Andriy Makukha / Mbed 2 deprecated football_project_wo_output

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Dependencies:   mbed

Fork of football_project by MZJ

proto_code.cpp@61:dd7002ceea96, 2016-01-17 (annotated)

Committer:
elmbed
Date:
Sun Jan 17 07:03:51 2016 +0000
Revision:
61:dd7002ceea96
Parent:
60:d1fad57e8bfb
Child:
62:9b34dc1b265d
Removed some master/slave ifdefs

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
elmbed 17:d8b901d791fd 14 #define TRILAT_CONE 99
elmbed 17:d8b901d791fd 15
elmbed 17:d8b901d791fd 16 #define DEBOUNCE_MS 100
AntonLS 46:28c29ef61276 17 #define LIGHTS TOUCHLIGHTS
AntonLS 46:28c29ef61276 18 #define FAKEOUT 0x08
AntonLS 46:28c29ef61276 19 #define FAIL_QUICK 0x10
AntonLS 46:28c29ef61276 20 #define SILENT 0x20
elmbed 17:d8b901d791fd 21 #define GRACE_PERIOD 3000
elmbed 17:d8b901d791fd 22
elmbed 58:fb2198ceb412 23 #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need //////////////////////DEBUG messages on the console;
elmbed 17:d8b901d791fd 24 * it will have an impact on code-size and power consumption. */
elmbed 17:d8b901d791fd 25
elmbed 17:d8b901d791fd 26 #define LOOPBACK_MODE 0 // Loopback mode
elmbed 17:d8b901d791fd 27
elmbed 17:d8b901d791fd 28 #if NEED_CONSOLE_OUTPUT
elmbed 17:d8b901d791fd 29 #define DEBUG(...) { printf(__VA_ARGS__); }
elmbed 17:d8b901d791fd 30 #else
elmbed 17:d8b901d791fd 31 #define DEBUG(...) /* nothing */
elmbed 17:d8b901d791fd 32 #endif /* #if NEED_CONSOLE_OUTPUT */
elmbed 17:d8b901d791fd 33
elmbed 17:d8b901d791fd 34 extern int random(int numberone, int numbertwo);
elmbed 61:dd7002ceea96 35 extern bool is_master;
elmbed 17:d8b901d791fd 36
elmbed 58:fb2198ceb412 37 extern uint8_t* datastore_get_cones();
elmbed 58:fb2198ceb412 38 extern uint8_t* datastore_get_masks();
elmbed 58:fb2198ceb412 39 extern uint16_t* datastore_get_times();
elmbed 58:fb2198ceb412 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 61:dd7002ceea96 50 static Mode_t mode = PATTERN_M;
elmbed 18:affef3a7db2a 51 static patternState_t state_p = IDLE_P;
elmbed 18:affef3a7db2a 52 static inputState_t state_i = IDLE_I;
elmbed 61:dd7002ceea96 53
elmbed 23:26f27c462976 54 State_t state = IDLE;
elmbed 61:dd7002ceea96 55
elmbed 17:d8b901d791fd 56
elmbed 18:affef3a7db2a 57 static Message m1 = { 'm',0,2 };
elmbed 17:d8b901d791fd 58
elmbed 18:affef3a7db2a 59 static Message *m = &m1;
elmbed 18:affef3a7db2a 60 static Message m2 = { 'm',0,2 };
elmbed 18:affef3a7db2a 61 static Message *m_in = &m2;
elmbed 17:d8b901d791fd 62
elmbed 18:affef3a7db2a 63 static uint8_t active_cone = 0;
elmbed 38:76e49d045a3b 64 static unsigned long timeout = 10000L;
elmbed 18:affef3a7db2a 65 static uint8_t mask = 0x07;
elmbed 18:affef3a7db2a 66 static uint8_t fakeout = 0;
elmbed 18:affef3a7db2a 67 static uint8_t fail_quick = 0;
elmbed 18:affef3a7db2a 68 static uint8_t index = 0;
elmbed 18:affef3a7db2a 69 static bool new_state = false;
elmbed 18:affef3a7db2a 70 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 71
elmbed 17:d8b901d791fd 72 static bool in_menu = false;
elmbed 17:d8b901d791fd 73 static bool warning = false;
elmbed 17:d8b901d791fd 74 static bool penalty = false;
elmbed 17:d8b901d791fd 75 static bool logging = false;
elmbed 17:d8b901d791fd 76
elmbed 17:d8b901d791fd 77 // course setup (probably should make some of these persistant settings)
elmbed 18:affef3a7db2a 78 static uint8_t active_sequence = 0;
elmbed 18:affef3a7db2a 79 static uint8_t station = 1;
elmbed 18:affef3a7db2a 80 static uint8_t cone = 0;
elmbed 18:affef3a7db2a 81 static uint16_t ltime = 0;
elmbed 17:d8b901d791fd 82
elmbed 17:d8b901d791fd 83 volatile bool triggered;
elmbed 17:d8b901d791fd 84 volatile bool pin;
elmbed 17:d8b901d791fd 85 volatile bool ping = false;
elmbed 18:affef3a7db2a 86
elmbed 17:d8b901d791fd 87 static volatile bool captured = false;
elmbed 17:d8b901d791fd 88 static volatile unsigned long ping_timer = 0;
elmbed 17:d8b901d791fd 89 static volatile unsigned long dist_timeout = 0;
elmbed 17:d8b901d791fd 90
elmbed 58:fb2198ceb412 91 // These pointers are allocated in DataStore
elmbed 58:fb2198ceb412 92 static uint8_t *cone_table = NULL;
elmbed 58:fb2198ceb412 93 static uint8_t *mask_table = NULL;
elmbed 58:fb2198ceb412 94 static uint16_t *time_table = NULL;
elmbed 17:d8b901d791fd 95
elmbed 17:d8b901d791fd 96 // pointer to active table
elmbed 61:dd7002ceea96 97 static uint8_t *cones = NULL;
elmbed 61:dd7002ceea96 98 static uint8_t *masks = NULL;
elmbed 61:dd7002ceea96 99 static uint16_t *times = NULL;
elmbed 17:d8b901d791fd 100
elmbed 17:d8b901d791fd 101 static bool lonely = false;
elmbed 17:d8b901d791fd 102
elmbed 17:d8b901d791fd 103 // Function prototypes
elmbed 17:d8b901d791fd 104 void spin();
elmbed 17:d8b901d791fd 105 patternState_t stateFromCone(uint8_t cone);
elmbed 17:d8b901d791fd 106 void printSplit(unsigned long timer);
elmbed 17:d8b901d791fd 107 uint8_t getRandomCone(void);
elmbed 17:d8b901d791fd 108 void clearCones(void);
elmbed 17:d8b901d791fd 109 void powerupCones(uint8_t sound);
elmbed 17:d8b901d791fd 110 void failCones(void);
elmbed 17:d8b901d791fd 111 void resetSensors(void);
elmbed 17:d8b901d791fd 112 void successCones(void);
elmbed 17:d8b901d791fd 113 void find_cones(void);
elmbed 17:d8b901d791fd 114 void printMsAsSeconds(unsigned long number);
elmbed 17:d8b901d791fd 115 void spinButtons(void);
elmbed 17:d8b901d791fd 116 uint8_t checkButtons(void);
elmbed 17:d8b901d791fd 117 Event getInputEvent(void);
elmbed 17:d8b901d791fd 118 void getRadioInput(char *ibuffer, int size);
elmbed 17:d8b901d791fd 119 void interpret(char parameter, int value);
elmbed 61:dd7002ceea96 120
elmbed 23:26f27c462976 121
elmbed 23:26f27c462976 122 extern "C" void writeToPhone(char *format, ...);
elmbed 17:d8b901d791fd 123
AntonLS 39:b1f864b71318 124 static const int active_colour = 0x00FF00; /// 0x00FF;
AntonLS 39:b1f864b71318 125 static const int warn_colour = 0xFFA500; /// 0xF050;
AntonLS 52:060fdec99780 126 static const int fail_colour = 0xFF0000; /// 0x0000FF;
AntonLS 39:b1f864b71318 127 static const int touch_colour = 0x0000FF; /// 0x005050;
AntonLS 39:b1f864b71318 128 static const int success_colour = 0x00FF00; /// 0xFFFF;
AntonLS 39:b1f864b71318 129 static const int pen_colour = 0xFFFF00; /// 0x10FF;
AntonLS 39:b1f864b71318 130 static const int idle_colour = 0xFF0000; /// 0x00;
AntonLS 54:2878d62714d6 131 static const int batt_colour = 0xFFFF00;
elmbed 38:76e49d045a3b 132
elmbed 17:d8b901d791fd 133 char local_input[50] = {0};
elmbed 17:d8b901d791fd 134
elmbed 58:fb2198ceb412 135 void datastore_write_patterns();
elmbed 58:fb2198ceb412 136 void datastore_read_patterns();
elmbed 58:fb2198ceb412 137 void write_test_pattern();
elmbed 17:d8b901d791fd 138
elmbed 23:26f27c462976 139 static void master_setup()
elmbed 17:d8b901d791fd 140 {
elmbed 28:8e74ddc4f70f 141 ta.initialize(NODE_ID);
elmbed 17:d8b901d791fd 142
elmbed 17:d8b901d791fd 143 uint16_t sent = 0;
elmbed 17:d8b901d791fd 144 uint16_t lost = 0;
elmbed 17:d8b901d791fd 145 unsigned long start = micros();
elmbed 58:fb2198ceb412 146
elmbed 17:d8b901d791fd 147 m->command = 'p';
elmbed 17:d8b901d791fd 148 m->value = 0;
elmbed 17:d8b901d791fd 149 m->cone = 0;
elmbed 17:d8b901d791fd 150
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 58:fb2198ceb412 160 cone_table = datastore_get_cones();
elmbed 58:fb2198ceb412 161 mask_table = datastore_get_masks();
elmbed 58:fb2198ceb412 162 time_table = datastore_get_times();
elmbed 18:affef3a7db2a 163
elmbed 18:affef3a7db2a 164 ta.post_color(0xFF0000);
elmbed 40:dec5270e03e9 165
AntonLS 48:4c9551c826e9 166 srand( rndHW() );
elmbed 17:d8b901d791fd 167 }
elmbed 61:dd7002ceea96 168
elmbed 23:26f27c462976 169 static void slave_setup()
elmbed 23:26f27c462976 170 {
elmbed 28:8e74ddc4f70f 171 ta.initialize(NODE_ID);
elmbed 23:26f27c462976 172 }
elmbed 61:dd7002ceea96 173
elmbed 23:26f27c462976 174
elmbed 23:26f27c462976 175 void setup()
elmbed 23:26f27c462976 176 {
elmbed 61:dd7002ceea96 177 if (is_master)
elmbed 61:dd7002ceea96 178 {
elmbed 61:dd7002ceea96 179 master_setup();
elmbed 61:dd7002ceea96 180 }
elmbed 61:dd7002ceea96 181 else
elmbed 61:dd7002ceea96 182 {
elmbed 61:dd7002ceea96 183 slave_setup();
elmbed 61:dd7002ceea96 184 }
elmbed 23:26f27c462976 185 }
elmbed 23:26f27c462976 186
elmbed 23:26f27c462976 187 static void slave_loop()
elmbed 23:26f27c462976 188 {
elmbed 23:26f27c462976 189 static unsigned long start = 0;
elmbed 23:26f27c462976 190 static unsigned long timeout;
elmbed 23:26f27c462976 191 static bool process_next_as_time = false;
elmbed 23:26f27c462976 192 static bool process_next_as_mask = false;
elmbed 23:26f27c462976 193 static unsigned long timer;
elmbed 23:26f27c462976 194 static State_t last_state = IDLE;
elmbed 28:8e74ddc4f70f 195 static int counter = 0;
elmbed 23:26f27c462976 196
AntonLS 46:28c29ef61276 197 ta.spin();
AntonLS 46:28c29ef61276 198
elmbed 23:26f27c462976 199 if(last_state != state)
elmbed 23:26f27c462976 200 {
elmbed 23:26f27c462976 201 if(state == ACTIVE_TARGET)
AntonLS 53:c1c3e65b4542 202 SL_DEBUG("State is ACTIVE_TARGET\r\n");
elmbed 23:26f27c462976 203 if(state == IDLE)
AntonLS 53:c1c3e65b4542 204 SL_DEBUG("State is IDLE\r\n");
elmbed 23:26f27c462976 205 if(state == FAIL)
AntonLS 53:c1c3e65b4542 206 SL_DEBUG("State is FAIL\r\n");
elmbed 23:26f27c462976 207 if(state == SUCCESS)
AntonLS 53:c1c3e65b4542 208 SL_DEBUG("State is SUCCESS\r\n");
elmbed 23:26f27c462976 209 }
elmbed 23:26f27c462976 210 last_state = state;
AntonLS 31:a6110950f385 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 23:26f27c462976 219 message = m_in->command;
elmbed 23:26f27c462976 220 switch(m_in->command)
elmbed 23:26f27c462976 221 {
elmbed 23:26f27c462976 222 case 't':
AntonLS 52:060fdec99780 223 timeout = m_in->value;
elmbed 23:26f27c462976 224 //serial.printf("timeout: ");
elmbed 23:26f27c462976 225 //serial.printf("%d\n",timeout);
elmbed 23:26f27c462976 226 break;
elmbed 23:26f27c462976 227 case 'm':
elmbed 23:26f27c462976 228 //serial.printf("config bits: ");
elmbed 23:26f27c462976 229 mask = m_in->value;
elmbed 23:26f27c462976 230 ta.setMask(mask);// & LIGHTS);
elmbed 23:26f27c462976 231 //serial.printf("%s\n",byte_to_binary(mask));
elmbed 23:26f27c462976 232 fakeout = mask & FAKEOUT;
elmbed 23:26f27c462976 233
elmbed 23:26f27c462976 234 //if(fakeout)
elmbed 23:26f27c462976 235 // serial.printf("fakeout!");
elmbed 23:26f27c462976 236
elmbed 23:26f27c462976 237 fail_quick = mask & FAIL_QUICK;
elmbed 23:26f27c462976 238 break;
elmbed 23:26f27c462976 239 default: break;
elmbed 23:26f27c462976 240 }
elmbed 23:26f27c462976 241 }
elmbed 23:26f27c462976 242
elmbed 23:26f27c462976 243 if(message == 'x')
elmbed 23:26f27c462976 244 {
AntonLS 46:28c29ef61276 245 ta.resetTouch();
elmbed 23:26f27c462976 246 }
elmbed 23:26f27c462976 247
elmbed 23:26f27c462976 248 if(message == 'f')
elmbed 23:26f27c462976 249 { // Fail
elmbed 23:26f27c462976 250 //serial.printf("Fail!\n");
AntonLS 53:c1c3e65b4542 251 SL_DEBUG("FAIL\r\n");
AntonLS 46:28c29ef61276 252 /// ta.post_color(fail_colour);
AntonLS 46:28c29ef61276 253 ta.pulse(25,200,3000,fail_colour);
elmbed 23:26f27c462976 254 state = FAIL;
elmbed 23:26f27c462976 255 }
elmbed 23:26f27c462976 256
elmbed 23:26f27c462976 257 if(message == 's')
elmbed 23:26f27c462976 258 { // Success
elmbed 23:26f27c462976 259 //serial.printf("Success!\n");
AntonLS 52:060fdec99780 260 ta.post_color(success_colour);
elmbed 23:26f27c462976 261 ta.beep(1500);
elmbed 23:26f27c462976 262 state = SUCCESS;
elmbed 23:26f27c462976 263 }
elmbed 23:26f27c462976 264
elmbed 23:26f27c462976 265 if(message == 'g')
elmbed 23:26f27c462976 266 { // This cone is the active target, GO!
elmbed 23:26f27c462976 267 start = millis();
elmbed 23:26f27c462976 268 warning = false;
elmbed 23:26f27c462976 269 penalty = false;
AntonLS 46:28c29ef61276 270 /// ta.post_color(active_colour);
AntonLS 46:28c29ef61276 271 ta.pulse(50,750,~0L,active_colour);
elmbed 23:26f27c462976 272 state = ACTIVE_TARGET;
elmbed 23:26f27c462976 273 //serial.printf("fakeout, fail_quick\n");
elmbed 23:26f27c462976 274 //serial.printf("%d",fakeout);
elmbed 23:26f27c462976 275 //serial.printf(", ");
elmbed 23:26f27c462976 276 //serial.printf("%d\n",fail_quick);
elmbed 23:26f27c462976 277 }
elmbed 23:26f27c462976 278
elmbed 23:26f27c462976 279 if(message == 'q')
elmbed 23:26f27c462976 280 { // Quit
AntonLS 53:c1c3e65b4542 281 SL_DEBUG("Clear!\r\n");
elmbed 23:26f27c462976 282 ta.pulse_off();
AntonLS 52:060fdec99780 283 // ta.mask_color(idle_colour);
elmbed 23:26f27c462976 284 state = IDLE;
elmbed 23:26f27c462976 285 }
elmbed 23:26f27c462976 286
elmbed 23:26f27c462976 287 if(message != 'n')
elmbed 23:26f27c462976 288 {
elmbed 23:26f27c462976 289 //serial.printf("%d",message);
elmbed 23:26f27c462976 290 //serial.printf(", ");
elmbed 23:26f27c462976 291 //serial.printf("%d\n",m_in->value);
elmbed 23:26f27c462976 292 }
elmbed 23:26f27c462976 293
elmbed 23:26f27c462976 294 if(message == 'u')
elmbed 23:26f27c462976 295 { // powerup noise
elmbed 23:26f27c462976 296 ta.powerup(m_in->value);
elmbed 23:26f27c462976 297 }
elmbed 23:26f27c462976 298
elmbed 23:26f27c462976 299 if(message == 'z')
elmbed 23:26f27c462976 300 {
elmbed 23:26f27c462976 301 m->value = m_in->value;
elmbed 23:26f27c462976 302 m->command = 'z';
elmbed 28:8e74ddc4f70f 303 m->cone = 1;
elmbed 23:26f27c462976 304 ta.send(m);
elmbed 23:26f27c462976 305 }
elmbed 23:26f27c462976 306
elmbed 23:26f27c462976 307 timer = millis() - start;
elmbed 23:26f27c462976 308
elmbed 23:26f27c462976 309 switch(state)
elmbed 23:26f27c462976 310 {
elmbed 23:26f27c462976 311 case ACTIVE_TARGET:
elmbed 23:26f27c462976 312 if(ta.activated() || ((timer > timeout) && (fakeout)))
elmbed 23:26f27c462976 313 {
elmbed 23:26f27c462976 314 m->command = 'd';
elmbed 23:26f27c462976 315 m->cone = CONTROL_CONE;
elmbed 23:26f27c462976 316 ta.send(m);
AntonLS 46:28c29ef61276 317 /// ta.post_color(success_colour);
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 {
AntonLS 53:c1c3e65b4542 324 SL_DEBUG("PEN\r\n");
elmbed 23:26f27c462976 325 //serial.printf("Penalty!\n");
elmbed 23:26f27c462976 326 penalty = true;
AntonLS 46:28c29ef61276 327 ta.pulse(350,600,~0L,pen_colour);
AntonLS 46:28c29ef61276 328 /// ta.post_color(pen_colour);
elmbed 23:26f27c462976 329 }
elmbed 23:26f27c462976 330 else if(timer > ((timeout*3)/4) && !warning)
elmbed 23:26f27c462976 331 {
AntonLS 53:c1c3e65b4542 332 SL_DEBUG("WARN\r\n");
elmbed 23:26f27c462976 333 //serial.printf("Warning!\n");
elmbed 23:26f27c462976 334 warning = true;
AntonLS 46:28c29ef61276 335 ta.pulse(350,750,~0L,warn_colour);
AntonLS 46:28c29ef61276 336 /// ta.post_color(warn_colour);
elmbed 23:26f27c462976 337 }
elmbed 23:26f27c462976 338 break;
elmbed 23:26f27c462976 339 case IDLE:
AntonLS 52:060fdec99780 340 bool act = ta.activated();
AntonLS 54:2878d62714d6 341 if( ta.batteryLow && !ta.isPulsing() ) // Temporary feature until batt-low-to-and-in-app.
AntonLS 54:2878d62714d6 342 { // Note: There's no in-a-run slave cone state--Can trigger during a run.
AntonLS 54:2878d62714d6 343 ta.pulse( 75, 500, 1000L, batt_colour );
AntonLS 54:2878d62714d6 344 ta.batteryLow = false;
AntonLS 54:2878d62714d6 345
AntonLS 54:2878d62714d6 346 } else if( !ta.isPulsing() )
AntonLS 54:2878d62714d6 347 ta.post_color(act?touch_colour:idle_colour);
elmbed 23:26f27c462976 348 break;
elmbed 23:26f27c462976 349 default:
elmbed 23:26f27c462976 350 break;
elmbed 23:26f27c462976 351 }
elmbed 23:26f27c462976 352 }
elmbed 23:26f27c462976 353
elmbed 23:26f27c462976 354 static void master_loop()
elmbed 23:26f27c462976 355 {
elmbed 23:26f27c462976 356 static Mode_t last_mode = mode;
elmbed 28:8e74ddc4f70f 357 static int counter = 0;
elmbed 23:26f27c462976 358
elmbed 23:26f27c462976 359 if (last_mode != mode)
elmbed 23:26f27c462976 360 {
elmbed 61:dd7002ceea96 361 if (mode == FREEFORM_M)
AntonLS 52:060fdec99780 362 {
AntonLS 48:4c9551c826e9 363 srnd( rndHW() );
elmbed 38:76e49d045a3b 364 writeToPhone("RR.\r\n");
AntonLS 52:060fdec99780 365 }
elmbed 61:dd7002ceea96 366 if (mode == PATTERN_M)
elmbed 38:76e49d045a3b 367 writeToPhone("SP.\r\n");
elmbed 23:26f27c462976 368 }
elmbed 23:26f27c462976 369
elmbed 23:26f27c462976 370 last_mode = mode;
elmbed 23:26f27c462976 371
elmbed 23:26f27c462976 372 ta.spin();
elmbed 23:26f27c462976 373 //spinButtons();
elmbed 38:76e49d045a3b 374 //if((logging || micros() < dist_timeout) && ta.recieve(m_in))
elmbed 38:76e49d045a3b 375 // writeToPhone("CMD: %c",m_in->command);
elmbed 38:76e49d045a3b 376 // else
elmbed 23:26f27c462976 377 spin();
elmbed 23:26f27c462976 378 }
elmbed 17:d8b901d791fd 379
elmbed 17:d8b901d791fd 380 void loop()
elmbed 17:d8b901d791fd 381 {
elmbed 61:dd7002ceea96 382 if (is_master)
elmbed 61:dd7002ceea96 383 {
elmbed 61:dd7002ceea96 384 master_loop();
elmbed 61:dd7002ceea96 385 }
elmbed 61:dd7002ceea96 386 else
elmbed 61:dd7002ceea96 387 {
elmbed 61:dd7002ceea96 388 slave_loop();
elmbed 61:dd7002ceea96 389 }
elmbed 17:d8b901d791fd 390 }
elmbed 17:d8b901d791fd 391
elmbed 23:26f27c462976 392 static void getNext()
elmbed 17:d8b901d791fd 393 {
elmbed 61:dd7002ceea96 394 if(mode == FREEFORM_M)
elmbed 17:d8b901d791fd 395 {
elmbed 40:dec5270e03e9 396 active_cone = getRandomCone();
AntonLS 52:060fdec99780 397
elmbed 60:d1fad57e8bfb 398 if(Dbg)
elmbed 60:d1fad57e8bfb 399 {
elmbed 60:d1fad57e8bfb 400 writeToPhone("GN_AC: %d\r\n", active_cone);
elmbed 60:d1fad57e8bfb 401 }
elmbed 60:d1fad57e8bfb 402
elmbed 17:d8b901d791fd 403 mask = 0x07;
elmbed 17:d8b901d791fd 404 ta.setMask(mask & LIGHTS);
AntonLS 46:28c29ef61276 405 timeout = ~0;
elmbed 38:76e49d045a3b 406
elmbed 17:d8b901d791fd 407 return;
elmbed 17:d8b901d791fd 408 }
elmbed 17:d8b901d791fd 409
elmbed 17:d8b901d791fd 410 active_cone = cones[index];
elmbed 17:d8b901d791fd 411 mask = masks[index];
elmbed 17:d8b901d791fd 412 fakeout = mask & FAKEOUT;
elmbed 17:d8b901d791fd 413 fail_quick = mask & FAIL_QUICK;
elmbed 17:d8b901d791fd 414 timeout = times[index];
elmbed 17:d8b901d791fd 415 index++;
elmbed 58:fb2198ceb412 416 writeToPhone("%d %x %d\r\n", active_cone, mask, timeout);
elmbed 58:fb2198ceb412 417 writeToPhone("Next cone is %u\r\n", active_cone); // PROTOCOL
elmbed 17:d8b901d791fd 418 }
elmbed 61:dd7002ceea96 419
elmbed 23:26f27c462976 420 static void spin()
elmbed 17:d8b901d791fd 421 {
elmbed 17:d8b901d791fd 422 static patternState_t last_state = START_P;
elmbed 17:d8b901d791fd 423 static uint8_t last_cone = 255;
elmbed 17:d8b901d791fd 424 static unsigned long start;
elmbed 17:d8b901d791fd 425 static unsigned long timer;
elmbed 17:d8b901d791fd 426 static bool first; // first should be true when we first enter a state (even if we just exited the same state)
elmbed 17:d8b901d791fd 427 char command = 'n';
elmbed 17:d8b901d791fd 428 unsigned long value = 0;
elmbed 17:d8b901d791fd 429
elmbed 17:d8b901d791fd 430 m_in->command = 0;
elmbed 17:d8b901d791fd 431 m_in->value = 0;
elmbed 17:d8b901d791fd 432 m_in->cone = 0;
elmbed 17:d8b901d791fd 433
elmbed 17:d8b901d791fd 434 if(ta.recieve(m_in))
elmbed 17:d8b901d791fd 435 {
elmbed 60:d1fad57e8bfb 436 if(Dbg)
elmbed 60:d1fad57e8bfb 437 {
elmbed 60:d1fad57e8bfb 438 writeToPhone("SR: %d '%c'\r\n", m_in->cone, m_in->command);
elmbed 60:d1fad57e8bfb 439 }
elmbed 60:d1fad57e8bfb 440
elmbed 17:d8b901d791fd 441 command = m_in->command;
elmbed 17:d8b901d791fd 442 value = m_in->value;
elmbed 17:d8b901d791fd 443 }
elmbed 17:d8b901d791fd 444
elmbed 17:d8b901d791fd 445 first = false;
elmbed 17:d8b901d791fd 446
elmbed 17:d8b901d791fd 447 if(last_state != state_p || new_state)
elmbed 17:d8b901d791fd 448 {
elmbed 17:d8b901d791fd 449 if(state_p == START_P)
AntonLS 39:b1f864b71318 450 writeToPhone("State is START\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 451 if(state_p == WAITING_P)
AntonLS 39:b1f864b71318 452 writeToPhone("State is WAITING\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 453 if(state_p == ACTIVE_TARGET_P)
AntonLS 39:b1f864b71318 454 writeToPhone("State is ACTIVE_TARGET\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 455 if(state_p == IDLE_P)
AntonLS 39:b1f864b71318 456 writeToPhone("State is IDLE\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 457 if(state_p == FAIL_P)
AntonLS 39:b1f864b71318 458 writeToPhone("State is FAIL\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 459 if(state_p == SUCCESS_P)
AntonLS 39:b1f864b71318 460 writeToPhone("State is SUCCESS\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 461
elmbed 17:d8b901d791fd 462 first = true;
elmbed 17:d8b901d791fd 463 new_state = false;
elmbed 17:d8b901d791fd 464 }
elmbed 17:d8b901d791fd 465
elmbed 17:d8b901d791fd 466 last_state = state_p;
elmbed 17:d8b901d791fd 467 last_cone = active_cone;
elmbed 17:d8b901d791fd 468
elmbed 17:d8b901d791fd 469 timer = millis() - start;
elmbed 17:d8b901d791fd 470
elmbed 17:d8b901d791fd 471 switch(state_p)
elmbed 17:d8b901d791fd 472 {
elmbed 17:d8b901d791fd 473 case IDLE_P:
AntonLS 30:c60b0d52b067 474 ta.setMask( DEFTOUCHMASK );
elmbed 17:d8b901d791fd 475 if(!in_menu)
AntonLS 54:2878d62714d6 476 {
AntonLS 54:2878d62714d6 477 if( ta.batteryLow && !ta.isPulsing() ) // Temporary feature until batt-low-in-app.
AntonLS 54:2878d62714d6 478 {
AntonLS 54:2878d62714d6 479 ta.pulse( 75, 500, 1000L, batt_colour );
AntonLS 54:2878d62714d6 480 ta.batteryLow = false;
AntonLS 54:2878d62714d6 481
AntonLS 54:2878d62714d6 482 } else if( !ta.isPulsing() )
AntonLS 54:2878d62714d6 483 ta.post_color((ta.activated())?touch_colour:idle_colour);
AntonLS 54:2878d62714d6 484 }
elmbed 17:d8b901d791fd 485 break;
elmbed 17:d8b901d791fd 486
elmbed 17:d8b901d791fd 487 case START_P:
elmbed 38:76e49d045a3b 488 clearCones();
elmbed 17:d8b901d791fd 489 tag_start = false;
elmbed 38:76e49d045a3b 490 ta.post_color(idle_colour);
elmbed 17:d8b901d791fd 491 index = 0;
elmbed 17:d8b901d791fd 492 getNext();
elmbed 17:d8b901d791fd 493
elmbed 17:d8b901d791fd 494 if(timeout == 0)
elmbed 17:d8b901d791fd 495 { // timeout of 0 means wait indefinitely for the first cone to be activated, then start the rest of the sequence
elmbed 17:d8b901d791fd 496 timeout = ~0;
elmbed 17:d8b901d791fd 497 tag_start = true;
AntonLS 39:b1f864b71318 498 // DEBUG("Activate cone "); // May use this again in future.
AntonLS 39:b1f864b71318 499 // DEBUG("%d",active_cone);
AntonLS 39:b1f864b71318 500 // DEBUG(" to start.\n");
elmbed 38:76e49d045a3b 501 writeToPhone("ACS: %d\r\n", active_cone);
elmbed 17:d8b901d791fd 502 }
elmbed 17:d8b901d791fd 503
elmbed 17:d8b901d791fd 504 start = millis();
elmbed 17:d8b901d791fd 505 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 506 if(active_cone == 0)
elmbed 17:d8b901d791fd 507 { // in this case stateFromCone returns SUCCESS_P, but really there was no course sequence
elmbed 17:d8b901d791fd 508 DEBUG("\n");
elmbed 17:d8b901d791fd 509 DEBUG("Empty course sequence!\n");
elmbed 38:76e49d045a3b 510 writeToPhone("ECS\r\n");
elmbed 17:d8b901d791fd 511 ta.post_color(0x0000FF);
elmbed 17:d8b901d791fd 512 state_p = IDLE_P;
elmbed 17:d8b901d791fd 513 break;
elmbed 17:d8b901d791fd 514 }
elmbed 17:d8b901d791fd 515 break;
elmbed 17:d8b901d791fd 516
elmbed 17:d8b901d791fd 517 case WAITING_P:
elmbed 17:d8b901d791fd 518 if(first)
elmbed 17:d8b901d791fd 519 {
elmbed 17:d8b901d791fd 520 m->command = 'm';
elmbed 17:d8b901d791fd 521 m->value = mask;
elmbed 17:d8b901d791fd 522 m->cone = active_cone;
elmbed 17:d8b901d791fd 523 ta.send(m);
AntonLS 52:060fdec99780 524
AntonLS 52:060fdec99780 525 wait_ms(50);
AntonLS 52:060fdec99780 526 /// wait_ms(300);
elmbed 17:d8b901d791fd 527 m->command = 't';
elmbed 17:d8b901d791fd 528 m->value = (uint32_t)timeout;
elmbed 17:d8b901d791fd 529 ta.send(m);
AntonLS 52:060fdec99780 530
AntonLS 52:060fdec99780 531 wait_ms(50);
AntonLS 52:060fdec99780 532 /// wait_ms(300);
elmbed 17:d8b901d791fd 533 m->command = 'g';
elmbed 17:d8b901d791fd 534 ta.send(m);
elmbed 17:d8b901d791fd 535
elmbed 60:d1fad57e8bfb 536 if(Dbg)
elmbed 60:d1fad57e8bfb 537 {
elmbed 60:d1fad57e8bfb 538 writeToPhone("ACW: %d\r\n", active_cone);
elmbed 60:d1fad57e8bfb 539 }
elmbed 17:d8b901d791fd 540 }
elmbed 17:d8b901d791fd 541
elmbed 38:76e49d045a3b 542 ta.post_color(( ta.activated())?touch_colour:idle_colour);
elmbed 17:d8b901d791fd 543
elmbed 17:d8b901d791fd 544 DEBUG("Waiting: %d %d %c\n", m_in->cone, active_cone, command);
elmbed 17:d8b901d791fd 545
elmbed 17:d8b901d791fd 546 if((m_in->cone == active_cone && command == 'd' ) || ((timer >= timeout) && fakeout))
elmbed 17:d8b901d791fd 547 {
elmbed 17:d8b901d791fd 548 if((timer >= timeout) && !fakeout)
elmbed 17:d8b901d791fd 549 {
AntonLS 52:060fdec99780 550 writeToPhone("Timesplit penalty! "); // PROTOCOL
elmbed 17:d8b901d791fd 551 }
AntonLS 52:060fdec99780 552 printSplit(timer); // PROTOCOL
elmbed 17:d8b901d791fd 553 getNext();
elmbed 17:d8b901d791fd 554 start = millis();
elmbed 17:d8b901d791fd 555
elmbed 17:d8b901d791fd 556 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 557
elmbed 17:d8b901d791fd 558 if(state_p == WAITING_P)
elmbed 17:d8b901d791fd 559 {
elmbed 60:d1fad57e8bfb 560 if(Dbg)
elmbed 60:d1fad57e8bfb 561 {
elmbed 60:d1fad57e8bfb 562 writeToPhone("NSW\r\n");
elmbed 60:d1fad57e8bfb 563 }
elmbed 60:d1fad57e8bfb 564
elmbed 17:d8b901d791fd 565 new_state = true;
elmbed 60:d1fad57e8bfb 566 }
elmbed 17:d8b901d791fd 567 }
elmbed 61:dd7002ceea96 568 else if(~timeout != 0 && mode == PATTERN_M && timer >= (timeout + ((fail_quick)?0:GRACE_PERIOD)))
elmbed 17:d8b901d791fd 569 {
elmbed 60:d1fad57e8bfb 570 if(Dbg)
elmbed 60:d1fad57e8bfb 571 {
elmbed 60:d1fad57e8bfb 572 writeToPhone("FW\r\n");
elmbed 60:d1fad57e8bfb 573 }
elmbed 17:d8b901d791fd 574 state_p = FAIL_P;
elmbed 17:d8b901d791fd 575 }
elmbed 17:d8b901d791fd 576 break;
elmbed 17:d8b901d791fd 577
elmbed 17:d8b901d791fd 578 case ACTIVE_TARGET_P:
elmbed 17:d8b901d791fd 579 if(first)
elmbed 17:d8b901d791fd 580 {
elmbed 17:d8b901d791fd 581 ta.setMask(mask);
elmbed 17:d8b901d791fd 582
elmbed 17:d8b901d791fd 583 warning = false;
elmbed 17:d8b901d791fd 584 penalty = false;
AntonLS 46:28c29ef61276 585 /// ta.post_color(active_colour);
AntonLS 46:28c29ef61276 586 ta.pulse(50,750,~0L,active_colour);
AntonLS 46:28c29ef61276 587 //if(!(mask & SILENT))ta.pulse(50,750,~0L,active_colour);
elmbed 17:d8b901d791fd 588 }
elmbed 17:d8b901d791fd 589 if(timer >= timeout)
elmbed 17:d8b901d791fd 590 {
elmbed 17:d8b901d791fd 591 if(!penalty)
elmbed 17:d8b901d791fd 592 {
AntonLS 46:28c29ef61276 593 /// ta.post_color(pen_colour);
AntonLS 46:28c29ef61276 594 ta.pulse(50,325,~0L,pen_colour);
elmbed 17:d8b901d791fd 595
elmbed 17:d8b901d791fd 596 penalty = true;
elmbed 17:d8b901d791fd 597 }
elmbed 38:76e49d045a3b 598 ta.post_color(pen_colour);
elmbed 17:d8b901d791fd 599 }
elmbed 17:d8b901d791fd 600 else if(timer > ((timeout*3)/4) && !warning)
elmbed 17:d8b901d791fd 601 {
elmbed 17:d8b901d791fd 602 warning = true;
AntonLS 46:28c29ef61276 603 /// ta.post_color(warn_colour);
AntonLS 46:28c29ef61276 604 ta.pulse(50,750,~0L,warn_colour);
elmbed 17:d8b901d791fd 605 }
elmbed 17:d8b901d791fd 606
elmbed 17:d8b901d791fd 607 if(ta.activated() || ((timer >= timeout) && fakeout))
elmbed 17:d8b901d791fd 608 {
elmbed 17:d8b901d791fd 609 if((timer >= timeout) && !fakeout)
AntonLS 52:060fdec99780 610 writeToPhone("Timesplit penalty! "); // PROTOCOL
AntonLS 52:060fdec99780 611 printSplit(timer); // PROTOCOL
AntonLS 52:060fdec99780 612
elmbed 38:76e49d045a3b 613 ta.post_color(success_colour);
elmbed 17:d8b901d791fd 614 getNext();
elmbed 17:d8b901d791fd 615 start = millis();
elmbed 17:d8b901d791fd 616 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 617
elmbed 17:d8b901d791fd 618 if(state_p == ACTIVE_TARGET_P)
elmbed 17:d8b901d791fd 619 new_state = true;
elmbed 17:d8b901d791fd 620 ta.pulse_off();
elmbed 17:d8b901d791fd 621
elmbed 17:d8b901d791fd 622 }
elmbed 61:dd7002ceea96 623 else if(~timeout != 0 && mode == PATTERN_M && timer >= (timeout + ((fail_quick)?0:GRACE_PERIOD)))
elmbed 17:d8b901d791fd 624 {
elmbed 17:d8b901d791fd 625 state_p = FAIL_P;
elmbed 17:d8b901d791fd 626 ta.pulse_off();
elmbed 17:d8b901d791fd 627 }
elmbed 17:d8b901d791fd 628 //DEBUG.println(timeout + ((fail_quick)?0:GRACE_PERIOD));
elmbed 17:d8b901d791fd 629 //DEBUG.println(timeout);
elmbed 17:d8b901d791fd 630
elmbed 17:d8b901d791fd 631 break;
elmbed 17:d8b901d791fd 632
elmbed 17:d8b901d791fd 633 case FAIL_P:
elmbed 17:d8b901d791fd 634 if(first)
elmbed 17:d8b901d791fd 635 {
elmbed 17:d8b901d791fd 636 start = millis();
elmbed 17:d8b901d791fd 637 DEBUG("\n");
elmbed 17:d8b901d791fd 638 DEBUG("Timeout\n");
elmbed 17:d8b901d791fd 639 //ta.post_color();
AntonLS 46:28c29ef61276 640 ta.pulse(25,200,3000,fail_colour);
AntonLS 46:28c29ef61276 641 /// ta.post_color(fail_colour);
elmbed 17:d8b901d791fd 642
elmbed 17:d8b901d791fd 643 failCones();
elmbed 17:d8b901d791fd 644 //ta.fail();
elmbed 17:d8b901d791fd 645 }
elmbed 17:d8b901d791fd 646 else if(timer > 3000)
elmbed 17:d8b901d791fd 647 {
elmbed 17:d8b901d791fd 648 DEBUG("Clear!\n");
elmbed 17:d8b901d791fd 649 state_p = IDLE_P;
elmbed 17:d8b901d791fd 650 clearCones();
elmbed 17:d8b901d791fd 651 }
elmbed 17:d8b901d791fd 652 break;
elmbed 17:d8b901d791fd 653 case SUCCESS_P:
elmbed 17:d8b901d791fd 654 if(first)
elmbed 17:d8b901d791fd 655 {
elmbed 17:d8b901d791fd 656 start = millis();
elmbed 17:d8b901d791fd 657 DEBUG("\n");
elmbed 17:d8b901d791fd 658 DEBUG("Done!\n");
elmbed 38:76e49d045a3b 659 ta.post_color(success_colour);
elmbed 17:d8b901d791fd 660 ta.beep(1500);
elmbed 17:d8b901d791fd 661 successCones();
elmbed 17:d8b901d791fd 662 //ta.success();
elmbed 17:d8b901d791fd 663 }
elmbed 17:d8b901d791fd 664 else if(timer > 1500)
elmbed 17:d8b901d791fd 665 {
elmbed 17:d8b901d791fd 666 DEBUG("Clear!\n");
elmbed 17:d8b901d791fd 667 state_p = IDLE_P;
elmbed 17:d8b901d791fd 668 clearCones();
elmbed 17:d8b901d791fd 669 }
elmbed 17:d8b901d791fd 670 break;
elmbed 17:d8b901d791fd 671
elmbed 17:d8b901d791fd 672 default:
elmbed 38:76e49d045a3b 673 ta.post_color(idle_colour);
elmbed 17:d8b901d791fd 674 break;
elmbed 17:d8b901d791fd 675 }
elmbed 17:d8b901d791fd 676 }
elmbed 18:affef3a7db2a 677
elmbed 17:d8b901d791fd 678 void getRadioInput(char *ibuffer, int size)
elmbed 17:d8b901d791fd 679 {
elmbed 17:d8b901d791fd 680 static int i = 0;
elmbed 17:d8b901d791fd 681 int buffer_counter = 0;
elmbed 17:d8b901d791fd 682 static char parameter = '_';
elmbed 17:d8b901d791fd 683 static char buffer[MAX_LEN + 1];
elmbed 17:d8b901d791fd 684 int value = 0;
elmbed 17:d8b901d791fd 685 char *endp = NULL;
AntonLS 45:1eb335c00cb2 686
elmbed 17:d8b901d791fd 687 // listen for commands coming over bluetooth
elmbed 17:d8b901d791fd 688 while (buffer_counter < size)
elmbed 17:d8b901d791fd 689 {
elmbed 17:d8b901d791fd 690 char ch = ibuffer[buffer_counter++];
elmbed 17:d8b901d791fd 691
elmbed 17:d8b901d791fd 692 if((ch == '\r' || ch == ';' || ch == '\n') && parameter != '_')
elmbed 17:d8b901d791fd 693 {
elmbed 17:d8b901d791fd 694 if(i > 1)
elmbed 17:d8b901d791fd 695 {
AntonLS 41:dee3fd34e37a 696 buffer[i-1] = 0;
elmbed 17:d8b901d791fd 697 if(parameter == 'l')
elmbed 17:d8b901d791fd 698 value = strtoul(buffer, &endp, 2);
AntonLS 41:dee3fd34e37a 699 else if(parameter == 'B')
AntonLS 41:dee3fd34e37a 700 value = strtoul(buffer, &endp, 16);
AntonLS 41:dee3fd34e37a 701 else
AntonLS 41:dee3fd34e37a 702 value = atoi(buffer);
elmbed 17:d8b901d791fd 703 }
elmbed 18:affef3a7db2a 704
elmbed 17:d8b901d791fd 705 interpret(parameter, value);
elmbed 17:d8b901d791fd 706 DEBUG("After interp: '%c'\r\n", parameter);
elmbed 17:d8b901d791fd 707 parameter = '_';
elmbed 17:d8b901d791fd 708 buffer[0] = 0;
elmbed 17:d8b901d791fd 709 i=0;
elmbed 17:d8b901d791fd 710 }
elmbed 17:d8b901d791fd 711 else
elmbed 17:d8b901d791fd 712 {
elmbed 17:d8b901d791fd 713 if(i==0)
elmbed 17:d8b901d791fd 714 parameter = ch;
elmbed 17:d8b901d791fd 715 else
elmbed 17:d8b901d791fd 716 buffer[i-1] = ch;
elmbed 17:d8b901d791fd 717 i++;
elmbed 17:d8b901d791fd 718 }
elmbed 17:d8b901d791fd 719
elmbed 17:d8b901d791fd 720 if(ch == '_' || ch == '\r' || ch == ';' || ch == '\n')
elmbed 17:d8b901d791fd 721 {
elmbed 17:d8b901d791fd 722 parameter = '_';
elmbed 17:d8b901d791fd 723 buffer[0] = 0;
elmbed 17:d8b901d791fd 724 i=0;
elmbed 17:d8b901d791fd 725 }
elmbed 17:d8b901d791fd 726 }
elmbed 17:d8b901d791fd 727 }
elmbed 17:d8b901d791fd 728
elmbed 23:26f27c462976 729 static void interpret(char parameter, int value)
elmbed 17:d8b901d791fd 730 {
elmbed 18:affef3a7db2a 731 int remainder;
elmbed 18:affef3a7db2a 732 uint16_t split;
elmbed 18:affef3a7db2a 733 uint16_t t;
elmbed 18:affef3a7db2a 734 uint8_t c;
elmbed 18:affef3a7db2a 735 uint8_t l;
elmbed 18:affef3a7db2a 736 int last;
elmbed 18:affef3a7db2a 737 int middle;
elmbed 18:affef3a7db2a 738 uint8_t length;
elmbed 18:affef3a7db2a 739 uint8_t offset;
elmbed 18:affef3a7db2a 740 int i;
elmbed 18:affef3a7db2a 741 uint8_t v;
elmbed 18:affef3a7db2a 742 uint16_t val;
elmbed 17:d8b901d791fd 743
elmbed 58:fb2198ceb412 744 DEBUG("data\r\n");
elmbed 58:fb2198ceb412 745
elmbed 17:d8b901d791fd 746 switch(parameter)
elmbed 17:d8b901d791fd 747 {
elmbed 17:d8b901d791fd 748 case 'f':
elmbed 17:d8b901d791fd 749 if(lonely)
elmbed 17:d8b901d791fd 750 {
elmbed 18:affef3a7db2a 751 writeToPhone("Sorry, no other cones detected, please try detecting cones first.\r\n");
elmbed 17:d8b901d791fd 752 break;
elmbed 17:d8b901d791fd 753 }
elmbed 18:affef3a7db2a 754
elmbed 18:affef3a7db2a 755 writeToPhone("Entered freeform\r\n");
elmbed 61:dd7002ceea96 756 mode = FREEFORM_M;
elmbed 17:d8b901d791fd 757 state_p = START_P;
elmbed 17:d8b901d791fd 758 clearCones();
elmbed 18:affef3a7db2a 759 //find_cones();
elmbed 17:d8b901d791fd 760 break;
elmbed 17:d8b901d791fd 761 case 'p':
elmbed 17:d8b901d791fd 762 if(value == 0)
elmbed 17:d8b901d791fd 763 {
elmbed 18:affef3a7db2a 764 writeToPhone("\r\n");
elmbed 18:affef3a7db2a 765 writeToPhone("Running pattern %d\r\n", active_sequence + 1);
elmbed 18:affef3a7db2a 766
elmbed 61:dd7002ceea96 767 mode = PATTERN_M;
elmbed 17:d8b901d791fd 768 state_p = START_P;
elmbed 17:d8b901d791fd 769 active_cone = 0;
elmbed 18:affef3a7db2a 770
elmbed 17:d8b901d791fd 771 clearCones();
elmbed 17:d8b901d791fd 772 }
elmbed 17:d8b901d791fd 773 else
elmbed 17:d8b901d791fd 774 {
elmbed 18:affef3a7db2a 775 writeToPhone("Selected pattern %d\r\n", value);
elmbed 18:affef3a7db2a 776
elmbed 17:d8b901d791fd 777 if(value <= SEQUENCES && value > 0)
elmbed 17:d8b901d791fd 778 {
elmbed 17:d8b901d791fd 779 active_sequence = value - 1;
elmbed 17:d8b901d791fd 780 cones = (uint8_t*)cone_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 781 times = (uint16_t*)time_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 782 masks = (uint8_t*)mask_table + (value-1)*STATIONS;
elmbed 58:fb2198ceb412 783
elmbed 60:d1fad57e8bfb 784 if (Dbg)
elmbed 58:fb2198ceb412 785 {
elmbed 60:d1fad57e8bfb 786 for (int i = 0; i < STATIONS; ++i)
elmbed 60:d1fad57e8bfb 787 {
elmbed 60:d1fad57e8bfb 788 writeToPhone("PS: %d %x %d\r\n", cones[i], masks[i], times[i]);
elmbed 60:d1fad57e8bfb 789 }
elmbed 58:fb2198ceb412 790 }
elmbed 17:d8b901d791fd 791 }
elmbed 17:d8b901d791fd 792 else
elmbed 17:d8b901d791fd 793 {
AntonLS 41:dee3fd34e37a 794 writeToPhone("This pattern is not available. Please select a value between 1 and %d\r\n", SEQUENCES);
elmbed 17:d8b901d791fd 795 }
elmbed 17:d8b901d791fd 796 }
elmbed 17:d8b901d791fd 797 break;
AntonLS 41:dee3fd34e37a 798 case 'P':
AntonLS 41:dee3fd34e37a 799 if(value != 0)
AntonLS 41:dee3fd34e37a 800 {
AntonLS 41:dee3fd34e37a 801 if(value <= SEQUENCES && value > 0)
AntonLS 41:dee3fd34e37a 802 {
AntonLS 41:dee3fd34e37a 803 active_sequence = value - 1;
AntonLS 41:dee3fd34e37a 804 cones = (uint8_t*)cone_table + (value-1)*STATIONS;
AntonLS 41:dee3fd34e37a 805 times = (uint16_t*)time_table + (value-1)*STATIONS;
AntonLS 41:dee3fd34e37a 806 masks = (uint8_t*)mask_table + (value-1)*STATIONS;
AntonLS 41:dee3fd34e37a 807
AntonLS 41:dee3fd34e37a 808 // Side effect: Also sets current station to 1:
AntonLS 41:dee3fd34e37a 809 station = 1;
AntonLS 41:dee3fd34e37a 810 }
AntonLS 41:dee3fd34e37a 811 else
AntonLS 41:dee3fd34e37a 812 {
AntonLS 41:dee3fd34e37a 813 writeToPhone("Only from 1 to %d\r\n", SEQUENCES);
AntonLS 41:dee3fd34e37a 814 }
AntonLS 41:dee3fd34e37a 815 }
AntonLS 41:dee3fd34e37a 816 else // P; or P0;
AntonLS 41:dee3fd34e37a 817 {
AntonLS 41:dee3fd34e37a 818 writeToPhone("Nothing done\r\n");
AntonLS 41:dee3fd34e37a 819 }
AntonLS 41:dee3fd34e37a 820 break;
elmbed 17:d8b901d791fd 821 case 's':
AntonLS 41:dee3fd34e37a 822 writeToPhone("Selected station %d\r\n", value);
AntonLS 41:dee3fd34e37a 823 case 'S':
elmbed 17:d8b901d791fd 824 station = value;
elmbed 17:d8b901d791fd 825 break;
elmbed 17:d8b901d791fd 826 case 'd':
elmbed 18:affef3a7db2a 827 if(value == 0){
elmbed 17:d8b901d791fd 828 logging = false;
elmbed 17:d8b901d791fd 829 m->value = 0;
elmbed 17:d8b901d791fd 830 dist_timeout = micros() + 2000000;
elmbed 17:d8b901d791fd 831 }
elmbed 18:affef3a7db2a 832 if(value == 1){
elmbed 17:d8b901d791fd 833 logging = true;
elmbed 17:d8b901d791fd 834 m->value = 1;
elmbed 17:d8b901d791fd 835 }
elmbed 17:d8b901d791fd 836 m->command = 'd';
elmbed 17:d8b901d791fd 837 m->cone = TRILAT_CONE;
elmbed 17:d8b901d791fd 838 ta.send(m);
elmbed 18:affef3a7db2a 839 //Serial.print("Sent d");
elmbed 18:affef3a7db2a 840 //Serial.println(value);
elmbed 17:d8b901d791fd 841 break;
elmbed 17:d8b901d791fd 842 case 'c':
AntonLS 41:dee3fd34e37a 843 writeToPhone("Station %d will be cone %d\r\n", station, value);
AntonLS 41:dee3fd34e37a 844 case 'C':
elmbed 17:d8b901d791fd 845 c = value;
elmbed 18:affef3a7db2a 846 if(station <= STATIONS && station > 0)cones[station-1] = c;
elmbed 17:d8b901d791fd 847 break;
elmbed 17:d8b901d791fd 848 case 't':
elmbed 17:d8b901d791fd 849 t = (uint16_t)value;
elmbed 17:d8b901d791fd 850 remainder = t%1000;
AntonLS 19:afcbb425b3cf 851 writeToPhone("Station %d split time is: %d.%03d seconds.\r\n", station, t/1000, remainder);
AntonLS 41:dee3fd34e37a 852 case 'T':
AntonLS 41:dee3fd34e37a 853 t = (uint16_t)value;
AntonLS 41:dee3fd34e37a 854 // remainder = t%1000;
AntonLS 19:afcbb425b3cf 855 /// if(remainder < 100)writeToPhone("0");
AntonLS 19:afcbb425b3cf 856 /// if(remainder < 10)writeToPhone("0");
AntonLS 19:afcbb425b3cf 857 /// writeToPhone("%d seconds.\r\n",remainder);
elmbed 18:affef3a7db2a 858 if(station <= STATIONS && station > 0)times[station-1] = t;
elmbed 17:d8b901d791fd 859 break;
elmbed 17:d8b901d791fd 860 case 'l':
AntonLS 41:dee3fd34e37a 861 // l = 0;
elmbed 17:d8b901d791fd 862 l = (uint8_t)value;
elmbed 17:d8b901d791fd 863 masks[station-1] = l;
AntonLS 19:afcbb425b3cf 864 writeToPhone( "Station %d config bits: ", station );
AntonLS 19:afcbb425b3cf 865 writeBitsToPhone( l );
AntonLS 19:afcbb425b3cf 866 writeToPhone( "\r\n" );
elmbed 17:d8b901d791fd 867 break;
AntonLS 41:dee3fd34e37a 868 case 'B': // After setting bits, echo back station data.
AntonLS 41:dee3fd34e37a 869 l = (uint8_t)value;
AntonLS 41:dee3fd34e37a 870 masks[station-1] = l;
AntonLS 45:1eb335c00cb2 871 writeToPhone( "%c%02u;C%02u;T%05u;B%02x\r\n", (1==station) ? 'P' : 'S',
AntonLS 41:dee3fd34e37a 872 (1==station) ? active_sequence +1 : station,
AntonLS 41:dee3fd34e37a 873 cones[station-1], times[station-1], l );
AntonLS 41:dee3fd34e37a 874 break;
elmbed 17:d8b901d791fd 875 case 'q':
elmbed 17:d8b901d791fd 876 state_p = IDLE_P;
elmbed 17:d8b901d791fd 877 new_state = true; // force state reporting, even if we're already in IDLE
AntonLS 46:28c29ef61276 878 ta.pulse_off(); /// //
AntonLS 46:28c29ef61276 879 clearCones(); /// //
elmbed 17:d8b901d791fd 880 break;
elmbed 17:d8b901d791fd 881 case 'r':
elmbed 18:affef3a7db2a 882 //Serial.println(F(""));
AntonLS 39:b1f864b71318 883 // writeToPhone("Current pattern is %d:\r\n", active_sequence+1);
AntonLS 39:b1f864b71318 884 writeToPhone("Pattern is %d:\r\n", active_sequence+1); // PROTOCOL optimization
elmbed 18:affef3a7db2a 885 for(int i=0; i<STATIONS; i++){
AntonLS 39:b1f864b71318 886 // writeToPhone("Station %d: cone %d, ", i+1, cones[i]);
AntonLS 45:1eb335c00cb2 887 writeToPhone("S%02u,C%02u", i+1, cones[i]); // PROTOCOL optimization
elmbed 17:d8b901d791fd 888 split = times[i];
AntonLS 39:b1f864b71318 889 // printMsAsSeconds(split); // Removed for PROTOCOL optimization
elmbed 18:affef3a7db2a 890 //Serial.print(F("s timeout, lights: "));
AntonLS 39:b1f864b71318 891 // writeToPhone("s timeout, config bits: ");
AntonLS 45:1eb335c00cb2 892 writeToPhone(",T%05u", split); // PROTOCOL optimization
elmbed 17:d8b901d791fd 893 l = masks[i];
elmbed 17:d8b901d791fd 894 /*
elmbed 18:affef3a7db2a 895 if(l<0b10000000)
elmbed 18:affef3a7db2a 896 writeToPhone("0");
elmbed 18:affef3a7db2a 897 if(l<0b1000000)
elmbed 18:affef3a7db2a 898 writeToPhone("0");
elmbed 18:affef3a7db2a 899 if(l<0b100000)
elmbed 18:affef3a7db2a 900 writeToPhone("0");
elmbed 18:affef3a7db2a 901 if(l<0b10000)
elmbed 18:affef3a7db2a 902 writeToPhone("0");
elmbed 18:affef3a7db2a 903 if(l<0b1000)
elmbed 18:affef3a7db2a 904 writeToPhone("0");
elmbed 18:affef3a7db2a 905 if(l<0b100)
elmbed 18:affef3a7db2a 906 writeToPhone("0");
elmbed 18:affef3a7db2a 907 if(l<0b10)
elmbed 18:affef3a7db2a 908 writeToPhone("0");
elmbed 18:affef3a7db2a 909 */
AntonLS 39:b1f864b71318 910 // writeBitsToPhone( l, 3 ); // Removed for PROTOCOL optimization
AntonLS 39:b1f864b71318 911 writeToPhone(",B%02x", l); // PROTOCOL optimization
AntonLS 19:afcbb425b3cf 912 writeToPhone( "\r\n" );
elmbed 18:affef3a7db2a 913 //Serial.println(l, BIN);
elmbed 17:d8b901d791fd 914 }
elmbed 17:d8b901d791fd 915 break;
elmbed 17:d8b901d791fd 916 case 'u':
elmbed 17:d8b901d791fd 917 // let any pending messages clear
elmbed 18:affef3a7db2a 918 while(ta.get_buffer_size()){
elmbed 17:d8b901d791fd 919 ta.spin();
elmbed 17:d8b901d791fd 920 }
elmbed 18:affef3a7db2a 921 if(value == 1){
elmbed 18:affef3a7db2a 922 writeToPhone("Course leader!\r\n");
elmbed 17:d8b901d791fd 923 powerupCones(value);
elmbed 17:d8b901d791fd 924 ta.powerup(value);
elmbed 17:d8b901d791fd 925 }
elmbed 18:affef3a7db2a 926 if(value == 2){
elmbed 18:affef3a7db2a 927 writeToPhone("Split leader!\r\n");
elmbed 17:d8b901d791fd 928 powerupCones(value);
elmbed 18:affef3a7db2a 929 //ta.powerup(value);
elmbed 17:d8b901d791fd 930 }
elmbed 18:affef3a7db2a 931 if(value > 10 && value < 5000){
elmbed 17:d8b901d791fd 932 ta.beep(value);
elmbed 17:d8b901d791fd 933 }
elmbed 17:d8b901d791fd 934 break;
elmbed 17:d8b901d791fd 935 case 'w':
elmbed 58:fb2198ceb412 936 if(value > 0 && value <= SEQUENCES)
elmbed 58:fb2198ceb412 937 {
elmbed 17:d8b901d791fd 938 length = STATIONS;
elmbed 17:d8b901d791fd 939 offset = (value - 1) * STATIONS;
elmbed 18:affef3a7db2a 940 writeToPhone("Saved sequence %d\r\n", value);
elmbed 17:d8b901d791fd 941 }
elmbed 58:fb2198ceb412 942 else
elmbed 58:fb2198ceb412 943 {
elmbed 58:fb2198ceb412 944 datastore_write_patterns();
elmbed 18:affef3a7db2a 945 writeToPhone("Saved all sequences.\r\n");
elmbed 17:d8b901d791fd 946 }
elmbed 17:d8b901d791fd 947 break;
elmbed 17:d8b901d791fd 948 case 'x':
elmbed 17:d8b901d791fd 949 resetSensors();
AntonLS 46:28c29ef61276 950 ta.resetTouch();
elmbed 17:d8b901d791fd 951 break;
elmbed 17:d8b901d791fd 952
elmbed 17:d8b901d791fd 953 case 'z':
elmbed 17:d8b901d791fd 954 find_cones();
elmbed 18:affef3a7db2a 955 /*m->value = value;
elmbed 17:d8b901d791fd 956 m->command = 'z';
elmbed 17:d8b901d791fd 957 m->cone = 2;
elmbed 18:affef3a7db2a 958 Serial.println("sending...");
elmbed 17:d8b901d791fd 959 ta.send(m);
elmbed 18:affef3a7db2a 960 Serial.println("sent");*/
elmbed 17:d8b901d791fd 961 break;
elmbed 17:d8b901d791fd 962 }
elmbed 17:d8b901d791fd 963 }
elmbed 23:26f27c462976 964
elmbed 23:26f27c462976 965 static patternState_t stateFromCone(uint8_t cone)
elmbed 17:d8b901d791fd 966 {
elmbed 17:d8b901d791fd 967 if(cone == 0 || index == STATIONS)
elmbed 17:d8b901d791fd 968 return SUCCESS_P;
elmbed 17:d8b901d791fd 969 if(cone == 1)
elmbed 17:d8b901d791fd 970 return ACTIVE_TARGET_P;
elmbed 17:d8b901d791fd 971
elmbed 17:d8b901d791fd 972 return WAITING_P;
elmbed 17:d8b901d791fd 973 }
elmbed 17:d8b901d791fd 974
elmbed 23:26f27c462976 975 static void printSplit(unsigned long timer)
elmbed 17:d8b901d791fd 976 {
elmbed 17:d8b901d791fd 977 if(tag_start)
elmbed 17:d8b901d791fd 978 {
AntonLS 48:4c9551c826e9 979 writeToPhone( "Sequence started at cone %u (", active_cone ); // PROTOCOL
AntonLS 48:4c9551c826e9 980 printMsAsSeconds(timer); // PROTOCOL
AntonLS 48:4c9551c826e9 981 writeToPhone( " seconds).\r\n" ); // PROTOCOL
elmbed 17:d8b901d791fd 982 tag_start = false;
elmbed 17:d8b901d791fd 983 }
elmbed 17:d8b901d791fd 984 else
elmbed 17:d8b901d791fd 985 {
AntonLS 48:4c9551c826e9 986 writeToPhone( "Target cone is: %u, ", active_cone ); // PROTOCOL
AntonLS 48:4c9551c826e9 987 printMsAsSeconds(timer); // PROTOCOL
AntonLS 48:4c9551c826e9 988 writeToPhone( " split\r\n" ); // PROTOCOL
elmbed 17:d8b901d791fd 989 }
elmbed 17:d8b901d791fd 990 }
elmbed 17:d8b901d791fd 991
elmbed 23:26f27c462976 992 static uint8_t getRandomCone(void)
elmbed 17:d8b901d791fd 993 {
elmbed 40:dec5270e03e9 994 static uint8_t last_cone = 0;
AntonLS 52:060fdec99780 995 static uint8_t ac[NUM_CONES] = {1};
AntonLS 52:060fdec99780 996
elmbed 17:d8b901d791fd 997 uint8_t cone;
AntonLS 48:4c9551c826e9 998
AntonLS 54:2878d62714d6 999 uint8_t avail = 0;
AntonLS 54:2878d62714d6 1000 for( uint8_t i=1; i<=NUM_CONES; i++ )
AntonLS 55:b3cb69d69ce8 1001 {
AntonLS 55:b3cb69d69ce8 1002 if( ((1==i) ? true : active_cones[i]) && (i != last_cone) ) ac[avail++] = i;
AntonLS 55:b3cb69d69ce8 1003 }
AntonLS 48:4c9551c826e9 1004
AntonLS 54:2878d62714d6 1005 cone = ((avail != 0) ? ac[rnd() % avail] : 0);
AntonLS 48:4c9551c826e9 1006
AntonLS 48:4c9551c826e9 1007 writeToPhone( "Target cone is %u\r\n", cone ); // PROTOCOL
elmbed 40:dec5270e03e9 1008
elmbed 40:dec5270e03e9 1009 last_cone = cone;
AntonLS 48:4c9551c826e9 1010
AntonLS 48:4c9551c826e9 1011 return cone;
elmbed 17:d8b901d791fd 1012 }
elmbed 17:d8b901d791fd 1013
elmbed 23:26f27c462976 1014 static void clearCones(void)
elmbed 17:d8b901d791fd 1015 {
elmbed 17:d8b901d791fd 1016 uint8_t i;
elmbed 17:d8b901d791fd 1017 m->command = 'q';
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 if(active_cones[i])
elmbed 17:d8b901d791fd 1023 ta.send(m);
AntonLS 48:4c9551c826e9 1024 /// active_cones[i] = false;
elmbed 17:d8b901d791fd 1025 //ta.send("q", i);
elmbed 17:d8b901d791fd 1026 }
elmbed 17:d8b901d791fd 1027
elmbed 17:d8b901d791fd 1028 DEBUG("sent clear\r\n");
elmbed 17:d8b901d791fd 1029 }
elmbed 17:d8b901d791fd 1030
elmbed 23:26f27c462976 1031 static void powerupCones(uint8_t sound)
elmbed 17:d8b901d791fd 1032 {
elmbed 17:d8b901d791fd 1033 uint8_t i;
elmbed 17:d8b901d791fd 1034 m->command = 'u';
elmbed 17:d8b901d791fd 1035 m->value = sound;
elmbed 17:d8b901d791fd 1036
elmbed 17:d8b901d791fd 1037 if(sound == 2)
elmbed 17:d8b901d791fd 1038 {
elmbed 28:8e74ddc4f70f 1039 if(active_cone == NODE_ID)
elmbed 17:d8b901d791fd 1040 {
elmbed 17:d8b901d791fd 1041 ta.powerup(sound);
elmbed 17:d8b901d791fd 1042 }
elmbed 17:d8b901d791fd 1043 else
elmbed 17:d8b901d791fd 1044 {
elmbed 17:d8b901d791fd 1045 m->cone = active_cone;
elmbed 17:d8b901d791fd 1046 ta.send(m);
elmbed 17:d8b901d791fd 1047 }
elmbed 17:d8b901d791fd 1048 }
elmbed 17:d8b901d791fd 1049 else
elmbed 17:d8b901d791fd 1050 {
elmbed 17:d8b901d791fd 1051 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1052 {
elmbed 17:d8b901d791fd 1053 m->cone = i;
elmbed 17:d8b901d791fd 1054 if(active_cones[i])
elmbed 17:d8b901d791fd 1055 ta.send(m);
elmbed 17:d8b901d791fd 1056 //ta.send("f", i);
elmbed 17:d8b901d791fd 1057 }
elmbed 17:d8b901d791fd 1058 }
elmbed 17:d8b901d791fd 1059 //DEBUG("sent powerup");
elmbed 17:d8b901d791fd 1060 }
elmbed 17:d8b901d791fd 1061
elmbed 23:26f27c462976 1062 static void failCones(void)
elmbed 17:d8b901d791fd 1063 {
elmbed 17:d8b901d791fd 1064 uint8_t i;
elmbed 17:d8b901d791fd 1065 m->command = 'f';
elmbed 17:d8b901d791fd 1066
elmbed 17:d8b901d791fd 1067 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1068 {
elmbed 17:d8b901d791fd 1069 m->cone = i;
elmbed 17:d8b901d791fd 1070
elmbed 17:d8b901d791fd 1071 if(active_cones[i])
elmbed 17:d8b901d791fd 1072 ta.send(m);
elmbed 17:d8b901d791fd 1073 //ta.send("f", i);
elmbed 17:d8b901d791fd 1074 }
elmbed 17:d8b901d791fd 1075
elmbed 17:d8b901d791fd 1076 while(ta.get_buffer_size())
elmbed 17:d8b901d791fd 1077 {
elmbed 17:d8b901d791fd 1078 ta.spin();
elmbed 17:d8b901d791fd 1079 }
elmbed 17:d8b901d791fd 1080
elmbed 17:d8b901d791fd 1081 //DEBUG("sent fail\n");
elmbed 17:d8b901d791fd 1082 }
elmbed 17:d8b901d791fd 1083
elmbed 23:26f27c462976 1084 static void resetSensors(void)
elmbed 17:d8b901d791fd 1085 {
elmbed 17:d8b901d791fd 1086 uint8_t i;
elmbed 17:d8b901d791fd 1087 m->command = 'x';
elmbed 17:d8b901d791fd 1088
elmbed 17:d8b901d791fd 1089 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1090 {
elmbed 17:d8b901d791fd 1091 m->cone = i;
elmbed 17:d8b901d791fd 1092 if(active_cones[i])
elmbed 17:d8b901d791fd 1093 ta.send(m);
elmbed 17:d8b901d791fd 1094 //ta.send("f", i);
elmbed 17:d8b901d791fd 1095 }
elmbed 17:d8b901d791fd 1096
elmbed 17:d8b901d791fd 1097 DEBUG("sent sensor reset\n");
elmbed 17:d8b901d791fd 1098 }
elmbed 17:d8b901d791fd 1099
elmbed 23:26f27c462976 1100 static void successCones(void)
elmbed 17:d8b901d791fd 1101 {
elmbed 17:d8b901d791fd 1102 uint8_t i;
elmbed 17:d8b901d791fd 1103 m->command = 's';
elmbed 17:d8b901d791fd 1104
elmbed 17:d8b901d791fd 1105 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1106 {
elmbed 17:d8b901d791fd 1107 m->cone = i;
elmbed 17:d8b901d791fd 1108 if(active_cones[i])
elmbed 17:d8b901d791fd 1109 ta.send(m);
elmbed 17:d8b901d791fd 1110 //ta.send("s", i);
elmbed 17:d8b901d791fd 1111 }
elmbed 17:d8b901d791fd 1112
elmbed 17:d8b901d791fd 1113 while(ta.get_buffer_size())
elmbed 17:d8b901d791fd 1114 {
elmbed 17:d8b901d791fd 1115 ta.spin();
elmbed 17:d8b901d791fd 1116 }
elmbed 17:d8b901d791fd 1117 }
elmbed 17:d8b901d791fd 1118
elmbed 23:26f27c462976 1119 static void find_cones(void)
elmbed 17:d8b901d791fd 1120 {
elmbed 17:d8b901d791fd 1121 while(ta.get_buffer_size())
elmbed 23:26f27c462976 1122 {
elmbed 17:d8b901d791fd 1123 ta.spin(); // wait for all messages to leave queue
elmbed 28:8e74ddc4f70f 1124 }
elmbed 17:d8b901d791fd 1125
elmbed 23:26f27c462976 1126 ta.beep_off();
elmbed 17:d8b901d791fd 1127 uint8_t i;
elmbed 17:d8b901d791fd 1128 m->command = 'z';
elmbed 28:8e74ddc4f70f 1129
elmbed 17:d8b901d791fd 1130 lonely = true;
elmbed 17:d8b901d791fd 1131
elmbed 60:d1fad57e8bfb 1132 if(Dbg)
elmbed 60:d1fad57e8bfb 1133 {
elmbed 60:d1fad57e8bfb 1134 writeToPhone("FC\r\n");
elmbed 60:d1fad57e8bfb 1135 }
elmbed 29:ae208b014987 1136
elmbed 29:ae208b014987 1137 int retry_count = 0;
AntonLS 32:64e5d7340d82 1138
elmbed 26:40a0c775ff27 1139 for(i = 2; i < NUM_CONES + 1; ++i)
elmbed 17:d8b901d791fd 1140 {
elmbed 29:ae208b014987 1141 retry_count = 0;
elmbed 29:ae208b014987 1142 go_again:
elmbed 17:d8b901d791fd 1143 active_cones[i] = false;
elmbed 17:d8b901d791fd 1144 m->cone = i;
elmbed 17:d8b901d791fd 1145 ta.send_immediate(m);
elmbed 17:d8b901d791fd 1146
elmbed 17:d8b901d791fd 1147 unsigned long st = millis();
elmbed 29:ae208b014987 1148 unsigned long current = 0L;
elmbed 29:ae208b014987 1149 unsigned long delta = 0L;
elmbed 17:d8b901d791fd 1150
elmbed 60:d1fad57e8bfb 1151 if(Dbg)
elmbed 60:d1fad57e8bfb 1152 {
elmbed 60:d1fad57e8bfb 1153 writeToPhone("S: %lu F: %d\r\n", st, i);
elmbed 60:d1fad57e8bfb 1154 }
elmbed 23:26f27c462976 1155
elmbed 17:d8b901d791fd 1156 while(1)
elmbed 17:d8b901d791fd 1157 {
elmbed 23:26f27c462976 1158 current = millis();
elmbed 23:26f27c462976 1159 delta = current - st;
elmbed 17:d8b901d791fd 1160
elmbed 35:c1405da88d3a 1161 if(delta > 300L)
elmbed 23:26f27c462976 1162 {
elmbed 60:d1fad57e8bfb 1163 if(Dbg)
elmbed 60:d1fad57e8bfb 1164 {
elmbed 60:d1fad57e8bfb 1165 writeToPhone("FT: %d %lu\r\n", i, current);
elmbed 60:d1fad57e8bfb 1166 }
elmbed 29:ae208b014987 1167
elmbed 29:ae208b014987 1168 if (++retry_count < 3)
elmbed 29:ae208b014987 1169 {
elmbed 29:ae208b014987 1170 goto go_again;
elmbed 29:ae208b014987 1171 }
elmbed 29:ae208b014987 1172 else
elmbed 29:ae208b014987 1173 {
elmbed 29:ae208b014987 1174 break;
elmbed 29:ae208b014987 1175 }
elmbed 28:8e74ddc4f70f 1176 }
elmbed 17:d8b901d791fd 1177 if(ta.recieve(m_in))
elmbed 17:d8b901d791fd 1178 {
elmbed 17:d8b901d791fd 1179 lonely = false;
elmbed 17:d8b901d791fd 1180 active_cones[m_in->cone] = true;
elmbed 17:d8b901d791fd 1181
elmbed 60:d1fad57e8bfb 1182 if(Dbg)
elmbed 60:d1fad57e8bfb 1183 {
elmbed 60:d1fad57e8bfb 1184 writeToPhone("FS: %d\r\n", m_in->cone);
elmbed 60:d1fad57e8bfb 1185 }
elmbed 17:d8b901d791fd 1186 break;
elmbed 17:d8b901d791fd 1187 }
elmbed 17:d8b901d791fd 1188 }
elmbed 29:ae208b014987 1189
elmbed 29:ae208b014987 1190 wait_us(50);
elmbed 17:d8b901d791fd 1191 }
AntonLS 52:060fdec99780 1192
AntonLS 52:060fdec99780 1193 writeToPhone("Available cones are: (1");
elmbed 17:d8b901d791fd 1194
elmbed 26:40a0c775ff27 1195 for(i = 2; i < NUM_CONES + 1; ++i)
elmbed 17:d8b901d791fd 1196 {
elmbed 17:d8b901d791fd 1197 if(active_cones[i])
elmbed 17:d8b901d791fd 1198 {
elmbed 26:40a0c775ff27 1199 writeToPhone(", %d", i);
elmbed 17:d8b901d791fd 1200 }
elmbed 17:d8b901d791fd 1201 }
elmbed 26:40a0c775ff27 1202
elmbed 26:40a0c775ff27 1203 writeToPhone(")\r\n");
elmbed 17:d8b901d791fd 1204 }
elmbed 17:d8b901d791fd 1205
elmbed 23:26f27c462976 1206 static void printMsAsSeconds(unsigned long number)
elmbed 17:d8b901d791fd 1207 {
elmbed 17:d8b901d791fd 1208 uint16_t remainder;
elmbed 17:d8b901d791fd 1209
elmbed 17:d8b901d791fd 1210 remainder = number%1000;
AntonLS 19:afcbb425b3cf 1211
AntonLS 52:060fdec99780 1212 writeToPhone( "%d.%03d", number/1000, remainder ); /// Needs to stay without CRLF.
elmbed 17:d8b901d791fd 1213 }
elmbed 17:d8b901d791fd 1214
elmbed 23:26f27c462976 1215 static void spinButtons(void)
elmbed 17:d8b901d791fd 1216 {
elmbed 17:d8b901d791fd 1217 static inputState_t last_state = IDLE_I;
elmbed 17:d8b901d791fd 1218 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 1219 static Event event;
elmbed 17:d8b901d791fd 1220 static uint8_t sequence = 0;
elmbed 17:d8b901d791fd 1221 static unsigned long start = 0;
elmbed 17:d8b901d791fd 1222 uint8_t section = 0;
elmbed 17:d8b901d791fd 1223
elmbed 17:d8b901d791fd 1224 //uint8_t buttons;
elmbed 17:d8b901d791fd 1225
elmbed 17:d8b901d791fd 1226 //timer = millis() - start;
elmbed 17:d8b901d791fd 1227 if(millis() > 500)
elmbed 17:d8b901d791fd 1228 event = getInputEvent();
elmbed 17:d8b901d791fd 1229
elmbed 17:d8b901d791fd 1230 if(event.type == Event::press)
elmbed 17:d8b901d791fd 1231 {
elmbed 17:d8b901d791fd 1232 in_menu = true;
elmbed 17:d8b901d791fd 1233 state_i = MENU_I;
elmbed 17:d8b901d791fd 1234 }
elmbed 17:d8b901d791fd 1235
elmbed 17:d8b901d791fd 1236 first_i = false;
elmbed 17:d8b901d791fd 1237
elmbed 17:d8b901d791fd 1238 if(last_state != state_i)
elmbed 17:d8b901d791fd 1239 {
elmbed 17:d8b901d791fd 1240 //if(state_i == IDLE_I)////////////DEBUG.println(F("");
elmbed 17:d8b901d791fd 1241 //if(state_i == RUNNING_I)//////////////DEBUG.println(F("State is WAITING");
elmbed 17:d8b901d791fd 1242 // need to print menu timeout?
elmbed 17:d8b901d791fd 1243 if(state_i == MENU_I)
elmbed 17:d8b901d791fd 1244 ////DEBUG("Menu\n");
elmbed 17:d8b901d791fd 1245 if(state_i == PATTERN_SELECT_I)
elmbed 17:d8b901d791fd 1246 ////DEBUG("Choosing pattern");
elmbed 17:d8b901d791fd 1247 first_i = true;
elmbed 17:d8b901d791fd 1248 }
elmbed 17:d8b901d791fd 1249
elmbed 17:d8b901d791fd 1250 last_state = state_i;
elmbed 17:d8b901d791fd 1251
elmbed 17:d8b901d791fd 1252 if(state_i == RUNNING_I)
elmbed 17:d8b901d791fd 1253 in_menu = false;
elmbed 17:d8b901d791fd 1254
elmbed 17:d8b901d791fd 1255 switch(state_i)
elmbed 17:d8b901d791fd 1256 {
elmbed 17:d8b901d791fd 1257 case IDLE_I:
elmbed 17:d8b901d791fd 1258 // display something distinctive
elmbed 17:d8b901d791fd 1259 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1260 {
elmbed 17:d8b901d791fd 1261 state_i = RUNNING_I;
elmbed 17:d8b901d791fd 1262 //send 'p' or 'f' command as appropriate
elmbed 61:dd7002ceea96 1263 if(mode == FREEFORM_M)
elmbed 17:d8b901d791fd 1264 interpret('f', 0);
elmbed 17:d8b901d791fd 1265 else
elmbed 17:d8b901d791fd 1266 interpret('p', 0);
elmbed 17:d8b901d791fd 1267 }
elmbed 35:c1405da88d3a 1268
elmbed 17:d8b901d791fd 1269 break;
elmbed 17:d8b901d791fd 1270 case RUNNING_I:
elmbed 17:d8b901d791fd 1271 if(event.type == Event::finish)
elmbed 17:d8b901d791fd 1272 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1273 break;
elmbed 17:d8b901d791fd 1274 case MENU_I:
elmbed 17:d8b901d791fd 1275 if(first_i)
elmbed 17:d8b901d791fd 1276 interpret('q', 0);
elmbed 17:d8b901d791fd 1277 // every 3 seconds we cycle through the menu
elmbed 17:d8b901d791fd 1278 // one option per second
elmbed 17:d8b901d791fd 1279 // light changes color and stays on for 500ms
elmbed 17:d8b901d791fd 1280 section = ((millis() - start)%3000)/500;
elmbed 17:d8b901d791fd 1281
elmbed 17:d8b901d791fd 1282 if(section == 0)
elmbed 17:d8b901d791fd 1283 ta.post_color(0xFF);
elmbed 17:d8b901d791fd 1284 if(section == 1)
elmbed 17:d8b901d791fd 1285 ta.post_color(0);
elmbed 17:d8b901d791fd 1286 if(section == 2)
elmbed 17:d8b901d791fd 1287 ta.post_color(0xFF00);
elmbed 17:d8b901d791fd 1288 if(section == 3)
elmbed 17:d8b901d791fd 1289 ta.post_color(0);
elmbed 17:d8b901d791fd 1290 if(section == 4)
elmbed 17:d8b901d791fd 1291 ta.post_color(0xFF0000);
elmbed 17:d8b901d791fd 1292 if(section == 5)
elmbed 17:d8b901d791fd 1293 ta.post_color(0);
elmbed 17:d8b901d791fd 1294 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1295 {
elmbed 17:d8b901d791fd 1296 // set state here based on current light color
elmbed 17:d8b901d791fd 1297 if(section < 2)
elmbed 17:d8b901d791fd 1298 {
elmbed 61:dd7002ceea96 1299 mode = FREEFORM_M;
elmbed 17:d8b901d791fd 1300 ta.post_color(0xFF);
elmbed 17:d8b901d791fd 1301 ////////DEBUG.println(F("Freeform mode.");
elmbed 17:d8b901d791fd 1302 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1303 break;
elmbed 17:d8b901d791fd 1304 }
elmbed 17:d8b901d791fd 1305
elmbed 17:d8b901d791fd 1306 if(section < 4)
elmbed 17:d8b901d791fd 1307 {
elmbed 61:dd7002ceea96 1308 mode = PATTERN_M;
elmbed 17:d8b901d791fd 1309 ta.post_color(0xFF00);
elmbed 17:d8b901d791fd 1310 ////////DEBUG.println(F("Pattern mode.");
elmbed 17:d8b901d791fd 1311 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1312 break;
elmbed 17:d8b901d791fd 1313 }
elmbed 17:d8b901d791fd 1314
elmbed 17:d8b901d791fd 1315 if(section < 6)
elmbed 17:d8b901d791fd 1316 {
elmbed 17:d8b901d791fd 1317 state_i = PATTERN_SELECT_I;
elmbed 17:d8b901d791fd 1318 ta.post_color(0xFF0000);
elmbed 17:d8b901d791fd 1319 break;
elmbed 17:d8b901d791fd 1320 }
elmbed 17:d8b901d791fd 1321 }
elmbed 17:d8b901d791fd 1322 break;
elmbed 17:d8b901d791fd 1323 case PATTERN_SELECT_I:
elmbed 17:d8b901d791fd 1324 if(first_i)
elmbed 17:d8b901d791fd 1325 {
elmbed 17:d8b901d791fd 1326 sequence = active_sequence;
elmbed 61:dd7002ceea96 1327 mode = PATTERN_M;
elmbed 17:d8b901d791fd 1328 //start = millis();
elmbed 17:d8b901d791fd 1329 }
elmbed 17:d8b901d791fd 1330 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1331 {
elmbed 17:d8b901d791fd 1332 ta.beep(50);
elmbed 17:d8b901d791fd 1333 if(event.value == 1 && sequence > 0)
elmbed 17:d8b901d791fd 1334 {
elmbed 17:d8b901d791fd 1335 sequence--;
elmbed 17:d8b901d791fd 1336 }
elmbed 17:d8b901d791fd 1337
elmbed 17:d8b901d791fd 1338 if(event.value == 2 && sequence < SEQUENCES - 1)
elmbed 17:d8b901d791fd 1339 {
elmbed 17:d8b901d791fd 1340 sequence++;
elmbed 17:d8b901d791fd 1341 }
elmbed 17:d8b901d791fd 1342
elmbed 17:d8b901d791fd 1343 if(event.value == 3)
elmbed 17:d8b901d791fd 1344 {
elmbed 17:d8b901d791fd 1345 interpret('p', sequence + 1);
elmbed 17:d8b901d791fd 1346 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1347 }
elmbed 17:d8b901d791fd 1348
elmbed 17:d8b901d791fd 1349 if(event.value != 3)
elmbed 17:d8b901d791fd 1350 {
elmbed 17:d8b901d791fd 1351 ////DEBUG("Menu says: sequence ");
elmbed 17:d8b901d791fd 1352 ////DEBUG("%d\n",sequence + 1);
elmbed 17:d8b901d791fd 1353 }
elmbed 17:d8b901d791fd 1354 break;
elmbed 17:d8b901d791fd 1355 case TEACH_I:
elmbed 17:d8b901d791fd 1356 // not implemented yet
elmbed 17:d8b901d791fd 1357 break;
elmbed 17:d8b901d791fd 1358 default: break;
elmbed 17:d8b901d791fd 1359 }
elmbed 17:d8b901d791fd 1360 }
elmbed 17:d8b901d791fd 1361 }
elmbed 17:d8b901d791fd 1362
elmbed 23:26f27c462976 1363 static uint8_t checkButtons(void)
elmbed 17:d8b901d791fd 1364 {
elmbed 17:d8b901d791fd 1365 static unsigned long last_time = 0;
elmbed 17:d8b901d791fd 1366 //static uint8_t last = 0;
elmbed 17:d8b901d791fd 1367 static uint8_t buttons = 0;
elmbed 17:d8b901d791fd 1368
elmbed 17:d8b901d791fd 1369 // listen for commands from the buttons
elmbed 17:d8b901d791fd 1370 unsigned long time = millis();
elmbed 17:d8b901d791fd 1371 // only check every DEBOUNCE_MS to avoid jitter
elmbed 17:d8b901d791fd 1372 if(time - last_time > DEBOUNCE_MS)
elmbed 17:d8b901d791fd 1373 {
elmbed 17:d8b901d791fd 1374 last_time = time;
AntonLS 49:626e84ce5e52 1375 buttons = ta.buttons();
elmbed 17:d8b901d791fd 1376 }
elmbed 17:d8b901d791fd 1377
elmbed 17:d8b901d791fd 1378 return buttons;
elmbed 17:d8b901d791fd 1379 }
elmbed 17:d8b901d791fd 1380
elmbed 23:26f27c462976 1381 static Event getInputEvent(void)
elmbed 17:d8b901d791fd 1382 {
elmbed 17:d8b901d791fd 1383 static uint8_t last_buttons = 0;
elmbed 17:d8b901d791fd 1384 static unsigned long time1 = 0;
elmbed 17:d8b901d791fd 1385 static unsigned long time2 = 0;
elmbed 17:d8b901d791fd 1386 static unsigned long time3 = 0;
elmbed 17:d8b901d791fd 1387 unsigned long duration = 0;
elmbed 17:d8b901d791fd 1388 uint8_t buttons = 0;
elmbed 17:d8b901d791fd 1389 Event event;
elmbed 17:d8b901d791fd 1390 event.type = Event::none;
elmbed 17:d8b901d791fd 1391 event.value = 0;
elmbed 17:d8b901d791fd 1392
elmbed 17:d8b901d791fd 1393 buttons = checkButtons();
elmbed 17:d8b901d791fd 1394 uint8_t rising = buttons & ~last_buttons;
elmbed 17:d8b901d791fd 1395 uint8_t falling = ~buttons & last_buttons;
elmbed 17:d8b901d791fd 1396
elmbed 17:d8b901d791fd 1397 /*if(rising){
elmbed 17:d8b901d791fd 1398 //DEBUG.print("Rising ");
elmbed 17:d8b901d791fd 1399 //DEBUG.println(rising);
elmbed 17:d8b901d791fd 1400 }
elmbed 17:d8b901d791fd 1401 if(falling){
elmbed 17:d8b901d791fd 1402 //DEBUG.print("Falling ");
elmbed 17:d8b901d791fd 1403 //DEBUG.println(falling);
elmbed 17:d8b901d791fd 1404 }*/
elmbed 17:d8b901d791fd 1405 if(rising & 0x01)
elmbed 17:d8b901d791fd 1406 time1 = millis();
elmbed 17:d8b901d791fd 1407 if(rising & 0x02)
elmbed 17:d8b901d791fd 1408 time2 = millis();
elmbed 17:d8b901d791fd 1409 if(rising & 0x04)
elmbed 17:d8b901d791fd 1410 time3 = millis();
elmbed 17:d8b901d791fd 1411
elmbed 17:d8b901d791fd 1412 // simultaneous falling edges will cause lower values to be ignored
elmbed 17:d8b901d791fd 1413 if(falling & 0x01)
elmbed 17:d8b901d791fd 1414 {
elmbed 17:d8b901d791fd 1415 duration = millis() - time1;
elmbed 17:d8b901d791fd 1416 event.value = 1;
elmbed 17:d8b901d791fd 1417 }
elmbed 17:d8b901d791fd 1418
elmbed 17:d8b901d791fd 1419 if(falling & 0x02)
elmbed 17:d8b901d791fd 1420 {
elmbed 17:d8b901d791fd 1421 duration = millis() - time2;
elmbed 17:d8b901d791fd 1422 event.value = 2;
elmbed 17:d8b901d791fd 1423 }
elmbed 17:d8b901d791fd 1424
elmbed 17:d8b901d791fd 1425 if(falling & 0x04)
elmbed 17:d8b901d791fd 1426 {
elmbed 17:d8b901d791fd 1427 duration = millis() - time3;
elmbed 17:d8b901d791fd 1428 event.value = 3;
elmbed 17:d8b901d791fd 1429 }
elmbed 17:d8b901d791fd 1430
elmbed 17:d8b901d791fd 1431 if(duration > 0)
elmbed 17:d8b901d791fd 1432 event.type = Event::tap;
elmbed 17:d8b901d791fd 1433 if(duration > 2000)
elmbed 17:d8b901d791fd 1434 event.type = Event::press;
elmbed 17:d8b901d791fd 1435
elmbed 17:d8b901d791fd 1436 // give feedback that we've waited lng enough for a press
elmbed 17:d8b901d791fd 1437 unsigned long t = millis() - time1;
elmbed 17:d8b901d791fd 1438
elmbed 17:d8b901d791fd 1439 if(2020 > t && t > 2000 && (buttons & 0x01))
elmbed 17:d8b901d791fd 1440 ta.beep(20);
elmbed 17:d8b901d791fd 1441
elmbed 17:d8b901d791fd 1442 t = millis() - time2;
elmbed 17:d8b901d791fd 1443
elmbed 17:d8b901d791fd 1444 if(2020 > t && t > 2000 && (buttons & 0x02))
elmbed 17:d8b901d791fd 1445 ta.beep(20);
elmbed 17:d8b901d791fd 1446
elmbed 17:d8b901d791fd 1447 t = millis() - time3;
elmbed 17:d8b901d791fd 1448
elmbed 17:d8b901d791fd 1449 if(2020 > t && t > 2000 && (buttons & 0x04))
elmbed 17:d8b901d791fd 1450 ta.beep(20);
elmbed 17:d8b901d791fd 1451
elmbed 17:d8b901d791fd 1452 if(event.type != Event::none)
elmbed 17:d8b901d791fd 1453 {
elmbed 17:d8b901d791fd 1454 //DEBUG("Event: ");
elmbed 17:d8b901d791fd 1455 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1456 ////DEBUG("tap, ");
elmbed 17:d8b901d791fd 1457 if(event.type == Event::press)
elmbed 17:d8b901d791fd 1458 ////DEBUG("press, ");
elmbed 17:d8b901d791fd 1459
elmbed 17:d8b901d791fd 1460 uint8_t val = event.value;
elmbed 17:d8b901d791fd 1461 //DEBUG("%d\n",val);
elmbed 17:d8b901d791fd 1462 //////DEBUG.println(duration);
elmbed 17:d8b901d791fd 1463 }
elmbed 17:d8b901d791fd 1464
elmbed 17:d8b901d791fd 1465 last_buttons = buttons;
elmbed 17:d8b901d791fd 1466 return event;
elmbed 17:d8b901d791fd 1467 }