Andriy Makukha / Mbed 2 deprecated football_project_wo_output

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Dependencies:   mbed

Fork of football_project by MZJ

proto_code.cpp@30:c60b0d52b067, 2016-01-04 (annotated)

Committer:
AntonLS
Date:
Mon Jan 04 16:33:39 2016 +0000
Revision:
30:c60b0d52b067
Parent:
28:8e74ddc4f70f
Child:
31:a6110950f385
Merged Batt Alarm and Touch code with newer z command code.

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 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:
AntonLS 30:c60b0d52b067 458 ta.setMask( DEFTOUCHMASK );
elmbed 17:d8b901d791fd 459 if(!in_menu)
elmbed 17:d8b901d791fd 460 ta.post_color((ta.activated())?0xFF:0xFF0000);
elmbed 17:d8b901d791fd 461 break;
elmbed 17:d8b901d791fd 462
elmbed 17:d8b901d791fd 463 case START_P:
elmbed 17:d8b901d791fd 464 //clearCones();
elmbed 17:d8b901d791fd 465 tag_start = false;
elmbed 17:d8b901d791fd 466 ta.post_color(0xFF0000);
elmbed 17:d8b901d791fd 467 index = 0;
elmbed 17:d8b901d791fd 468 getNext();
elmbed 17:d8b901d791fd 469
elmbed 17:d8b901d791fd 470 if(timeout == 0)
elmbed 17:d8b901d791fd 471 { // timeout of 0 means wait indefinitely for the first cone to be activated, then start the rest of the sequence
elmbed 17:d8b901d791fd 472 timeout = ~0;
elmbed 17:d8b901d791fd 473 tag_start = true;
elmbed 17:d8b901d791fd 474 DEBUG("Activate cone ");
elmbed 17:d8b901d791fd 475 DEBUG("%d",active_cone);
elmbed 17:d8b901d791fd 476 DEBUG(" to start.\n");
elmbed 17:d8b901d791fd 477 }
elmbed 17:d8b901d791fd 478
elmbed 17:d8b901d791fd 479 start = millis();
elmbed 17:d8b901d791fd 480 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 481 if(active_cone == 0)
elmbed 17:d8b901d791fd 482 { // in this case stateFromCone returns SUCCESS_P, but really there was no course sequence
elmbed 17:d8b901d791fd 483 DEBUG("\n");
elmbed 17:d8b901d791fd 484 DEBUG("Empty course sequence!\n");
elmbed 17:d8b901d791fd 485 ta.post_color(0x0000FF);
elmbed 17:d8b901d791fd 486 state_p = IDLE_P;
elmbed 17:d8b901d791fd 487 break;
elmbed 17:d8b901d791fd 488 }
elmbed 17:d8b901d791fd 489 break;
elmbed 17:d8b901d791fd 490
elmbed 17:d8b901d791fd 491 case WAITING_P:
elmbed 17:d8b901d791fd 492 if(first)
elmbed 17:d8b901d791fd 493 {
elmbed 17:d8b901d791fd 494 m->command = 'm';
elmbed 17:d8b901d791fd 495 m->value = mask;
elmbed 17:d8b901d791fd 496 m->cone = active_cone;
elmbed 17:d8b901d791fd 497 ta.send(m);
elmbed 17:d8b901d791fd 498 m->command = 't';
elmbed 17:d8b901d791fd 499 m->value = (uint32_t)timeout;
elmbed 17:d8b901d791fd 500 ta.send(m);
elmbed 17:d8b901d791fd 501 m->command = 'g';
elmbed 17:d8b901d791fd 502 ta.send(m);
elmbed 17:d8b901d791fd 503
elmbed 17:d8b901d791fd 504 DEBUG("m_in cone=%d\n", active_cone);
elmbed 17:d8b901d791fd 505 m_in->cone = active_cone;
elmbed 17:d8b901d791fd 506 command = 'd';
elmbed 17:d8b901d791fd 507
elmbed 17:d8b901d791fd 508 }
elmbed 17:d8b901d791fd 509
elmbed 17:d8b901d791fd 510 ta.post_color(( ta.activated())?0xFF:0xFF0000);
elmbed 17:d8b901d791fd 511
elmbed 17:d8b901d791fd 512 DEBUG("Waiting: %d %d %c\n", m_in->cone, active_cone, command);
elmbed 17:d8b901d791fd 513
elmbed 17:d8b901d791fd 514 if((m_in->cone == active_cone && command == 'd' ) || ((timer >= timeout) && fakeout))
elmbed 17:d8b901d791fd 515 {
elmbed 17:d8b901d791fd 516 if((timer >= timeout) && !fakeout)
elmbed 17:d8b901d791fd 517 {
elmbed 17:d8b901d791fd 518 DEBUG("Timesplit penalty! ");
elmbed 17:d8b901d791fd 519 }
elmbed 17:d8b901d791fd 520 printSplit(timer);
elmbed 17:d8b901d791fd 521 getNext();
elmbed 17:d8b901d791fd 522 start = millis();
elmbed 17:d8b901d791fd 523
elmbed 17:d8b901d791fd 524 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 525
elmbed 17:d8b901d791fd 526 if(state_p == WAITING_P)
elmbed 17:d8b901d791fd 527 {
elmbed 17:d8b901d791fd 528 DEBUG("New state from waiting\n");
elmbed 17:d8b901d791fd 529 new_state = true;
elmbed 17:d8b901d791fd 530 }
elmbed 17:d8b901d791fd 531 }
elmbed 17:d8b901d791fd 532 else if(~timeout != 0 && mode == PATTERN && timer >= (timeout + ((fail_quick)?0:GRACE_PERIOD)))
elmbed 17:d8b901d791fd 533 {
elmbed 17:d8b901d791fd 534 DEBUG("Failing from wait\n");
elmbed 17:d8b901d791fd 535 state_p = FAIL_P;
elmbed 17:d8b901d791fd 536 }
elmbed 17:d8b901d791fd 537 break;
elmbed 17:d8b901d791fd 538
elmbed 17:d8b901d791fd 539 case ACTIVE_TARGET_P:
elmbed 17:d8b901d791fd 540 if(first)
elmbed 17:d8b901d791fd 541 {
elmbed 17:d8b901d791fd 542 ta.setMask(mask);
elmbed 17:d8b901d791fd 543
elmbed 17:d8b901d791fd 544 warning = false;
elmbed 17:d8b901d791fd 545 penalty = false;
elmbed 17:d8b901d791fd 546 ta.pulse(50,750,~0L,0x00FF00);
elmbed 17:d8b901d791fd 547 //if(!(mask & SILENT))ta.pulse(50,750,~0L,0c00FF00);
elmbed 17:d8b901d791fd 548 }
elmbed 17:d8b901d791fd 549 if(timer >= timeout)
elmbed 17:d8b901d791fd 550 {
elmbed 17:d8b901d791fd 551 if(!penalty)
elmbed 17:d8b901d791fd 552 {
elmbed 17:d8b901d791fd 553 ta.pulse(50,325,~0L,0xFF00FF);
elmbed 17:d8b901d791fd 554
elmbed 17:d8b901d791fd 555 penalty = true;
elmbed 17:d8b901d791fd 556 }
elmbed 17:d8b901d791fd 557 ta.mask_color(0xFF00FF);
elmbed 17:d8b901d791fd 558 }
elmbed 17:d8b901d791fd 559 else if(timer > ((timeout*3)/4) && !warning)
elmbed 17:d8b901d791fd 560 {
elmbed 17:d8b901d791fd 561 warning = true;
elmbed 17:d8b901d791fd 562 ta.pulse(50,750,~0L,0xFFFF00);
elmbed 17:d8b901d791fd 563 }
elmbed 17:d8b901d791fd 564
elmbed 17:d8b901d791fd 565 if(ta.activated() || ((timer >= timeout) && fakeout))
elmbed 17:d8b901d791fd 566 {
elmbed 17:d8b901d791fd 567 if((timer >= timeout) && !fakeout)
elmbed 17:d8b901d791fd 568 DEBUG("Timesplit penalty! ");
elmbed 17:d8b901d791fd 569
elmbed 17:d8b901d791fd 570 printSplit(timer);
elmbed 17:d8b901d791fd 571 ta.post_color(0xFF0000);
elmbed 17:d8b901d791fd 572 getNext();
elmbed 17:d8b901d791fd 573 start = millis();
elmbed 17:d8b901d791fd 574 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 575
elmbed 17:d8b901d791fd 576 if(state_p == ACTIVE_TARGET_P)
elmbed 17:d8b901d791fd 577 new_state = true;
elmbed 17:d8b901d791fd 578 ta.pulse_off();
elmbed 17:d8b901d791fd 579
elmbed 17:d8b901d791fd 580 }
elmbed 17:d8b901d791fd 581 else if(~timeout != 0 && mode == PATTERN && timer >= (timeout + ((fail_quick)?0:GRACE_PERIOD)))
elmbed 17:d8b901d791fd 582 {
elmbed 17:d8b901d791fd 583 state_p = FAIL_P;
elmbed 17:d8b901d791fd 584 ta.pulse_off();
elmbed 17:d8b901d791fd 585 }
elmbed 17:d8b901d791fd 586 //DEBUG.println(timeout + ((fail_quick)?0:GRACE_PERIOD));
elmbed 17:d8b901d791fd 587 //DEBUG.println(timeout);
elmbed 17:d8b901d791fd 588
elmbed 17:d8b901d791fd 589 break;
elmbed 17:d8b901d791fd 590
elmbed 17:d8b901d791fd 591 case FAIL_P:
elmbed 17:d8b901d791fd 592 if(first)
elmbed 17:d8b901d791fd 593 {
elmbed 17:d8b901d791fd 594 start = millis();
elmbed 17:d8b901d791fd 595 DEBUG("\n");
elmbed 17:d8b901d791fd 596 DEBUG("Timeout\n");
elmbed 17:d8b901d791fd 597 //ta.post_color();
elmbed 17:d8b901d791fd 598 ta.pulse(25,200,3000,0xFF0000);
elmbed 17:d8b901d791fd 599
elmbed 17:d8b901d791fd 600 failCones();
elmbed 17:d8b901d791fd 601 //ta.fail();
elmbed 17:d8b901d791fd 602 }
elmbed 17:d8b901d791fd 603 else if(timer > 3000)
elmbed 17:d8b901d791fd 604 {
elmbed 17:d8b901d791fd 605 DEBUG("Clear!\n");
elmbed 17:d8b901d791fd 606 state_p = IDLE_P;
elmbed 17:d8b901d791fd 607 clearCones();
elmbed 17:d8b901d791fd 608 }
elmbed 17:d8b901d791fd 609 break;
elmbed 17:d8b901d791fd 610 case SUCCESS_P:
elmbed 17:d8b901d791fd 611 if(first)
elmbed 17:d8b901d791fd 612 {
elmbed 17:d8b901d791fd 613 start = millis();
elmbed 17:d8b901d791fd 614 DEBUG("\n");
elmbed 17:d8b901d791fd 615 DEBUG("Done!\n");
elmbed 17:d8b901d791fd 616 ta.post_color(0x00FF00);
elmbed 17:d8b901d791fd 617 ta.beep(1500);
elmbed 17:d8b901d791fd 618 successCones();
elmbed 17:d8b901d791fd 619 //ta.success();
elmbed 17:d8b901d791fd 620 }
elmbed 17:d8b901d791fd 621 else if(timer > 1500)
elmbed 17:d8b901d791fd 622 {
elmbed 17:d8b901d791fd 623 DEBUG("Clear!\n");
elmbed 17:d8b901d791fd 624 state_p = IDLE_P;
elmbed 17:d8b901d791fd 625 clearCones();
elmbed 17:d8b901d791fd 626 }
elmbed 17:d8b901d791fd 627 break;
elmbed 17:d8b901d791fd 628
elmbed 17:d8b901d791fd 629 default:
elmbed 17:d8b901d791fd 630 break;
elmbed 17:d8b901d791fd 631 }
elmbed 23:26f27c462976 632 #endif
elmbed 17:d8b901d791fd 633 }
elmbed 18:affef3a7db2a 634 #endif
elmbed 18:affef3a7db2a 635
elmbed 23:26f27c462976 636 #ifdef MASTER
elmbed 17:d8b901d791fd 637 void getRadioInput(char *ibuffer, int size)
elmbed 17:d8b901d791fd 638 {
elmbed 17:d8b901d791fd 639 static int i = 0;
elmbed 17:d8b901d791fd 640 int buffer_counter = 0;
elmbed 17:d8b901d791fd 641 static char parameter = '_';
elmbed 17:d8b901d791fd 642 static char buffer[MAX_LEN + 1];
elmbed 17:d8b901d791fd 643 int value = 0;
elmbed 17:d8b901d791fd 644 char *endp = NULL;
elmbed 17:d8b901d791fd 645
elmbed 17:d8b901d791fd 646 // listen for commands coming over bluetooth
elmbed 17:d8b901d791fd 647 while (buffer_counter < size)
elmbed 17:d8b901d791fd 648 {
elmbed 17:d8b901d791fd 649 char ch = ibuffer[buffer_counter++];
elmbed 17:d8b901d791fd 650
elmbed 17:d8b901d791fd 651 if((ch == '\r' || ch == ';' || ch == '\n') && parameter != '_')
elmbed 17:d8b901d791fd 652 {
elmbed 17:d8b901d791fd 653 if(i > 1)
elmbed 17:d8b901d791fd 654 {
elmbed 17:d8b901d791fd 655 buffer[i-1] = 0;
elmbed 17:d8b901d791fd 656 value = atoi(buffer);
elmbed 17:d8b901d791fd 657
elmbed 17:d8b901d791fd 658 if(parameter == 'l')
elmbed 17:d8b901d791fd 659 value = strtoul(buffer, &endp, 2);
elmbed 17:d8b901d791fd 660 }
elmbed 18:affef3a7db2a 661
elmbed 17:d8b901d791fd 662 interpret(parameter, value);
elmbed 17:d8b901d791fd 663 DEBUG("After interp: '%c'\r\n", parameter);
elmbed 17:d8b901d791fd 664 parameter = '_';
elmbed 17:d8b901d791fd 665 buffer[0] = 0;
elmbed 17:d8b901d791fd 666 i=0;
elmbed 17:d8b901d791fd 667 }
elmbed 17:d8b901d791fd 668 else
elmbed 17:d8b901d791fd 669 {
elmbed 17:d8b901d791fd 670 if(i==0)
elmbed 17:d8b901d791fd 671 parameter = ch;
elmbed 17:d8b901d791fd 672 else
elmbed 17:d8b901d791fd 673 buffer[i-1] = ch;
elmbed 17:d8b901d791fd 674 i++;
elmbed 17:d8b901d791fd 675 }
elmbed 17:d8b901d791fd 676
elmbed 17:d8b901d791fd 677 if(ch == '_' || ch == '\r' || ch == ';' || ch == '\n')
elmbed 17:d8b901d791fd 678 {
elmbed 17:d8b901d791fd 679 parameter = '_';
elmbed 17:d8b901d791fd 680 buffer[0] = 0;
elmbed 17:d8b901d791fd 681 i=0;
elmbed 17:d8b901d791fd 682 }
elmbed 17:d8b901d791fd 683 }
elmbed 17:d8b901d791fd 684 }
elmbed 17:d8b901d791fd 685
elmbed 23:26f27c462976 686 static void interpret(char parameter, int value)
elmbed 17:d8b901d791fd 687 {
elmbed 18:affef3a7db2a 688 int remainder;
elmbed 18:affef3a7db2a 689 uint16_t split;
elmbed 18:affef3a7db2a 690 uint16_t t;
elmbed 18:affef3a7db2a 691 uint8_t c;
elmbed 18:affef3a7db2a 692 uint8_t l;
elmbed 18:affef3a7db2a 693 int last;
elmbed 18:affef3a7db2a 694 int middle;
elmbed 18:affef3a7db2a 695 uint8_t length;
elmbed 18:affef3a7db2a 696 uint8_t offset;
elmbed 18:affef3a7db2a 697 int i;
elmbed 18:affef3a7db2a 698 uint8_t v;
elmbed 18:affef3a7db2a 699 uint16_t val;
elmbed 17:d8b901d791fd 700
elmbed 17:d8b901d791fd 701 switch(parameter)
elmbed 17:d8b901d791fd 702 {
elmbed 17:d8b901d791fd 703 case 'f':
elmbed 17:d8b901d791fd 704 if(lonely)
elmbed 17:d8b901d791fd 705 {
elmbed 18:affef3a7db2a 706 writeToPhone("Sorry, no other cones detected, please try detecting cones first.\r\n");
elmbed 17:d8b901d791fd 707 break;
elmbed 17:d8b901d791fd 708 }
elmbed 18:affef3a7db2a 709
elmbed 18:affef3a7db2a 710 writeToPhone("Entered freeform\r\n");
elmbed 17:d8b901d791fd 711 mode = FREEFORM;
elmbed 17:d8b901d791fd 712 state_p = START_P;
elmbed 17:d8b901d791fd 713 clearCones();
elmbed 18:affef3a7db2a 714 //find_cones();
elmbed 17:d8b901d791fd 715 break;
elmbed 17:d8b901d791fd 716 case 'p':
elmbed 17:d8b901d791fd 717 if(value == 0)
elmbed 17:d8b901d791fd 718 {
elmbed 18:affef3a7db2a 719 writeToPhone("\r\n");
elmbed 18:affef3a7db2a 720 writeToPhone("Running pattern %d\r\n", active_sequence + 1);
elmbed 18:affef3a7db2a 721
elmbed 17:d8b901d791fd 722 mode = PATTERN;
elmbed 17:d8b901d791fd 723 state_p = START_P;
elmbed 17:d8b901d791fd 724 active_cone = 0;
elmbed 18:affef3a7db2a 725
elmbed 17:d8b901d791fd 726 clearCones();
elmbed 17:d8b901d791fd 727 }
elmbed 17:d8b901d791fd 728 else
elmbed 17:d8b901d791fd 729 {
elmbed 18:affef3a7db2a 730 writeToPhone("Selected pattern %d\r\n", value);
elmbed 18:affef3a7db2a 731
elmbed 17:d8b901d791fd 732 if(value <= SEQUENCES && value > 0)
elmbed 17:d8b901d791fd 733 {
elmbed 17:d8b901d791fd 734 active_sequence = value - 1;
elmbed 17:d8b901d791fd 735 cones = (uint8_t*)cone_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 736 times = (uint16_t*)time_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 737 masks = (uint8_t*)mask_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 738 }
elmbed 17:d8b901d791fd 739 else
elmbed 17:d8b901d791fd 740 {
elmbed 18:affef3a7db2a 741 writeToPhone("This pattern is not available. Please select a value between 1 and %d", SEQUENCES);
elmbed 17:d8b901d791fd 742 }
elmbed 17:d8b901d791fd 743 }
elmbed 17:d8b901d791fd 744 break;
elmbed 17:d8b901d791fd 745 case 's':
elmbed 17:d8b901d791fd 746 station = value;
AntonLS 19:afcbb425b3cf 747 writeToPhone("Selected station %d\r\n", value);
elmbed 17:d8b901d791fd 748 break;
elmbed 17:d8b901d791fd 749 case 'd':
elmbed 18:affef3a7db2a 750 if(value == 0){
elmbed 17:d8b901d791fd 751 logging = false;
elmbed 17:d8b901d791fd 752 m->value = 0;
elmbed 17:d8b901d791fd 753 dist_timeout = micros() + 2000000;
elmbed 17:d8b901d791fd 754 }
elmbed 18:affef3a7db2a 755 if(value == 1){
elmbed 17:d8b901d791fd 756 logging = true;
elmbed 17:d8b901d791fd 757 m->value = 1;
elmbed 17:d8b901d791fd 758 }
elmbed 17:d8b901d791fd 759 m->command = 'd';
elmbed 17:d8b901d791fd 760 m->cone = TRILAT_CONE;
elmbed 17:d8b901d791fd 761 ta.send(m);
elmbed 18:affef3a7db2a 762 //Serial.print("Sent d");
elmbed 18:affef3a7db2a 763 //Serial.println(value);
elmbed 17:d8b901d791fd 764 break;
elmbed 17:d8b901d791fd 765 case 'c':
elmbed 17:d8b901d791fd 766 c = value;
elmbed 18:affef3a7db2a 767 writeToPhone("Station %d will be cone %d\r\n", station, value);
elmbed 18:affef3a7db2a 768 if(station <= STATIONS && station > 0)cones[station-1] = c;
elmbed 17:d8b901d791fd 769 break;
elmbed 17:d8b901d791fd 770 case 't':
elmbed 17:d8b901d791fd 771 t = (uint16_t)value;
elmbed 17:d8b901d791fd 772 remainder = t%1000;
AntonLS 19:afcbb425b3cf 773 writeToPhone("Station %d split time is: %d.%03d seconds.\r\n", station, t/1000, remainder);
AntonLS 19:afcbb425b3cf 774 /// if(remainder < 100)writeToPhone("0");
AntonLS 19:afcbb425b3cf 775 /// if(remainder < 10)writeToPhone("0");
AntonLS 19:afcbb425b3cf 776 /// writeToPhone("%d seconds.\r\n",remainder);
elmbed 18:affef3a7db2a 777 if(station <= STATIONS && station > 0)times[station-1] = t;
elmbed 17:d8b901d791fd 778 break;
elmbed 17:d8b901d791fd 779 case 'l':
elmbed 17:d8b901d791fd 780 l = 0;
elmbed 17:d8b901d791fd 781 l = (uint8_t)value;
elmbed 17:d8b901d791fd 782 masks[station-1] = l;
AntonLS 19:afcbb425b3cf 783 writeToPhone( "Station %d config bits: ", station );
AntonLS 19:afcbb425b3cf 784 writeBitsToPhone( l );
AntonLS 19:afcbb425b3cf 785 writeToPhone( "\r\n" );
elmbed 17:d8b901d791fd 786 break;
elmbed 17:d8b901d791fd 787 case 'q':
elmbed 17:d8b901d791fd 788 state_p = IDLE_P;
elmbed 17:d8b901d791fd 789 new_state = true; // force state reporting, even if we're already in IDLE
elmbed 23:26f27c462976 790 //ta.pulse_off();
elmbed 23:26f27c462976 791 //clearCones();
elmbed 17:d8b901d791fd 792 break;
elmbed 17:d8b901d791fd 793 case 'r':
elmbed 18:affef3a7db2a 794 //Serial.println(F(""));
AntonLS 19:afcbb425b3cf 795 writeToPhone("Current pattern is %d:\r\n", active_sequence+1);
elmbed 18:affef3a7db2a 796 for(int i=0; i<STATIONS; i++){
elmbed 18:affef3a7db2a 797 writeToPhone("Station %d: cone %d, ", i+1, cones[i]);
elmbed 17:d8b901d791fd 798 split = times[i];
AntonLS 19:afcbb425b3cf 799 printMsAsSeconds(split);
elmbed 18:affef3a7db2a 800 //Serial.print(F("s timeout, lights: "));
elmbed 18:affef3a7db2a 801 writeToPhone("s timeout, config bits: ");
elmbed 17:d8b901d791fd 802 l = masks[i];
elmbed 17:d8b901d791fd 803 /*
elmbed 18:affef3a7db2a 804 if(l<0b10000000)
elmbed 18:affef3a7db2a 805 writeToPhone("0");
elmbed 18:affef3a7db2a 806 if(l<0b1000000)
elmbed 18:affef3a7db2a 807 writeToPhone("0");
elmbed 18:affef3a7db2a 808 if(l<0b100000)
elmbed 18:affef3a7db2a 809 writeToPhone("0");
elmbed 18:affef3a7db2a 810 if(l<0b10000)
elmbed 18:affef3a7db2a 811 writeToPhone("0");
elmbed 18:affef3a7db2a 812 if(l<0b1000)
elmbed 18:affef3a7db2a 813 writeToPhone("0");
elmbed 18:affef3a7db2a 814 if(l<0b100)
elmbed 18:affef3a7db2a 815 writeToPhone("0");
elmbed 18:affef3a7db2a 816 if(l<0b10)
elmbed 18:affef3a7db2a 817 writeToPhone("0");
elmbed 18:affef3a7db2a 818 */
AntonLS 19:afcbb425b3cf 819 writeBitsToPhone( l, 3 );
AntonLS 19:afcbb425b3cf 820 writeToPhone( "\r\n" );
elmbed 18:affef3a7db2a 821 //Serial.println(l, BIN);
elmbed 17:d8b901d791fd 822 }
elmbed 17:d8b901d791fd 823 break;
elmbed 17:d8b901d791fd 824 case 'u':
elmbed 17:d8b901d791fd 825 // let any pending messages clear
elmbed 18:affef3a7db2a 826 while(ta.get_buffer_size()){
elmbed 17:d8b901d791fd 827 ta.spin();
elmbed 17:d8b901d791fd 828 }
elmbed 18:affef3a7db2a 829 if(value == 1){
elmbed 18:affef3a7db2a 830 writeToPhone("Course leader!\r\n");
elmbed 17:d8b901d791fd 831 powerupCones(value);
elmbed 17:d8b901d791fd 832 ta.powerup(value);
elmbed 17:d8b901d791fd 833 }
elmbed 18:affef3a7db2a 834 if(value == 2){
elmbed 18:affef3a7db2a 835 writeToPhone("Split leader!\r\n");
elmbed 17:d8b901d791fd 836 powerupCones(value);
elmbed 18:affef3a7db2a 837 //ta.powerup(value);
elmbed 17:d8b901d791fd 838 }
elmbed 18:affef3a7db2a 839 if(value > 10 && value < 5000){
elmbed 17:d8b901d791fd 840 ta.beep(value);
elmbed 17:d8b901d791fd 841 }
elmbed 17:d8b901d791fd 842 break;
elmbed 17:d8b901d791fd 843 case 'w':
elmbed 18:affef3a7db2a 844 if(value > 0 && value <= SEQUENCES){
elmbed 17:d8b901d791fd 845 length = STATIONS;
elmbed 17:d8b901d791fd 846 offset = (value - 1) * STATIONS;
elmbed 18:affef3a7db2a 847 writeToPhone("Saved sequence %d\r\n", value);
elmbed 17:d8b901d791fd 848 }
elmbed 18:affef3a7db2a 849 else{
elmbed 17:d8b901d791fd 850 length = STATIONS * SEQUENCES;
elmbed 17:d8b901d791fd 851 offset = 0;
elmbed 18:affef3a7db2a 852 writeToPhone("Saved all sequences.\r\n");
elmbed 17:d8b901d791fd 853 }
elmbed 18:affef3a7db2a 854 for(i=offset;i<length+offset;i++){
elmbed 18:affef3a7db2a 855 //eeprom_update_byte(addressConeTable + i, cone_table[i]);
elmbed 18:affef3a7db2a 856 //eeprom_update_byte(addressMaskTable + i, mask_table[i]);
elmbed 18:affef3a7db2a 857 //eeprom_update_word(addressTimeTable + i, time_table[i]);
elmbed 17:d8b901d791fd 858 }
elmbed 17:d8b901d791fd 859 break;
elmbed 17:d8b901d791fd 860 case 'x':
elmbed 17:d8b901d791fd 861 resetSensors();
elmbed 18:affef3a7db2a 862 //digitalWrite(A3, LOW);
elmbed 18:affef3a7db2a 863 //delay(100);
elmbed 18:affef3a7db2a 864 //digitalWrite(A3, HIGH);
elmbed 17:d8b901d791fd 865 break;
elmbed 17:d8b901d791fd 866
elmbed 17:d8b901d791fd 867 case 'z':
elmbed 17:d8b901d791fd 868 find_cones();
elmbed 18:affef3a7db2a 869 /*m->value = value;
elmbed 17:d8b901d791fd 870 m->command = 'z';
elmbed 17:d8b901d791fd 871 m->cone = 2;
elmbed 18:affef3a7db2a 872 Serial.println("sending...");
elmbed 17:d8b901d791fd 873 ta.send(m);
elmbed 18:affef3a7db2a 874 Serial.println("sent");*/
elmbed 17:d8b901d791fd 875 break;
elmbed 17:d8b901d791fd 876 }
elmbed 17:d8b901d791fd 877 }
elmbed 23:26f27c462976 878
elmbed 23:26f27c462976 879 static patternState_t stateFromCone(uint8_t cone)
elmbed 17:d8b901d791fd 880 {
elmbed 17:d8b901d791fd 881 if(cone == 0 || index == STATIONS)
elmbed 17:d8b901d791fd 882 return SUCCESS_P;
elmbed 17:d8b901d791fd 883 if(cone == 1)
elmbed 17:d8b901d791fd 884 return ACTIVE_TARGET_P;
elmbed 17:d8b901d791fd 885
elmbed 17:d8b901d791fd 886 return WAITING_P;
elmbed 17:d8b901d791fd 887 }
elmbed 17:d8b901d791fd 888
elmbed 23:26f27c462976 889 static void printSplit(unsigned long timer)
elmbed 17:d8b901d791fd 890 {
elmbed 17:d8b901d791fd 891 if(tag_start)
elmbed 17:d8b901d791fd 892 {
elmbed 17:d8b901d791fd 893 //DEBUG("Sequence started at cone ");
elmbed 17:d8b901d791fd 894 //DEBUG("%d",active_cone);
elmbed 17:d8b901d791fd 895 //DEBUG(" (");
elmbed 17:d8b901d791fd 896 printMsAsSeconds(timer);
elmbed 17:d8b901d791fd 897 //DEBUG(" seconds).\n");
elmbed 17:d8b901d791fd 898 tag_start = false;
elmbed 17:d8b901d791fd 899 }
elmbed 17:d8b901d791fd 900 else
elmbed 17:d8b901d791fd 901 {
elmbed 17:d8b901d791fd 902 //DEBUG("Target cone is: ");
elmbed 17:d8b901d791fd 903 //DEBUG("%d",active_cone);
elmbed 17:d8b901d791fd 904 //DEBUG(", ");
elmbed 17:d8b901d791fd 905 printMsAsSeconds(timer);
elmbed 17:d8b901d791fd 906 //DEBUG(" split");
elmbed 17:d8b901d791fd 907 }
elmbed 17:d8b901d791fd 908 }
elmbed 17:d8b901d791fd 909
elmbed 23:26f27c462976 910 static uint8_t getRandomCone(void)
elmbed 17:d8b901d791fd 911 {
elmbed 17:d8b901d791fd 912 static uint8_t lastCone = 0;
elmbed 17:d8b901d791fd 913 uint8_t cone;
elmbed 17:d8b901d791fd 914
elmbed 17:d8b901d791fd 915 do
elmbed 17:d8b901d791fd 916 {
elmbed 17:d8b901d791fd 917 cone = random(1, NUM_CONES + 1);
elmbed 17:d8b901d791fd 918 }
elmbed 17:d8b901d791fd 919 while(cone == lastCone || active_cones[cone] == false);
elmbed 17:d8b901d791fd 920
elmbed 17:d8b901d791fd 921 //DEBUG("Target cone is ");
elmbed 17:d8b901d791fd 922 //DEBUG("%d\n",cone);
elmbed 17:d8b901d791fd 923 lastCone = cone;
elmbed 17:d8b901d791fd 924 return cone;
elmbed 17:d8b901d791fd 925 }
elmbed 17:d8b901d791fd 926
elmbed 23:26f27c462976 927 static void clearCones(void)
elmbed 17:d8b901d791fd 928 {
elmbed 23:26f27c462976 929 #if 0
elmbed 17:d8b901d791fd 930 uint8_t i;
elmbed 17:d8b901d791fd 931 m->command = 'q';
elmbed 17:d8b901d791fd 932
elmbed 17:d8b901d791fd 933 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 934 {
elmbed 17:d8b901d791fd 935 m->cone = i;
elmbed 17:d8b901d791fd 936 if(active_cones[i])
elmbed 17:d8b901d791fd 937 ta.send(m);
elmbed 17:d8b901d791fd 938 active_cones[i] = false;
elmbed 17:d8b901d791fd 939 //ta.send("q", i);
elmbed 17:d8b901d791fd 940 }
elmbed 17:d8b901d791fd 941
elmbed 17:d8b901d791fd 942 DEBUG("sent clear\r\n");
elmbed 23:26f27c462976 943 #endif
elmbed 17:d8b901d791fd 944 }
elmbed 17:d8b901d791fd 945
elmbed 23:26f27c462976 946 static void powerupCones(uint8_t sound)
elmbed 17:d8b901d791fd 947 {
elmbed 23:26f27c462976 948 #if 1
elmbed 17:d8b901d791fd 949 uint8_t i;
elmbed 17:d8b901d791fd 950 m->command = 'u';
elmbed 17:d8b901d791fd 951 m->value = sound;
elmbed 17:d8b901d791fd 952
elmbed 17:d8b901d791fd 953 if(sound == 2)
elmbed 17:d8b901d791fd 954 {
elmbed 28:8e74ddc4f70f 955 if(active_cone == NODE_ID)
elmbed 17:d8b901d791fd 956 {
elmbed 17:d8b901d791fd 957 ta.powerup(sound);
elmbed 17:d8b901d791fd 958 }
elmbed 17:d8b901d791fd 959 else
elmbed 17:d8b901d791fd 960 {
elmbed 17:d8b901d791fd 961 m->cone = active_cone;
elmbed 17:d8b901d791fd 962 ta.send(m);
elmbed 17:d8b901d791fd 963 }
elmbed 17:d8b901d791fd 964 }
elmbed 17:d8b901d791fd 965 else
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 //ta.send("f", i);
elmbed 17:d8b901d791fd 973 }
elmbed 17:d8b901d791fd 974 }
elmbed 23:26f27c462976 975 #endif
elmbed 17:d8b901d791fd 976 //DEBUG("sent powerup");
elmbed 17:d8b901d791fd 977 }
elmbed 17:d8b901d791fd 978
elmbed 23:26f27c462976 979 static void failCones(void)
elmbed 17:d8b901d791fd 980 {
elmbed 23:26f27c462976 981 #if 0
elmbed 17:d8b901d791fd 982 uint8_t i;
elmbed 17:d8b901d791fd 983 m->command = 'f';
elmbed 17:d8b901d791fd 984
elmbed 17:d8b901d791fd 985 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 986 {
elmbed 17:d8b901d791fd 987 m->cone = i;
elmbed 17:d8b901d791fd 988
elmbed 17:d8b901d791fd 989 if(active_cones[i])
elmbed 17:d8b901d791fd 990 ta.send(m);
elmbed 17:d8b901d791fd 991 //ta.send("f", i);
elmbed 17:d8b901d791fd 992 }
elmbed 17:d8b901d791fd 993
elmbed 17:d8b901d791fd 994 while(ta.get_buffer_size())
elmbed 17:d8b901d791fd 995 {
elmbed 17:d8b901d791fd 996 ta.spin();
elmbed 17:d8b901d791fd 997 }
elmbed 17:d8b901d791fd 998
elmbed 17:d8b901d791fd 999 //DEBUG("sent fail\n");
elmbed 23:26f27c462976 1000 #endif
elmbed 17:d8b901d791fd 1001 }
elmbed 17:d8b901d791fd 1002
elmbed 23:26f27c462976 1003 static void resetSensors(void)
elmbed 17:d8b901d791fd 1004 {
elmbed 23:26f27c462976 1005 #if 0
elmbed 17:d8b901d791fd 1006 uint8_t i;
elmbed 17:d8b901d791fd 1007 m->command = 'x';
elmbed 17:d8b901d791fd 1008
elmbed 17:d8b901d791fd 1009 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1010 {
elmbed 17:d8b901d791fd 1011 m->cone = i;
elmbed 17:d8b901d791fd 1012 if(active_cones[i])
elmbed 17:d8b901d791fd 1013 ta.send(m);
elmbed 17:d8b901d791fd 1014 //ta.send("f", i);
elmbed 17:d8b901d791fd 1015 }
elmbed 17:d8b901d791fd 1016
elmbed 17:d8b901d791fd 1017 DEBUG("sent sensor reset\n");
elmbed 23:26f27c462976 1018 #endif
elmbed 17:d8b901d791fd 1019 }
elmbed 17:d8b901d791fd 1020
elmbed 23:26f27c462976 1021 static void successCones(void)
elmbed 17:d8b901d791fd 1022 {
elmbed 23:26f27c462976 1023 #if 0
elmbed 17:d8b901d791fd 1024 uint8_t i;
elmbed 17:d8b901d791fd 1025 m->command = 's';
elmbed 17:d8b901d791fd 1026
elmbed 17:d8b901d791fd 1027 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1028 {
elmbed 17:d8b901d791fd 1029 m->cone = i;
elmbed 17:d8b901d791fd 1030 if(active_cones[i])
elmbed 17:d8b901d791fd 1031 ta.send(m);
elmbed 17:d8b901d791fd 1032 //ta.send("s", i);
elmbed 17:d8b901d791fd 1033 }
elmbed 17:d8b901d791fd 1034
elmbed 17:d8b901d791fd 1035 while(ta.get_buffer_size())
elmbed 17:d8b901d791fd 1036 {
elmbed 17:d8b901d791fd 1037 ta.spin();
elmbed 17:d8b901d791fd 1038 }
elmbed 17:d8b901d791fd 1039
elmbed 17:d8b901d791fd 1040 //DEBUG("sent success\n");
elmbed 23:26f27c462976 1041 #endif
elmbed 17:d8b901d791fd 1042 }
elmbed 17:d8b901d791fd 1043
elmbed 23:26f27c462976 1044 static void find_cones(void)
elmbed 17:d8b901d791fd 1045 {
elmbed 17:d8b901d791fd 1046 while(ta.get_buffer_size())
elmbed 23:26f27c462976 1047 {
elmbed 17:d8b901d791fd 1048 ta.spin(); // wait for all messages to leave queue
elmbed 28:8e74ddc4f70f 1049 }
elmbed 17:d8b901d791fd 1050
elmbed 23:26f27c462976 1051 ta.beep_off();
elmbed 17:d8b901d791fd 1052 uint8_t i;
elmbed 17:d8b901d791fd 1053 m->command = 'z';
elmbed 28:8e74ddc4f70f 1054
elmbed 17:d8b901d791fd 1055 lonely = true;
elmbed 17:d8b901d791fd 1056
elmbed 23:26f27c462976 1057 writeToPhone("Finding cones\r\n");
elmbed 28:8e74ddc4f70f 1058
elmbed 26:40a0c775ff27 1059 for(i = 2; i < NUM_CONES + 1; ++i)
elmbed 17:d8b901d791fd 1060 {
elmbed 17:d8b901d791fd 1061 active_cones[i] = false;
elmbed 17:d8b901d791fd 1062 m->cone = i;
elmbed 17:d8b901d791fd 1063 ta.send_immediate(m);
elmbed 17:d8b901d791fd 1064
elmbed 17:d8b901d791fd 1065 unsigned long st = millis();
elmbed 23:26f27c462976 1066 unsigned long current = 0;
elmbed 17:d8b901d791fd 1067 unsigned long delta = 0;
elmbed 17:d8b901d791fd 1068
AntonLS 30:c60b0d52b067 1069 /// writeToPhone("start: %d\r\n", st);
elmbed 23:26f27c462976 1070
elmbed 17:d8b901d791fd 1071 while(1)
elmbed 17:d8b901d791fd 1072 {
elmbed 23:26f27c462976 1073 current = millis();
elmbed 23:26f27c462976 1074 delta = current - st;
elmbed 17:d8b901d791fd 1075
elmbed 23:26f27c462976 1076 if(delta > 5000L)
elmbed 23:26f27c462976 1077 {
elmbed 23:26f27c462976 1078 writeToPhone("Find timeout for: %d\r\n", i);
elmbed 17:d8b901d791fd 1079 break;
elmbed 28:8e74ddc4f70f 1080 }
elmbed 17:d8b901d791fd 1081
elmbed 23:26f27c462976 1082 //ta.spin();
elmbed 17:d8b901d791fd 1083
elmbed 17:d8b901d791fd 1084 if(ta.recieve(m_in))
elmbed 17:d8b901d791fd 1085 {
elmbed 17:d8b901d791fd 1086 lonely = false;
elmbed 17:d8b901d791fd 1087 active_cones[m_in->cone] = true;
elmbed 17:d8b901d791fd 1088
elmbed 17:d8b901d791fd 1089 break;
elmbed 17:d8b901d791fd 1090 }
elmbed 17:d8b901d791fd 1091 }
elmbed 17:d8b901d791fd 1092 }
elmbed 17:d8b901d791fd 1093
elmbed 26:40a0c775ff27 1094 writeToPhone("available cones are: (1");
elmbed 17:d8b901d791fd 1095
elmbed 26:40a0c775ff27 1096 for(i = 2; i < NUM_CONES + 1; ++i)
elmbed 17:d8b901d791fd 1097 {
elmbed 17:d8b901d791fd 1098 if(active_cones[i])
elmbed 17:d8b901d791fd 1099 {
elmbed 26:40a0c775ff27 1100 writeToPhone(", %d", i);
elmbed 17:d8b901d791fd 1101 }
elmbed 17:d8b901d791fd 1102 }
elmbed 26:40a0c775ff27 1103
elmbed 26:40a0c775ff27 1104 writeToPhone(")\r\n");
elmbed 17:d8b901d791fd 1105 }
elmbed 17:d8b901d791fd 1106
elmbed 23:26f27c462976 1107 static void printMsAsSeconds(unsigned long number)
elmbed 17:d8b901d791fd 1108 {
elmbed 17:d8b901d791fd 1109 uint16_t remainder;
elmbed 17:d8b901d791fd 1110
elmbed 17:d8b901d791fd 1111 remainder = number%1000;
AntonLS 19:afcbb425b3cf 1112
AntonLS 19:afcbb425b3cf 1113 writeToPhone( "%d.%03d", number/1000, remainder );
elmbed 17:d8b901d791fd 1114 }
elmbed 17:d8b901d791fd 1115
elmbed 23:26f27c462976 1116 static void spinButtons(void)
elmbed 17:d8b901d791fd 1117 {
elmbed 17:d8b901d791fd 1118 static inputState_t last_state = IDLE_I;
elmbed 17:d8b901d791fd 1119 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 1120 static Event event;
elmbed 17:d8b901d791fd 1121 static uint8_t sequence = 0;
elmbed 17:d8b901d791fd 1122 static unsigned long start = 0;
elmbed 17:d8b901d791fd 1123 uint8_t section = 0;
elmbed 17:d8b901d791fd 1124
elmbed 17:d8b901d791fd 1125 //uint8_t buttons;
elmbed 17:d8b901d791fd 1126
elmbed 17:d8b901d791fd 1127 //timer = millis() - start;
elmbed 17:d8b901d791fd 1128 if(millis() > 500)
elmbed 17:d8b901d791fd 1129 event = getInputEvent();
elmbed 17:d8b901d791fd 1130
elmbed 17:d8b901d791fd 1131 if(event.type == Event::press)
elmbed 17:d8b901d791fd 1132 {
elmbed 17:d8b901d791fd 1133 in_menu = true;
elmbed 17:d8b901d791fd 1134 state_i = MENU_I;
elmbed 17:d8b901d791fd 1135 }
elmbed 17:d8b901d791fd 1136
elmbed 17:d8b901d791fd 1137 first_i = false;
elmbed 17:d8b901d791fd 1138
elmbed 17:d8b901d791fd 1139 if(last_state != state_i)
elmbed 17:d8b901d791fd 1140 {
elmbed 17:d8b901d791fd 1141 //if(state_i == IDLE_I)////////////DEBUG.println(F("");
elmbed 17:d8b901d791fd 1142 //if(state_i == RUNNING_I)//////////////DEBUG.println(F("State is WAITING");
elmbed 17:d8b901d791fd 1143 // need to print menu timeout?
elmbed 17:d8b901d791fd 1144 if(state_i == MENU_I)
elmbed 17:d8b901d791fd 1145 ////DEBUG("Menu\n");
elmbed 17:d8b901d791fd 1146 if(state_i == PATTERN_SELECT_I)
elmbed 17:d8b901d791fd 1147 ////DEBUG("Choosing pattern");
elmbed 17:d8b901d791fd 1148 first_i = true;
elmbed 17:d8b901d791fd 1149 }
elmbed 17:d8b901d791fd 1150
elmbed 17:d8b901d791fd 1151 last_state = state_i;
elmbed 17:d8b901d791fd 1152
elmbed 17:d8b901d791fd 1153 if(state_i == RUNNING_I)
elmbed 17:d8b901d791fd 1154 in_menu = false;
elmbed 17:d8b901d791fd 1155
elmbed 17:d8b901d791fd 1156 switch(state_i)
elmbed 17:d8b901d791fd 1157 {
elmbed 17:d8b901d791fd 1158 case IDLE_I:
elmbed 17:d8b901d791fd 1159 // display something distinctive
elmbed 17:d8b901d791fd 1160 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1161 {
elmbed 17:d8b901d791fd 1162 state_i = RUNNING_I;
elmbed 17:d8b901d791fd 1163 //send 'p' or 'f' command as appropriate
elmbed 17:d8b901d791fd 1164 if(mode == FREEFORM)
elmbed 17:d8b901d791fd 1165 interpret('f', 0);
elmbed 17:d8b901d791fd 1166 else
elmbed 17:d8b901d791fd 1167 interpret('p', 0);
elmbed 17:d8b901d791fd 1168 }
elmbed 17:d8b901d791fd 1169 break;
elmbed 17:d8b901d791fd 1170 case RUNNING_I:
elmbed 17:d8b901d791fd 1171 if(event.type == Event::finish)
elmbed 17:d8b901d791fd 1172 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1173 break;
elmbed 17:d8b901d791fd 1174 case MENU_I:
elmbed 17:d8b901d791fd 1175 if(first_i)
elmbed 17:d8b901d791fd 1176 interpret('q', 0);
elmbed 17:d8b901d791fd 1177 // every 3 seconds we cycle through the menu
elmbed 17:d8b901d791fd 1178 // one option per second
elmbed 17:d8b901d791fd 1179 // light changes color and stays on for 500ms
elmbed 17:d8b901d791fd 1180 section = ((millis() - start)%3000)/500;
elmbed 17:d8b901d791fd 1181
elmbed 17:d8b901d791fd 1182 if(section == 0)
elmbed 17:d8b901d791fd 1183 ta.post_color(0xFF);
elmbed 17:d8b901d791fd 1184 if(section == 1)
elmbed 17:d8b901d791fd 1185 ta.post_color(0);
elmbed 17:d8b901d791fd 1186 if(section == 2)
elmbed 17:d8b901d791fd 1187 ta.post_color(0xFF00);
elmbed 17:d8b901d791fd 1188 if(section == 3)
elmbed 17:d8b901d791fd 1189 ta.post_color(0);
elmbed 17:d8b901d791fd 1190 if(section == 4)
elmbed 17:d8b901d791fd 1191 ta.post_color(0xFF0000);
elmbed 17:d8b901d791fd 1192 if(section == 5)
elmbed 17:d8b901d791fd 1193 ta.post_color(0);
elmbed 17:d8b901d791fd 1194 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1195 {
elmbed 17:d8b901d791fd 1196 // set state here based on current light color
elmbed 17:d8b901d791fd 1197 if(section < 2)
elmbed 17:d8b901d791fd 1198 {
elmbed 17:d8b901d791fd 1199 mode = FREEFORM;
elmbed 17:d8b901d791fd 1200 ta.post_color(0xFF);
elmbed 17:d8b901d791fd 1201 ////////DEBUG.println(F("Freeform mode.");
elmbed 17:d8b901d791fd 1202 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1203 break;
elmbed 17:d8b901d791fd 1204 }
elmbed 17:d8b901d791fd 1205
elmbed 17:d8b901d791fd 1206 if(section < 4)
elmbed 17:d8b901d791fd 1207 {
elmbed 17:d8b901d791fd 1208 mode = PATTERN;
elmbed 17:d8b901d791fd 1209 ta.post_color(0xFF00);
elmbed 17:d8b901d791fd 1210 ////////DEBUG.println(F("Pattern mode.");
elmbed 17:d8b901d791fd 1211 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1212 break;
elmbed 17:d8b901d791fd 1213 }
elmbed 17:d8b901d791fd 1214
elmbed 17:d8b901d791fd 1215 if(section < 6)
elmbed 17:d8b901d791fd 1216 {
elmbed 17:d8b901d791fd 1217 state_i = PATTERN_SELECT_I;
elmbed 17:d8b901d791fd 1218 ta.post_color(0xFF0000);
elmbed 17:d8b901d791fd 1219 break;
elmbed 17:d8b901d791fd 1220 }
elmbed 17:d8b901d791fd 1221 }
elmbed 17:d8b901d791fd 1222 break;
elmbed 17:d8b901d791fd 1223 case PATTERN_SELECT_I:
elmbed 17:d8b901d791fd 1224 if(first_i)
elmbed 17:d8b901d791fd 1225 {
elmbed 17:d8b901d791fd 1226 sequence = active_sequence;
elmbed 17:d8b901d791fd 1227 mode = PATTERN;
elmbed 17:d8b901d791fd 1228 //start = millis();
elmbed 17:d8b901d791fd 1229 }
elmbed 17:d8b901d791fd 1230 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1231 {
elmbed 17:d8b901d791fd 1232 ta.beep(50);
elmbed 17:d8b901d791fd 1233 if(event.value == 1 && sequence > 0)
elmbed 17:d8b901d791fd 1234 {
elmbed 17:d8b901d791fd 1235 sequence--;
elmbed 17:d8b901d791fd 1236 }
elmbed 17:d8b901d791fd 1237
elmbed 17:d8b901d791fd 1238 if(event.value == 2 && sequence < SEQUENCES - 1)
elmbed 17:d8b901d791fd 1239 {
elmbed 17:d8b901d791fd 1240 sequence++;
elmbed 17:d8b901d791fd 1241 }
elmbed 17:d8b901d791fd 1242
elmbed 17:d8b901d791fd 1243 if(event.value == 3)
elmbed 17:d8b901d791fd 1244 {
elmbed 17:d8b901d791fd 1245 interpret('p', sequence + 1);
elmbed 17:d8b901d791fd 1246 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1247 }
elmbed 17:d8b901d791fd 1248
elmbed 17:d8b901d791fd 1249 if(event.value != 3)
elmbed 17:d8b901d791fd 1250 {
elmbed 17:d8b901d791fd 1251 ////DEBUG("Menu says: sequence ");
elmbed 17:d8b901d791fd 1252 ////DEBUG("%d\n",sequence + 1);
elmbed 17:d8b901d791fd 1253 }
elmbed 17:d8b901d791fd 1254 break;
elmbed 17:d8b901d791fd 1255 case TEACH_I:
elmbed 17:d8b901d791fd 1256 // not implemented yet
elmbed 17:d8b901d791fd 1257 break;
elmbed 17:d8b901d791fd 1258 default: break;
elmbed 17:d8b901d791fd 1259 }
elmbed 17:d8b901d791fd 1260 }
elmbed 17:d8b901d791fd 1261 }
elmbed 17:d8b901d791fd 1262
elmbed 23:26f27c462976 1263 static uint8_t checkButtons(void)
elmbed 17:d8b901d791fd 1264 {
elmbed 17:d8b901d791fd 1265 static unsigned long last_time = 0;
elmbed 17:d8b901d791fd 1266 //static uint8_t last = 0;
elmbed 17:d8b901d791fd 1267 static uint8_t buttons = 0;
elmbed 17:d8b901d791fd 1268
elmbed 17:d8b901d791fd 1269 // listen for commands from the buttons
elmbed 17:d8b901d791fd 1270 unsigned long time = millis();
elmbed 17:d8b901d791fd 1271 // only check every DEBOUNCE_MS to avoid jitter
elmbed 17:d8b901d791fd 1272 if(time - last_time > DEBOUNCE_MS)
elmbed 17:d8b901d791fd 1273 {
elmbed 17:d8b901d791fd 1274 last_time = time;
elmbed 17:d8b901d791fd 1275 buttons = ta.buttons();
elmbed 17:d8b901d791fd 1276 }
elmbed 17:d8b901d791fd 1277
elmbed 17:d8b901d791fd 1278 return buttons;
elmbed 17:d8b901d791fd 1279 }
elmbed 17:d8b901d791fd 1280
elmbed 23:26f27c462976 1281 static Event getInputEvent(void)
elmbed 17:d8b901d791fd 1282 {
elmbed 17:d8b901d791fd 1283 static uint8_t last_buttons = 0;
elmbed 17:d8b901d791fd 1284 static unsigned long time1 = 0;
elmbed 17:d8b901d791fd 1285 static unsigned long time2 = 0;
elmbed 17:d8b901d791fd 1286 static unsigned long time3 = 0;
elmbed 17:d8b901d791fd 1287 unsigned long duration = 0;
elmbed 17:d8b901d791fd 1288 uint8_t buttons = 0;
elmbed 17:d8b901d791fd 1289 Event event;
elmbed 17:d8b901d791fd 1290 event.type = Event::none;
elmbed 17:d8b901d791fd 1291 event.value = 0;
elmbed 17:d8b901d791fd 1292
elmbed 17:d8b901d791fd 1293 buttons = checkButtons();
elmbed 17:d8b901d791fd 1294 uint8_t rising = buttons & ~last_buttons;
elmbed 17:d8b901d791fd 1295 uint8_t falling = ~buttons & last_buttons;
elmbed 17:d8b901d791fd 1296
elmbed 17:d8b901d791fd 1297 /*if(rising){
elmbed 17:d8b901d791fd 1298 //DEBUG.print("Rising ");
elmbed 17:d8b901d791fd 1299 //DEBUG.println(rising);
elmbed 17:d8b901d791fd 1300 }
elmbed 17:d8b901d791fd 1301 if(falling){
elmbed 17:d8b901d791fd 1302 //DEBUG.print("Falling ");
elmbed 17:d8b901d791fd 1303 //DEBUG.println(falling);
elmbed 17:d8b901d791fd 1304 }*/
elmbed 17:d8b901d791fd 1305 if(rising & 0x01)
elmbed 17:d8b901d791fd 1306 time1 = millis();
elmbed 17:d8b901d791fd 1307 if(rising & 0x02)
elmbed 17:d8b901d791fd 1308 time2 = millis();
elmbed 17:d8b901d791fd 1309 if(rising & 0x04)
elmbed 17:d8b901d791fd 1310 time3 = millis();
elmbed 17:d8b901d791fd 1311
elmbed 17:d8b901d791fd 1312 // simultaneous falling edges will cause lower values to be ignored
elmbed 17:d8b901d791fd 1313 if(falling & 0x01)
elmbed 17:d8b901d791fd 1314 {
elmbed 17:d8b901d791fd 1315 duration = millis() - time1;
elmbed 17:d8b901d791fd 1316 event.value = 1;
elmbed 17:d8b901d791fd 1317 }
elmbed 17:d8b901d791fd 1318
elmbed 17:d8b901d791fd 1319 if(falling & 0x02)
elmbed 17:d8b901d791fd 1320 {
elmbed 17:d8b901d791fd 1321 duration = millis() - time2;
elmbed 17:d8b901d791fd 1322 event.value = 2;
elmbed 17:d8b901d791fd 1323 }
elmbed 17:d8b901d791fd 1324
elmbed 17:d8b901d791fd 1325 if(falling & 0x04)
elmbed 17:d8b901d791fd 1326 {
elmbed 17:d8b901d791fd 1327 duration = millis() - time3;
elmbed 17:d8b901d791fd 1328 event.value = 3;
elmbed 17:d8b901d791fd 1329 }
elmbed 17:d8b901d791fd 1330
elmbed 17:d8b901d791fd 1331 if(duration > 0)
elmbed 17:d8b901d791fd 1332 event.type = Event::tap;
elmbed 17:d8b901d791fd 1333 if(duration > 2000)
elmbed 17:d8b901d791fd 1334 event.type = Event::press;
elmbed 17:d8b901d791fd 1335
elmbed 17:d8b901d791fd 1336 // give feedback that we've waited lng enough for a press
elmbed 17:d8b901d791fd 1337 unsigned long t = millis() - time1;
elmbed 17:d8b901d791fd 1338
elmbed 17:d8b901d791fd 1339 if(2020 > t && t > 2000 && (buttons & 0x01))
elmbed 17:d8b901d791fd 1340 ta.beep(20);
elmbed 17:d8b901d791fd 1341
elmbed 17:d8b901d791fd 1342 t = millis() - time2;
elmbed 17:d8b901d791fd 1343
elmbed 17:d8b901d791fd 1344 if(2020 > t && t > 2000 && (buttons & 0x02))
elmbed 17:d8b901d791fd 1345 ta.beep(20);
elmbed 17:d8b901d791fd 1346
elmbed 17:d8b901d791fd 1347 t = millis() - time3;
elmbed 17:d8b901d791fd 1348
elmbed 17:d8b901d791fd 1349 if(2020 > t && t > 2000 && (buttons & 0x04))
elmbed 17:d8b901d791fd 1350 ta.beep(20);
elmbed 17:d8b901d791fd 1351
elmbed 17:d8b901d791fd 1352 if(event.type != Event::none)
elmbed 17:d8b901d791fd 1353 {
elmbed 17:d8b901d791fd 1354 //DEBUG("Event: ");
elmbed 17:d8b901d791fd 1355 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1356 ////DEBUG("tap, ");
elmbed 17:d8b901d791fd 1357 if(event.type == Event::press)
elmbed 17:d8b901d791fd 1358 ////DEBUG("press, ");
elmbed 17:d8b901d791fd 1359
elmbed 17:d8b901d791fd 1360 uint8_t val = event.value;
elmbed 17:d8b901d791fd 1361 //DEBUG("%d\n",val);
elmbed 17:d8b901d791fd 1362 //////DEBUG.println(duration);
elmbed 17:d8b901d791fd 1363 }
elmbed 17:d8b901d791fd 1364
elmbed 17:d8b901d791fd 1365 last_buttons = buttons;
elmbed 17:d8b901d791fd 1366 return event;
elmbed 17:d8b901d791fd 1367 }
elmbed 18:affef3a7db2a 1368 #endif
elmbed 18:affef3a7db2a 1369
elmbed 18:affef3a7db2a 1370 #endif