901d791fd 1026 }
elmbed 17:d8b901d791fd 1027
elmbed 17:d8b901d791fd 1028 while(ta.get_buffer_size())
elmbed 17:d8b901d791fd 1029 {
elmbed 17:d8b901d791fd 1030 ta.spin();
elmbed 17:d8b901d791fd 1031 }
elmbed 17:d8b901d791fd 1032
elmbed 17:d8b901d791fd 1033 //DEBUG("sent fail\n");
elmbed 23:26f27c462976 1034 #endif
elmbed 17:d8b901d791fd 1035 }
elmbed 17:d8b901d791fd 1036
elmbed 23:26f27c462976 1037 static void resetSensors(void)
elmbed 17:d8b901d791fd 1038 {
elmbed 38:76e49d045a3b 1039 #if 1
elmbed 17:d8b901d791fd 1040 uint8_t i;
elmbed 17:d8b901d791fd 1041 m->command = 'x';
elmbed 17:d8b901d791fd 1042
elmbed 17:d8b901d791fd 1043 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1044 {
elmbed 17:d8b901d791fd 1045 m->cone = i;
elmbed 17:d8b901d791fd 1046 if(active_cones[i])
elmbed 17:d8b901d791fd 1047 ta.send(m);
elmbed 17:d8b901d791fd 1048 //ta.send("f", i);
elmbed 17:d8b901d791fd 1049 }
elmbed 17:d8b901d791fd 1050
elmbed 17:d8b901d791fd 1051 DEBUG("sent sensor reset\n");
elmbed 23:26f27c462976 1052 #endif
elmbed 17:d8b901d791fd 1053 }
elmbed 17:d8b901d791fd 1054
elmbed 23:26f27c462976 1055 static void successCones(void)
elmbed 17:d8b901d791fd 1056 {
elmbed 38:76e49d045a3b 1057 #if 1
elmbed 17:d8b901d791fd 1058 uint8_t i;
elmbed 17:d8b901d791fd 1059 m->command = 's';
elmbed 17:d8b901d791fd 1060
elmbed 17:d8b901d791fd 1061 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1062 {
elmbed 17:d8b901d791fd 1063 m->cone = i;
elmbed 17:d8b901d791fd 1064 if(active_cones[i])
elmbed 17:d8b901d791fd 1065 ta.send(m);
elmbed 17:d8b901d791fd 1066 //ta.send("s", i);
elmbed 17:d8b901d791fd 1067 }
elmbed 17:d8b901d791fd 1068
elmbed 17:d8b901d791fd 1069 while(ta.get_buffer_size())
elmbed 17:d8b901d791fd 1070 {
elmbed 17:d8b901d791fd 1071 ta.spin();
elmbed 17:d8b901d791fd 1072 }
elmbed 17:d8b901d791fd 1073
elmbed 17:d8b901d791fd 1074 //DEBUG("sent success\n");
elmbed 23:26f27c462976 1075 #endif
elmbed 17:d8b901d791fd 1076 }
elmbed 17:d8b901d791fd 1077
elmbed 23:26f27c462976 1078 static void find_cones(void)
elmbed 17:d8b901d791fd 1079 {
elmbed 17:d8b901d791fd 1080 while(ta.get_buffer_size())
elmbed 23:26f27c462976 1081 {
elmbed 17:d8b901d791fd 1082 ta.spin(); // wait for all messages to leave queue
elmbed 28:8e74ddc4f70f 1083 }
elmbed 17:d8b901d791fd 1084
elmbed 23:26f27c462976 1085 ta.beep_off();
elmbed 17:d8b901d791fd 1086 uint8_t i;
elmbed 17:d8b901d791fd 1087 m->command = 'z';
elmbed 28:8e74ddc4f70f 1088
elmbed 17:d8b901d791fd 1089 lonely = true;
elmbed 17:d8b901d791fd 1090
elmbed 29:ae208b014987 1091 writeToPhone("FC\r\n");
elmbed 29:ae208b014987 1092
elmbed 29:ae208b014987 1093 int retry_count = 0;
AntonLS 32:64e5d7340d82 1094
elmbed 26:40a0c775ff27 1095 for(i = 2; i < NUM_CONES + 1; ++i)
elmbed 17:d8b901d791fd 1096 {
elmbed 29:ae208b014987 1097 retry_count = 0;
elmbed 29:ae208b014987 1098 go_again:
elmbed 17:d8b901d791fd 1099 active_cones[i] = false;
elmbed 17:d8b901d791fd 1100 m->cone = i;
elmbed 17:d8b901d791fd 1101 ta.send_immediate(m);
elmbed 17:d8b901d791fd 1102
elmbed 17:d8b901d791fd 1103 unsigned long st = millis();
elmbed 29:ae208b014987 1104 unsigned long current = 0L;
elmbed 29:ae208b014987 1105 unsigned long delta = 0L;
elmbed 17:d8b901d791fd 1106
AntonLS 32:64e5d7340d82 1107 writeToPhone("S: %lu F: %d\r\n", st, i); /// DEBUG-only message
elmbed 23:26f27c462976 1108
elmbed 17:d8b901d791fd 1109 while(1)
elmbed 17:d8b901d791fd 1110 {
elmbed 23:26f27c462976 1111 current = millis();
elmbed 23:26f27c462976 1112 delta = current - st;
elmbed 17:d8b901d791fd 1113
elmbed 35:c1405da88d3a 1114 if(delta > 300L)
elmbed 23:26f27c462976 1115 {
elmbed 29:ae208b014987 1116 writeToPhone("FT: %d %lu\r\n", i, current);
elmbed 29:ae208b014987 1117
elmbed 29:ae208b014987 1118 if (++retry_count < 3)
elmbed 29:ae208b014987 1119 {
elmbed 29:ae208b014987 1120 goto go_again;
elmbed 29:ae208b014987 1121 }
elmbed 29:ae208b014987 1122 else
elmbed 29:ae208b014987 1123 {
elmbed 29:ae208b014987 1124 break;
elmbed 29:ae208b014987 1125 }
elmbed 28:8e74ddc4f70f 1126 }
elmbed 17:d8b901d791fd 1127 if(ta.recieve(m_in))
elmbed 17:d8b901d791fd 1128 {
elmbed 17:d8b901d791fd 1129 lonely = false;
elmbed 17:d8b901d791fd 1130 active_cones[m_in->cone] = true;
elmbed 17:d8b901d791fd 1131
elmbed 29:ae208b014987 1132 writeToPhone("FS: %d\r\n", m_in->cone);
elmbed 17:d8b901d791fd 1133 break;
elmbed 17:d8b901d791fd 1134 }
elmbed 17:d8b901d791fd 1135 }
elmbed 29:ae208b014987 1136
elmbed 29:ae208b014987 1137 wait_us(50);
elmbed 17:d8b901d791fd 1138 }
elmbed 17:d8b901d791fd 1139
elmbed 26:40a0c775ff27 1140 writeToPhone("available cones are: (1");
elmbed 17:d8b901d791fd 1141
elmbed 26:40a0c775ff27 1142 for(i = 2; i < NUM_CONES + 1; ++i)
elmbed 17:d8b901d791fd 1143 {
elmbed 17:d8b901d791fd 1144 if(active_cones[i])
elmbed 17:d8b901d791fd 1145 {
elmbed 26:40a0c775ff27 1146 writeToPhone(", %d", i);
elmbed 17:d8b901d791fd 1147 }
elmbed 17:d8b901d791fd 1148 }
elmbed 26:40a0c775ff27 1149
elmbed 26:40a0c775ff27 1150 writeToPhone(")\r\n");
elmbed 17:d8b901d791fd 1151 }
elmbed 17:d8b901d791fd 1152
elmbed 23:26f27c462976 1153 static void printMsAsSeconds(unsigned long number)
elmbed 17:d8b901d791fd 1154 {
elmbed 17:d8b901d791fd 1155 uint16_t remainder;
elmbed 17:d8b901d791fd 1156
elmbed 17:d8b901d791fd 1157 remainder = number%1000;
AntonLS 19:afcbb425b3cf 1158
AntonLS 39:b1f864b71318 1159 writeToPhone( "%d.%03d", number/1000, remainder ); /// Needs to stay without newline.
elmbed 17:d8b901d791fd 1160 }
elmbed 17:d8b901d791fd 1161
elmbed 23:26f27c462976 1162 static void spinButtons(void)
elmbed 17:d8b901d791fd 1163 {
elmbed 17:d8b901d791fd 1164 static inputState_t last_state = IDLE_I;
elmbed 17:d8b901d791fd 1165 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 1166 static Event event;
elmbed 17:d8b901d791fd 1167 static uint8_t sequence = 0;
elmbed 17:d8b901d791fd 1168 static unsigned long start = 0;
elmbed 17:d8b901d791fd 1169 uint8_t section = 0;
elmbed 17:d8b901d791fd 1170
elmbed 17:d8b901d791fd 1171 //uint8_t buttons;
elmbed 17:d8b901d791fd 1172
elmbed 17:d8b901d791fd 1173 //timer = millis() - start;
elmbed 17:d8b901d791fd 1174 if(millis() > 500)
elmbed 17:d8b901d791fd 1175 event = getInputEvent();
elmbed 17:d8b901d791fd 1176
elmbed 17:d8b901d791fd 1177 if(event.type == Event::press)
elmbed 17:d8b901d791fd 1178 {
elmbed 17:d8b901d791fd 1179 in_menu = true;
elmbed 17:d8b901d791fd 1180 state_i = MENU_I;
elmbed 17:d8b901d791fd 1181 }
elmbed 17:d8b901d791fd 1182
elmbed 17:d8b901d791fd 1183 first_i = false;
elmbed 17:d8b901d791fd 1184
elmbed 17:d8b901d791fd 1185 if(last_state != state_i)
elmbed 17:d8b901d791fd 1186 {
elmbed 17:d8b901d791fd 1187 //if(state_i == IDLE_I)////////////DEBUG.println(F("");
elmbed 17:d8b901d791fd 1188 //if(state_i == RUNNING_I)//////////////DEBUG.println(F("State is WAITING");
elmbed 17:d8b901d791fd 1189 // need to print menu timeout?
elmbed 17:d8b901d791fd 1190 if(state_i == MENU_I)
elmbed 17:d8b901d791fd 1191 ////DEBUG("Menu\n");
elmbed 17:d8b901d791fd 1192 if(state_i == PATTERN_SELECT_I)
elmbed 17:d8b901d791fd 1193 ////DEBUG("Choosing pattern");
elmbed 17:d8b901d791fd 1194 first_i = true;
elmbed 17:d8b901d791fd 1195 }
elmbed 17:d8b901d791fd 1196
elmbed 17:d8b901d791fd 1197 last_state = state_i;
elmbed 17:d8b901d791fd 1198
elmbed 17:d8b901d791fd 1199 if(state_i == RUNNING_I)
elmbed 17:d8b901d791fd 1200 in_menu = false;
elmbed 17:d8b901d791fd 1201
elmbed 17:d8b901d791fd 1202 switch(state_i)
elmbed 17:d8b901d791fd 1203 {
elmbed 17:d8b901d791fd 1204 case IDLE_I:
elmbed 17:d8b901d791fd 1205 // display something distinctive
elmbed 17:d8b901d791fd 1206 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1207 {
elmbed 17:d8b901d791fd 1208 state_i = RUNNING_I;
elmbed 17:d8b901d791fd 1209 //send 'p' or 'f' command as appropriate
elmbed 17:d8b901d791fd 1210 if(mode == FREEFORM)
elmbed 17:d8b901d791fd 1211 interpret('f', 0);
elmbed 17:d8b901d791fd 1212 else
elmbed 17:d8b901d791fd 1213 interpret('p', 0);
elmbed 17:d8b901d791fd 1214 }
elmbed 35:c1405da88d3a 1215
elmbed 17:d8b901d791fd 1216 break;
elmbed 17:d8b901d791fd 1217 case RUNNING_I:
elmbed 17:d8b901d791fd 1218 if(event.type == Event::finish)
elmbed 17:d8b901d791fd 1219 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1220 break;
elmbed 17:d8b901d791fd 1221 case MENU_I:
elmbed 17:d8b901d791fd 1222 if(first_i)
elmbed 17:d8b901d791fd 1223 interpret('q', 0);
elmbed 17:d8b901d791fd 1224 // every 3 seconds we cycle through the menu
elmbed 17:d8b901d791fd 1225 // one option per second
elmbed 17:d8b901d791fd 1226 // light changes color and stays on for 500ms
elmbed 17:d8b901d791fd 1227 section = ((millis() - start)%3000)/500;
elmbed 17:d8b901d791fd 1228
elmbed 17:d8b901d791fd 1229 if(section == 0)
elmbed 17:d8b901d791fd 1230 ta.post_color(0xFF);
elmbed 17:d8b901d791fd 1231 if(section == 1)
elmbed 17:d8b901d791fd 1232 ta.post_color(0);
elmbed 17:d8b901d791fd 1233 if(section == 2)
elmbed 17:d8b901d791fd 1234 ta.post_color(0xFF00);
elmbed 17:d8b901d791fd 1235 if(section == 3)
elmbed 17:d8b901d791fd 1236 ta.post_color(0);
elmbed 17:d8b901d791fd 1237 if(section == 4)
elmbed 17:d8b901d791fd 1238 ta.post_color(0xFF0000);
elmbed 17:d8b901d791fd 1239 if(section == 5)
elmbed 17:d8b901d791fd 1240 ta.post_color(0);
elmbed 17:d8b901d791fd 1241 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1242 {
elmbed 17:d8b901d791fd 1243 // set state here based on current light color
elmbed 17:d8b901d791fd 1244 if(section < 2)
elmbed 17:d8b901d791fd 1245 {
elmbed 17:d8b901d791fd 1246 mode = FREEFORM;
elmbed 17:d8b901d791fd 1247 ta.post_color(0xFF);
elmbed 17:d8b901d791fd 1248 ////////DEBUG.println(F("Freeform mode.");
elmbed 17:d8b901d791fd 1249 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1250 break;
elmbed 17:d8b901d791fd 1251 }
elmbed 17:d8b901d791fd 1252
elmbed 17:d8b901d791fd 1253 if(section < 4)
elmbed 17:d8b901d791fd 1254 {
elmbed 17:d8b901d791fd 1255 mode = PATTERN;
elmbed 17:d8b901d791fd 1256 ta.post_color(0xFF00);
elmbed 17:d8b901d791fd 1257 ////////DEBUG.println(F("Pattern mode.");
elmbed 17:d8b901d791fd 1258 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1259 break;
elmbed 17:d8b901d791fd 1260 }
elmbed 17:d8b901d791fd 1261
elmbed 17:d8b901d791fd 1262 if(section < 6)
elmbed 17:d8b901d791fd 1263 {
elmbed 17:d8b901d791fd 1264 state_i = PATTERN_SELECT_I;
elmbed 17:d8b901d791fd 1265 ta.post_color(0xFF0000);
elmbed 17:d8b901d791fd 1266 break;
elmbed 17:d8b901d791fd 1267 }
elmbed 17:d8b901d791fd 1268 }
elmbed 17:d8b901d791fd 1269 break;
elmbed 17:d8b901d791fd 1270 case PATTERN_SELECT_I:
elmbed 17:d8b901d791fd 1271 if(first_i)
elmbed 17:d8b901d791fd 1272 {
elmbed 17:d8b901d791fd 1273 sequence = active_sequence;
elmbed 17:d8b901d791fd 1274 mode = PATTERN;
elmbed 17:d8b901d791fd 1275 //start = millis();
elmbed 17:d8b901d791fd 1276 }
elmbed 17:d8b901d791fd 1277 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1278 {
elmbed 17:d8b901d791fd 1279 ta.beep(50);
elmbed 17:d8b901d791fd 1280 if(event.value == 1 && sequence > 0)
elmbed 17:d8b901d791fd 1281 {
elmbed 17:d8b901d791fd 1282 sequence--;
elmbed 17:d8b901d791fd 1283 }
elmbed 17:d8b901d791fd 1284
elmbed 17:d8b901d791fd 1285 if(event.value == 2 && sequence < SEQUENCES - 1)
elmbed 17:d8b901d791fd 1286 {
elmbed 17:d8b901d791fd 1287 sequence++;
elmbed 17:d8b901d791fd 1288 }
elmbed 17:d8b901d791fd 1289
elmbed 17:d8b901d791fd 1290 if(event.value == 3)
elmbed 17:d8b901d791fd 1291 {
elmbed 17:d8b901d791fd 1292 interpret('p', sequence + 1);
elmbed 17:d8b901d791fd 1293 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1294 }
elmbed 17:d8b901d791fd 1295
elmbed 17:d8b901d791fd 1296 if(event.value != 3)
elmbed 17:d8b901d791fd 1297 {
elmbed 17:d8b901d791fd 1298 ////DEBUG("Menu says: sequence ");
elmbed 17:d8b901d791fd 1299 ////DEBUG("%d\n",sequence + 1);
elmbed 17:d8b901d791fd 1300 }
elmbed 17:d8b901d791fd 1301 break;
elmbed 17:d8b901d791fd 1302 case TEACH_I:
elmbed 17:d8b901d791fd 1303 // not implemented yet
elmbed 17:d8b901d791fd 1304 break;
elmbed 17:d8b901d791fd 1305 default: break;
elmbed 17:d8b901d791fd 1306 }
elmbed 17:d8b901d791fd 1307 }
elmbed 17:d8b901d791fd 1308 }
elmbed 17:d8b901d791fd 1309
elmbed 23:26f27c462976 1310 static uint8_t checkButtons(void)
elmbed 17:d8b901d791fd 1311 {
elmbed 17:d8b901d791fd 1312 static unsigned long last_time = 0;
elmbed 17:d8b901d791fd 1313 //static uint8_t last = 0;
elmbed 17:d8b901d791fd 1314 static uint8_t buttons = 0;
elmbed 17:d8b901d791fd 1315
elmbed 17:d8b901d791fd 1316 // listen for commands from the buttons
elmbed 17:d8b901d791fd 1317 unsigned long time = millis();
elmbed 17:d8b901d791fd 1318 // only check every DEBOUNCE_MS to avoid jitter
elmbed 17:d8b901d791fd 1319 if(time - last_time > DEBOUNCE_MS)
elmbed 17:d8b901d791fd 1320 {
elmbed 17:d8b901d791fd 1321 last_time = time;
AntonLS 31:a6110950f385 1322 buttons = ta.buttons() | TA::buttonsRising;
AntonLS 31:a6110950f385 1323 TA::buttonsRising = 0;
elmbed 17:d8b901d791fd 1324 }
elmbed 17:d8b901d791fd 1325
elmbed 17:d8b901d791fd 1326 return buttons;
elmbed 17:d8b901d791fd 1327 }
elmbed 17:d8b901d791fd 1328
elmbed 23:26f27c462976 1329 static Event getInputEvent(void)
elmbed 17:d8b901d791fd 1330 {
elmbed 17:d8b901d791fd 1331 static uint8_t last_buttons = 0;
elmbed 17:d8b901d791fd 1332 static unsigned long time1 = 0;
elmbed 17:d8b901d791fd 1333 static unsigned long time2 = 0;
elmbed 17:d8b901d791fd 1334 static unsigned long time3 = 0;
elmbed 17:d8b901d791fd 1335 unsigned long duration = 0;
elmbed 17:d8b901d791fd 1336 uint8_t buttons = 0;
elmbed 17:d8b901d791fd 1337 Event event;
elmbed 17:d8b901d791fd 1338 event.type = Event::none;
elmbed 17:d8b901d791fd 1339 event.value = 0;
elmbed 17:d8b901d791fd 1340
elmbed 17:d8b901d791fd 1341 buttons = checkButtons();
elmbed 17:d8b901d791fd 1342 uint8_t rising = buttons & ~last_buttons;
elmbed 17:d8b901d791fd 1343 uint8_t falling = ~buttons & last_buttons;
elmbed 17:d8b901d791fd 1344
elmbed 17:d8b901d791fd 1345 /*if(rising){
elmbed 17:d8b901d791fd 1346 //DEBUG.print("Rising ");
elmbed 17:d8b901d791fd 1347 //DEBUG.println(rising);
elmbed 17:d8b901d791fd 1348 }
elmbed 17:d8b901d791fd 1349 if(falling){
elmbed 17:d8b901d791fd 1350 //DEBUG.print("Falling ");
elmbed 17:d8b901d791fd 1351 //DEBUG.println(falling);
elmbed 17:d8b901d791fd 1352 }*/
elmbed 17:d8b901d791fd 1353 if(rising & 0x01)
elmbed 17:d8b901d791fd 1354 time1 = millis();
elmbed 17:d8b901d791fd 1355 if(rising & 0x02)
elmbed 17:d8b901d791fd 1356 time2 = millis();
elmbed 17:d8b901d791fd 1357 if(rising & 0x04)
elmbed 17:d8b901d791fd 1358 time3 = millis();
elmbed 17:d8b901d791fd 1359
elmbed 17:d8b901d791fd 1360 // simultaneous falling edges will cause lower values to be ignored
elmbed 17:d8b901d791fd 1361 if(falling & 0x01)
elmbed 17:d8b901d791fd 1362 {
elmbed 17:d8b901d791fd 1363 duration = millis() - time1;
elmbed 17:d8b901d791fd 1364 event.value = 1;
elmbed 17:d8b901d791fd 1365 }
elmbed 17:d8b901d791fd 1366
elmbed 17:d8b901d791fd 1367 if(falling & 0x02)
elmbed 17:d8b901d791fd 1368 {
elmbed 17:d8b901d791fd 1369 duration = millis() - time2;
elmbed 17:d8b901d791fd 1370 event.value = 2;
elmbed 17:d8b901d791fd 1371 }
elmbed 17:d8b901d791fd 1372
elmbed 17:d8b901d791fd 1373 if(falling & 0x04)
elmbed 17:d8b901d791fd 1374 {
elmbed 17:d8b901d791fd 1375 duration = millis() - time3;
elmbed 17:d8b901d791fd 1376 event.value = 3;
elmbed 17:d8b901d791fd 1377 }
elmbed 17:d8b901d791fd 1378
elmbed 17:d8b901d791fd 1379 if(duration > 0)
elmbed 17:d8b901d791fd 1380 event.type = Event::tap;
elmbed 17:d8b901d791fd 1381 if(duration > 2000)
elmbed 17:d8b901d791fd 1382 event.type = Event::press;
elmbed 17:d8b901d791fd 1383
elmbed 17:d8b901d791fd 1384 // give feedback that we've waited lng enough for a press
elmbed 17:d8b901d791fd 1385 unsigned long t = millis() - time1;
elmbed 17:d8b901d791fd 1386
elmbed 17:d8b901d791fd 1387 if(2020 > t && t > 2000 && (buttons & 0x01))
elmbed 17:d8b901d791fd 1388 ta.beep(20);
elmbed 17:d8b901d791fd 1389
elmbed 17:d8b901d791fd 1390 t = millis() - time2;
elmbed 17:d8b901d791fd 1391
elmbed 17:d8b901d791fd 1392 if(2020 > t && t > 2000 && (buttons & 0x02))
elmbed 17:d8b901d791fd 1393 ta.beep(20);
elmbed 17:d8b901d791fd 1394
elmbed 17:d8b901d791fd 1395 t = millis() - time3;
elmbed 17:d8b901d791fd 1396
elmbed 17:d8b901d791fd 1397 if(2020 > t && t > 2000 && (buttons & 0x04))
elmbed 17:d8b901d791fd 1398 ta.beep(20);
elmbed 17:d8b901d791fd 1399
elmbed 17:d8b901d791fd 1400 if(event.type != Event::none)
elmbed 17:d8b901d791fd 1401 {
elmbed 17:d8b901d791fd 1402 //DEBUG("Event: ");
elmbed 17:d8b901d791fd 1403 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1404 ////DEBUG("tap, ");
elmbed 17:d8b901d791fd 1405 if(event.type == Event::press)
elmbed 17:d8b901d791fd 1406 ////DEBUG("press, ");
elmbed 17:d8b901d791fd 1407
elmbed 17:d8b901d791fd 1408 uint8_t val = event.value;
elmbed 17:d8b901d791fd 1409 //DEBUG("%d\n",val);
elmbed 17:d8b901d791fd 1410 //////DEBUG.println(duration);
elmbed 17:d8b901d791fd 1411 }
elmbed 17:d8b901d791fd 1412
elmbed 17:d8b901d791fd 1413 last_buttons = buttons;
elmbed 17:d8b901d791fd 1414 return event;
elmbed 17:d8b901d791fd 1415 }
elmbed 18:affef3a7db2a 1416 #endif
elmbed 18:affef3a7db2a 1417
elmbed 18:affef3a7db2a 1418 #endif