Andriy Makukha / Mbed 2 deprecated football_project_wo_output

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Dependencies:   mbed

Fork of football_project by MZJ

proto_code.cpp@41:dee3fd34e37a, 2016-01-09 (annotated)

Committer:
AntonLS
Date:
Sat Jan 09 12:04:00 2016 +0000
Revision:
41:dee3fd34e37a
Parent:
39:b1f864b71318
Child:
42:ed38b8671e43
Station-setting protocol optimizations.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elmbed 17:d8b901d791fd 1 #include <TA.h>
elmbed 17:d8b901d791fd 2 #include <types.h>
elmbed 17:d8b901d791fd 3
elmbed 17:d8b901d791fd 4 #define RED p3
elmbed 17:d8b901d791fd 5 #define GREEN p5
elmbed 17:d8b901d791fd 6 #define BLUE p6
elmbed 17:d8b901d791fd 7
elmbed 17:d8b901d791fd 8 #define ENABLE_1 p4
elmbed 17:d8b901d791fd 9 #define ENABLE_2 p7
elmbed 17:d8b901d791fd 10 #define ENABLE_3 p8
elmbed 17:d8b901d791fd 11
elmbed 17:d8b901d791fd 12 #define DEBUG_BAUD 57600 //57600
elmbed 17:d8b901d791fd 13 #define MAX_LEN 24 // buffer input commands up to this length
elmbed 26:40a0c775ff27 14 #define NUM_CONES 3
elmbed 17:d8b901d791fd 15 #define STATIONS 20 // max length of a pattern
elmbed 17:d8b901d791fd 16 #define SEQUENCES 9 // number of patterns to store
elmbed 17:d8b901d791fd 17
elmbed 17:d8b901d791fd 18 #define TRILAT_CONE 99
elmbed 17:d8b901d791fd 19
elmbed 17:d8b901d791fd 20 #define DEBOUNCE_MS 100
AntonLS 30:c60b0d52b067 21 #define LIGHTS TOUCHLIGHTS
elmbed 17:d8b901d791fd 22 #define FAKEOUT 0x08
elmbed 17:d8b901d791fd 23 #define FAIL_QUICK 0x10
elmbed 17:d8b901d791fd 24 #define SILENT 0x20
elmbed 17:d8b901d791fd 25 #define GRACE_PERIOD 3000
elmbed 17:d8b901d791fd 26
elmbed 17:d8b901d791fd 27 #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need //////////////////////DEBUG messages on the console;
elmbed 17:d8b901d791fd 28 * it will have an impact on code-size and power consumption. */
elmbed 17:d8b901d791fd 29
elmbed 17:d8b901d791fd 30 #define LOOPBACK_MODE 0 // Loopback mode
elmbed 17:d8b901d791fd 31
elmbed 17:d8b901d791fd 32 #if NEED_CONSOLE_OUTPUT
elmbed 17:d8b901d791fd 33 #define DEBUG(...) { printf(__VA_ARGS__); }
elmbed 17:d8b901d791fd 34 #else
elmbed 17:d8b901d791fd 35 #define DEBUG(...) /* nothing */
elmbed 17:d8b901d791fd 36 #endif /* #if NEED_CONSOLE_OUTPUT */
elmbed 17:d8b901d791fd 37
elmbed 18:affef3a7db2a 38 #if 1
elmbed 17:d8b901d791fd 39 extern int random(int numberone, int numbertwo);
elmbed 17:d8b901d791fd 40
elmbed 17:d8b901d791fd 41 unsigned long millis();
elmbed 17:d8b901d791fd 42 unsigned long micros();
elmbed 17:d8b901d791fd 43
elmbed 17:d8b901d791fd 44 TA ta;
elmbed 17:d8b901d791fd 45
elmbed 18:affef3a7db2a 46 static bool active_cones[NUM_CONES + 1]; // + 1 so we can be 1 based like the cone numbers are
elmbed 17:d8b901d791fd 47
elmbed 28:8e74ddc4f70f 48 const static int CONTROL_CONE = 1;
elmbed 28:8e74ddc4f70f 49
elmbed 23:26f27c462976 50 #ifdef MASTER
elmbed 18:affef3a7db2a 51 static Mode_t mode = PATTERN;
elmbed 18:affef3a7db2a 52 static patternState_t state_p = IDLE_P;
elmbed 18:affef3a7db2a 53 static inputState_t state_i = IDLE_I;
elmbed 23:26f27c462976 54 #else
elmbed 23:26f27c462976 55 State_t state = IDLE;
elmbed 23:26f27c462976 56 #endif
elmbed 17:d8b901d791fd 57
elmbed 18:affef3a7db2a 58 static Message m1 = { 'm',0,2 };
elmbed 17:d8b901d791fd 59
elmbed 18:affef3a7db2a 60 static Message *m = &m1;
elmbed 18:affef3a7db2a 61 static Message m2 = { 'm',0,2 };
elmbed 18:affef3a7db2a 62 static Message *m_in = &m2;
elmbed 17:d8b901d791fd 63
elmbed 18:affef3a7db2a 64 static uint8_t active_cone = 0;
elmbed 38:76e49d045a3b 65 static unsigned long timeout = 10000L;
elmbed 18:affef3a7db2a 66 static uint8_t mask = 0x07;
elmbed 18:affef3a7db2a 67 static uint8_t fakeout = 0;
elmbed 18:affef3a7db2a 68 static uint8_t fail_quick = 0;
elmbed 18:affef3a7db2a 69 static uint8_t index = 0;
elmbed 18:affef3a7db2a 70 static bool new_state = false;
elmbed 18:affef3a7db2a 71 static bool tag_start = false; // flag to indicate we should wait for the user to activate the first station before going through the sequence
elmbed 18:affef3a7db2a 72
elmbed 17:d8b901d791fd 73 static bool in_menu = false;
elmbed 17:d8b901d791fd 74 static bool warning = false;
elmbed 17:d8b901d791fd 75 static bool penalty = false;
elmbed 17:d8b901d791fd 76 static bool logging = false;
elmbed 17:d8b901d791fd 77
elmbed 17:d8b901d791fd 78 // course setup (probably should make some of these persistant settings)
elmbed 18:affef3a7db2a 79 static uint8_t active_sequence = 0;
elmbed 18:affef3a7db2a 80 static uint8_t station = 1;
elmbed 18:affef3a7db2a 81 static uint8_t cone = 0;
elmbed 18:affef3a7db2a 82 static uint16_t ltime = 0;
elmbed 17:d8b901d791fd 83
elmbed 17:d8b901d791fd 84 volatile bool triggered;
elmbed 17:d8b901d791fd 85 volatile bool pin;
elmbed 17:d8b901d791fd 86 volatile bool ping = false;
elmbed 18:affef3a7db2a 87
elmbed 17:d8b901d791fd 88 static volatile bool captured = false;
elmbed 17:d8b901d791fd 89 static volatile unsigned long ping_timer = 0;
elmbed 17:d8b901d791fd 90 static volatile unsigned long dist_timeout = 0;
elmbed 17:d8b901d791fd 91
elmbed 17:d8b901d791fd 92 // all sequence data
elmbed 17:d8b901d791fd 93 uint8_t cone_table[STATIONS * SEQUENCES];
elmbed 17:d8b901d791fd 94 uint8_t mask_table[STATIONS * SEQUENCES];
elmbed 17:d8b901d791fd 95 uint16_t time_table[STATIONS * SEQUENCES];
elmbed 17:d8b901d791fd 96
elmbed 17:d8b901d791fd 97 // pointer to active table
elmbed 17:d8b901d791fd 98 uint8_t *cones = (uint8_t*)cone_table;
elmbed 17:d8b901d791fd 99 uint8_t *masks = (uint8_t*)mask_table;
elmbed 17:d8b901d791fd 100 uint16_t *times = (uint16_t*)time_table;
elmbed 17:d8b901d791fd 101
elmbed 17:d8b901d791fd 102 static bool lonely = false;
elmbed 17:d8b901d791fd 103
elmbed 17:d8b901d791fd 104 // Function prototypes
elmbed 23:26f27c462976 105 #ifdef MASTER
elmbed 17:d8b901d791fd 106 void spin();
elmbed 17:d8b901d791fd 107 patternState_t stateFromCone(uint8_t cone);
elmbed 17:d8b901d791fd 108 void printSplit(unsigned long timer);
elmbed 17:d8b901d791fd 109 uint8_t getRandomCone(void);
elmbed 17:d8b901d791fd 110 void clearCones(void);
elmbed 17:d8b901d791fd 111 void powerupCones(uint8_t sound);
elmbed 17:d8b901d791fd 112 void failCones(void);
elmbed 17:d8b901d791fd 113 void resetSensors(void);
elmbed 17:d8b901d791fd 114 void successCones(void);
elmbed 17:d8b901d791fd 115 void find_cones(void);
elmbed 17:d8b901d791fd 116 void printMsAsSeconds(unsigned long number);
elmbed 17:d8b901d791fd 117 void spinButtons(void);
elmbed 17:d8b901d791fd 118 uint8_t checkButtons(void);
elmbed 17:d8b901d791fd 119 Event getInputEvent(void);
elmbed 17:d8b901d791fd 120 void getRadioInput(char *ibuffer, int size);
elmbed 17:d8b901d791fd 121 void interpret(char parameter, int value);
elmbed 23:26f27c462976 122 #endif
elmbed 23:26f27c462976 123
elmbed 23:26f27c462976 124 extern "C" void writeToPhone(char *format, ...);
elmbed 17:d8b901d791fd 125
elmbed 38:76e49d045a3b 126
AntonLS 39:b1f864b71318 127 static const int active_colour = 0x00FF00; /// 0x00FF;
AntonLS 39:b1f864b71318 128 static const int warn_colour = 0xFFA500; /// 0xF050;
AntonLS 39:b1f864b71318 129 static const int fail_colour = 0x00; /// 0x0000FF;
AntonLS 39:b1f864b71318 130 static const int touch_colour = 0x0000FF; /// 0x005050;
AntonLS 39:b1f864b71318 131 static const int success_colour = 0x00FF00; /// 0xFFFF;
AntonLS 39:b1f864b71318 132 static const int pen_colour = 0xFFFF00; /// 0x10FF;
AntonLS 39:b1f864b71318 133 static const int idle_colour = 0xFF0000; /// 0x00;
elmbed 38:76e49d045a3b 134
elmbed 17:d8b901d791fd 135 char local_input[50] = {0};
elmbed 17:d8b901d791fd 136
elmbed 17:d8b901d791fd 137 //DigitalOut red(RED);
elmbed 17:d8b901d791fd 138 //DigitalOut enable1(ENABLE_1);
elmbed 17:d8b901d791fd 139 //DigitalOut green(GREEN);
elmbed 17:d8b901d791fd 140 //DigitalOut blue(BLUE);
elmbed 17:d8b901d791fd 141 //DigitalOut enable2(ENABLE_2);
elmbed 17:d8b901d791fd 142 //DigitalOut enable3(ENABLE_3);
elmbed 17:d8b901d791fd 143
elmbed 23:26f27c462976 144 #ifdef MASTER
elmbed 23:26f27c462976 145 static void master_setup()
elmbed 17:d8b901d791fd 146 {
elmbed 28:8e74ddc4f70f 147 ta.initialize(NODE_ID);
elmbed 17:d8b901d791fd 148
elmbed 17:d8b901d791fd 149 uint16_t sent = 0;
elmbed 17:d8b901d791fd 150 uint16_t lost = 0;
elmbed 17:d8b901d791fd 151 unsigned long start = micros();
elmbed 17:d8b901d791fd 152 //while (millis() - now <= ACK_TIME){
elmbed 17:d8b901d791fd 153 m->command = 'p';
elmbed 17:d8b901d791fd 154 m->value = 0;
elmbed 17:d8b901d791fd 155 m->cone = 0;
elmbed 17:d8b901d791fd 156
elmbed 23:26f27c462976 157
elmbed 23:26f27c462976 158 //find_cones(); // this causes the beep to be interrupted
elmbed 23:26f27c462976 159 //ta.beep(100);
elmbed 17:d8b901d791fd 160 int i;
elmbed 23:26f27c462976 161
elmbed 28:8e74ddc4f70f 162 for(i = 1; i < NUM_CONES + 1; ++i)
elmbed 28:8e74ddc4f70f 163 {
elmbed 28:8e74ddc4f70f 164 active_cones[i] = false;
elmbed 28:8e74ddc4f70f 165 }
elmbed 17:d8b901d791fd 166
elmbed 28:8e74ddc4f70f 167 unsigned long time = 0;
elmbed 17:d8b901d791fd 168
elmbed 17:d8b901d791fd 169 // pull course sequences from non-volatile memory
elmbed 28:8e74ddc4f70f 170 for(uint8_t i = 0; i <STATIONS * SEQUENCES; ++i)
elmbed 28:8e74ddc4f70f 171 {
elmbed 17:d8b901d791fd 172 cone_table[i] = i+1;
elmbed 17:d8b901d791fd 173 mask_table[i] = 1;
elmbed 17:d8b901d791fd 174 time_table[i] = 1000;
elmbed 17:d8b901d791fd 175 }
elmbed 18:affef3a7db2a 176
elmbed 18:affef3a7db2a 177 ta.post_color(0xFF0000);
elmbed 17:d8b901d791fd 178 }
elmbed 23:26f27c462976 179 #else
elmbed 23:26f27c462976 180 static void slave_setup()
elmbed 23:26f27c462976 181 {
elmbed 28:8e74ddc4f70f 182 ta.initialize(NODE_ID);
elmbed 23:26f27c462976 183 ta.beep(250);
elmbed 23:26f27c462976 184 }
elmbed 23:26f27c462976 185 #endif
elmbed 23:26f27c462976 186
elmbed 23:26f27c462976 187 void setup()
elmbed 23:26f27c462976 188 {
elmbed 23:26f27c462976 189 #ifdef MASTER
elmbed 23:26f27c462976 190 master_setup();
elmbed 23:26f27c462976 191 #else
elmbed 23:26f27c462976 192 slave_setup();
elmbed 23:26f27c462976 193 #endif
elmbed 23:26f27c462976 194 }
elmbed 23:26f27c462976 195
elmbed 23:26f27c462976 196 #ifdef SLAVE
elmbed 23:26f27c462976 197 static void slave_loop()
elmbed 23:26f27c462976 198 {
elmbed 23:26f27c462976 199 static unsigned long start = 0;
elmbed 23:26f27c462976 200 static unsigned long timeout;
elmbed 23:26f27c462976 201 static bool process_next_as_time = false;
elmbed 23:26f27c462976 202 static bool process_next_as_mask = false;
elmbed 23:26f27c462976 203 static unsigned long timer;
elmbed 23:26f27c462976 204 static State_t last_state = IDLE;
elmbed 28:8e74ddc4f70f 205 static int counter = 0;
elmbed 23:26f27c462976 206
elmbed 23:26f27c462976 207 if(last_state != state)
elmbed 23:26f27c462976 208 {
elmbed 23:26f27c462976 209 if(state == ACTIVE_TARGET)
elmbed 38:76e49d045a3b 210 writeToPhone("State is ACTIVE_TARGET\r\n");
elmbed 23:26f27c462976 211 if(state == IDLE)
elmbed 38:76e49d045a3b 212 writeToPhone("State is IDLE\r\n");
elmbed 23:26f27c462976 213 if(state == FAIL)
elmbed 38:76e49d045a3b 214 writeToPhone("State is FAIL\r\n");
elmbed 23:26f27c462976 215 if(state == SUCCESS)
elmbed 38:76e49d045a3b 216 writeToPhone("State is SUCCESS\r\n");
elmbed 23:26f27c462976 217 }
elmbed 23:26f27c462976 218
elmbed 23:26f27c462976 219 last_state = state;
AntonLS 31:a6110950f385 220
AntonLS 31:a6110950f385 221 ta.resetTouchIfStuck();
elmbed 23:26f27c462976 222
elmbed 23:26f27c462976 223 char message = 'n';
elmbed 23:26f27c462976 224 timer = millis() - start;
elmbed 23:26f27c462976 225
elmbed 23:26f27c462976 226 if(ta.recieve(m_in))
elmbed 23:26f27c462976 227 {
elmbed 28:8e74ddc4f70f 228 //ta.beep(1000);
elmbed 28:8e74ddc4f70f 229
elmbed 23:26f27c462976 230 message = m_in->command;
elmbed 23:26f27c462976 231 switch(m_in->command)
elmbed 23:26f27c462976 232 {
elmbed 23:26f27c462976 233 case 't':
elmbed 38:76e49d045a3b 234 timeout = 10000L;//m_in->value;
elmbed 23:26f27c462976 235 //serial.printf("timeout: ");
elmbed 23:26f27c462976 236 //serial.printf("%d\n",timeout);
elmbed 23:26f27c462976 237 break;
elmbed 23:26f27c462976 238 case 'm':
elmbed 23:26f27c462976 239 //serial.printf("config bits: ");
elmbed 23:26f27c462976 240 mask = m_in->value;
elmbed 23:26f27c462976 241 ta.setMask(mask);// & LIGHTS);
elmbed 23:26f27c462976 242 //serial.printf("%s\n",byte_to_binary(mask));
elmbed 23:26f27c462976 243 fakeout = mask & FAKEOUT;
elmbed 23:26f27c462976 244
elmbed 23:26f27c462976 245 //if(fakeout)
elmbed 23:26f27c462976 246 // serial.printf("fakeout!");
elmbed 23:26f27c462976 247
elmbed 23:26f27c462976 248 fail_quick = mask & FAIL_QUICK;
elmbed 23:26f27c462976 249 break;
elmbed 23:26f27c462976 250 default: break;
elmbed 23:26f27c462976 251 }
elmbed 23:26f27c462976 252 }
elmbed 23:26f27c462976 253
elmbed 23:26f27c462976 254 if(message == 'x')
elmbed 23:26f27c462976 255 {
elmbed 23:26f27c462976 256 //a3 = 0;
elmbed 23:26f27c462976 257 wait_ms(100);
elmbed 23:26f27c462976 258 //a3 = 1;
elmbed 23:26f27c462976 259 }
elmbed 23:26f27c462976 260
elmbed 23:26f27c462976 261 if(message == 'f')
elmbed 23:26f27c462976 262 { // Fail
elmbed 23:26f27c462976 263 //serial.printf("Fail!\n");
elmbed 38:76e49d045a3b 264 writeToPhone("FAIL\r\n");
elmbed 38:76e49d045a3b 265 ta.post_color(fail_colour);
elmbed 38:76e49d045a3b 266 //ta.pulse(25,200,3000,0xFF0000);
elmbed 23:26f27c462976 267 state = FAIL;
elmbed 23:26f27c462976 268 }
elmbed 23:26f27c462976 269
elmbed 23:26f27c462976 270 if(message == 's')
elmbed 23:26f27c462976 271 { // Success
elmbed 23:26f27c462976 272 //serial.printf("Success!\n");
elmbed 38:76e49d045a3b 273 ta.post_color(0x0FFF00);
elmbed 23:26f27c462976 274 ta.beep(1500);
elmbed 23:26f27c462976 275 state = SUCCESS;
elmbed 23:26f27c462976 276 }
elmbed 23:26f27c462976 277
elmbed 23:26f27c462976 278 if(message == 'g')
elmbed 23:26f27c462976 279 { // This cone is the active target, GO!
elmbed 23:26f27c462976 280 start = millis();
elmbed 23:26f27c462976 281 warning = false;
elmbed 23:26f27c462976 282 penalty = false;
elmbed 38:76e49d045a3b 283 ta.post_color(active_colour);
elmbed 38:76e49d045a3b 284 //ta.pulse(50,750,0L,0x00FF00);
elmbed 23:26f27c462976 285 state = ACTIVE_TARGET;
elmbed 23:26f27c462976 286 //serial.printf("fakeout, fail_quick\n");
elmbed 23:26f27c462976 287 //serial.printf("%d",fakeout);
elmbed 23:26f27c462976 288 //serial.printf(", ");
elmbed 23:26f27c462976 289 //serial.printf("%d\n",fail_quick);
elmbed 23:26f27c462976 290 }
elmbed 23:26f27c462976 291
elmbed 23:26f27c462976 292 if(message == 'q')
elmbed 23:26f27c462976 293 { // Quit
elmbed 28:8e74ddc4f70f 294 writeToPhone("Clear!\r\n");
elmbed 23:26f27c462976 295 ta.pulse_off();
elmbed 38:76e49d045a3b 296 ta.mask_color(idle_colour);
elmbed 23:26f27c462976 297 state = IDLE;
elmbed 23:26f27c462976 298 }
elmbed 23:26f27c462976 299
elmbed 23:26f27c462976 300 if(message != 'n')
elmbed 23:26f27c462976 301 {
elmbed 23:26f27c462976 302 //serial.printf("%d",message);
elmbed 23:26f27c462976 303 //serial.printf(", ");
elmbed 23:26f27c462976 304 //serial.printf("%d\n",m_in->value);
elmbed 23:26f27c462976 305 }
elmbed 23:26f27c462976 306
elmbed 23:26f27c462976 307 if(message == 'u')
elmbed 23:26f27c462976 308 { // powerup noise
elmbed 23:26f27c462976 309 ta.powerup(m_in->value);
elmbed 23:26f27c462976 310 }
elmbed 23:26f27c462976 311
elmbed 23:26f27c462976 312 if(message == 'z')
elmbed 23:26f27c462976 313 {
elmbed 23:26f27c462976 314 m->value = m_in->value;
elmbed 23:26f27c462976 315 m->command = 'z';
elmbed 28:8e74ddc4f70f 316 m->cone = 1;
elmbed 23:26f27c462976 317 ta.send(m);
elmbed 23:26f27c462976 318 }
elmbed 23:26f27c462976 319
elmbed 23:26f27c462976 320 timer = millis() - start;
elmbed 23:26f27c462976 321
elmbed 23:26f27c462976 322 switch(state)
elmbed 23:26f27c462976 323 {
elmbed 23:26f27c462976 324 case ACTIVE_TARGET:
elmbed 23:26f27c462976 325 if(ta.activated() || ((timer > timeout) && (fakeout)))
elmbed 23:26f27c462976 326 {
elmbed 23:26f27c462976 327 m->command = 'd';
elmbed 23:26f27c462976 328 m->cone = CONTROL_CONE;
elmbed 23:26f27c462976 329 ta.send(m);
elmbed 38:76e49d045a3b 330 ta.post_color(success_colour);
elmbed 23:26f27c462976 331 ta.pulse_off();
elmbed 23:26f27c462976 332 state = IDLE;
elmbed 23:26f27c462976 333 //serial.printf("Done!\n");
elmbed 23:26f27c462976 334 }
elmbed 23:26f27c462976 335 else if(timer > timeout && !penalty)
elmbed 23:26f27c462976 336 {
elmbed 38:76e49d045a3b 337 writeToPhone("PEN\r\n");
elmbed 23:26f27c462976 338 //serial.printf("Penalty!\n");
elmbed 23:26f27c462976 339 penalty = true;
elmbed 38:76e49d045a3b 340 //ta.pulse(350,600,~0L,0xFF00FF);
elmbed 38:76e49d045a3b 341 ta.post_color(pen_colour);
elmbed 23:26f27c462976 342 }
elmbed 23:26f27c462976 343 else if(timer > ((timeout*3)/4) && !warning)
elmbed 23:26f27c462976 344 {
elmbed 38:76e49d045a3b 345 writeToPhone("WARN\r\n");
elmbed 23:26f27c462976 346 //serial.printf("Warning!\n");
elmbed 23:26f27c462976 347 warning = true;
elmbed 38:76e49d045a3b 348 //ta.pulse(350,750,~0L,0xFFFF00);
elmbed 38:76e49d045a3b 349 ta.post_color(warn_colour);
elmbed 23:26f27c462976 350 }
elmbed 23:26f27c462976 351 break;
elmbed 23:26f27c462976 352 case IDLE:
elmbed 38:76e49d045a3b 353 bool act = ta.activated();
elmbed 38:76e49d045a3b 354 ta.post_color(act?touch_colour:idle_colour);
elmbed 23:26f27c462976 355 break;
elmbed 23:26f27c462976 356 default:
elmbed 23:26f27c462976 357 break;
elmbed 23:26f27c462976 358 }
elmbed 23:26f27c462976 359 }
elmbed 23:26f27c462976 360 #endif
elmbed 23:26f27c462976 361
elmbed 23:26f27c462976 362 #ifdef MASTER
elmbed 23:26f27c462976 363 static void master_loop()
elmbed 23:26f27c462976 364 {
elmbed 23:26f27c462976 365 static Mode_t last_mode = mode;
elmbed 28:8e74ddc4f70f 366 static int counter = 0;
elmbed 23:26f27c462976 367
elmbed 23:26f27c462976 368 if (last_mode != mode)
elmbed 23:26f27c462976 369 {
elmbed 23:26f27c462976 370 if (mode == FREEFORM)
elmbed 38:76e49d045a3b 371 writeToPhone("RR.\r\n");
elmbed 23:26f27c462976 372
elmbed 23:26f27c462976 373 if (mode == PATTERN)
elmbed 38:76e49d045a3b 374 writeToPhone("SP.\r\n");
elmbed 23:26f27c462976 375 }
elmbed 23:26f27c462976 376
elmbed 23:26f27c462976 377 last_mode = mode;
elmbed 23:26f27c462976 378
elmbed 23:26f27c462976 379 ta.spin();
elmbed 23:26f27c462976 380 //spinButtons();
elmbed 38:76e49d045a3b 381 //if((logging || micros() < dist_timeout) && ta.recieve(m_in))
elmbed 38:76e49d045a3b 382 // writeToPhone("CMD: %c",m_in->command);
elmbed 38:76e49d045a3b 383 // else
elmbed 23:26f27c462976 384 spin();
elmbed 23:26f27c462976 385 }
elmbed 23:26f27c462976 386 #endif
elmbed 17:d8b901d791fd 387
elmbed 17:d8b901d791fd 388 void loop()
elmbed 17:d8b901d791fd 389 {
elmbed 23:26f27c462976 390 #ifdef MASTER
elmbed 23:26f27c462976 391 master_loop();
elmbed 23:26f27c462976 392 #else
elmbed 23:26f27c462976 393 slave_loop();
elmbed 23:26f27c462976 394 #endif
elmbed 17:d8b901d791fd 395 }
elmbed 17:d8b901d791fd 396
elmbed 23:26f27c462976 397 static void getNext()
elmbed 17:d8b901d791fd 398 {
elmbed 23:26f27c462976 399 #ifdef MASTER
elmbed 17:d8b901d791fd 400 if(mode == FREEFORM)
elmbed 17:d8b901d791fd 401 {
elmbed 17:d8b901d791fd 402 ++active_cone;//getRandomCone();
elmbed 38:76e49d045a3b 403
elmbed 38:76e49d045a3b 404 if (active_cone > NUM_CONES)
elmbed 17:d8b901d791fd 405 {
elmbed 17:d8b901d791fd 406 active_cone = 1;
elmbed 17:d8b901d791fd 407 }
elmbed 38:76e49d045a3b 408
elmbed 38:76e49d045a3b 409 writeToPhone("GN_AC: %d\r\n", active_cone);
elmbed 38:76e49d045a3b 410
elmbed 17:d8b901d791fd 411 mask = 0x07;
elmbed 17:d8b901d791fd 412 ta.setMask(mask & LIGHTS);
elmbed 38:76e49d045a3b 413 //timeout = ~0;
elmbed 38:76e49d045a3b 414
elmbed 17:d8b901d791fd 415 return;
elmbed 17:d8b901d791fd 416 }
elmbed 17:d8b901d791fd 417
elmbed 17:d8b901d791fd 418 active_cone = cones[index];
elmbed 17:d8b901d791fd 419 mask = masks[index];
elmbed 17:d8b901d791fd 420 fakeout = mask & FAKEOUT;
elmbed 17:d8b901d791fd 421 fail_quick = mask & FAIL_QUICK;
elmbed 17:d8b901d791fd 422 timeout = times[index];
elmbed 17:d8b901d791fd 423 index++;
elmbed 17:d8b901d791fd 424 DEBUG("Next cone is \n");
elmbed 17:d8b901d791fd 425 DEBUG("%d\n",active_cone);
elmbed 23:26f27c462976 426 #endif
elmbed 17:d8b901d791fd 427 }
elmbed 18:affef3a7db2a 428 #if 1
elmbed 23:26f27c462976 429 static void spin()
elmbed 17:d8b901d791fd 430 {
AntonLS 39:b1f864b71318 431 #ifdef MASTER
elmbed 17:d8b901d791fd 432 static patternState_t last_state = START_P;
elmbed 17:d8b901d791fd 433 static uint8_t last_cone = 255;
elmbed 17:d8b901d791fd 434 static unsigned long start;
elmbed 17:d8b901d791fd 435 static unsigned long timer;
elmbed 17:d8b901d791fd 436 static bool first; // first should be true when we first enter a state (even if we just exited the same state)
elmbed 17:d8b901d791fd 437 char command = 'n';
elmbed 17:d8b901d791fd 438 unsigned long value = 0;
elmbed 17:d8b901d791fd 439
elmbed 17:d8b901d791fd 440 m_in->command = 0;
elmbed 17:d8b901d791fd 441 m_in->value = 0;
elmbed 17:d8b901d791fd 442 m_in->cone = 0;
elmbed 17:d8b901d791fd 443
elmbed 17:d8b901d791fd 444 if(ta.recieve(m_in))
elmbed 17:d8b901d791fd 445 {
elmbed 38:76e49d045a3b 446 writeToPhone("SR: %d '%c'\r\n", m_in->cone, m_in->command);
elmbed 17:d8b901d791fd 447 command = m_in->command;
elmbed 17:d8b901d791fd 448 value = m_in->value;
elmbed 17:d8b901d791fd 449 }
elmbed 17:d8b901d791fd 450
elmbed 17:d8b901d791fd 451 first = false;
elmbed 17:d8b901d791fd 452
elmbed 17:d8b901d791fd 453 if(last_state != state_p || new_state)
elmbed 17:d8b901d791fd 454 {
elmbed 17:d8b901d791fd 455 if(state_p == START_P)
AntonLS 39:b1f864b71318 456 writeToPhone("State is START\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 457 if(state_p == WAITING_P)
AntonLS 39:b1f864b71318 458 writeToPhone("State is WAITING\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 459 if(state_p == ACTIVE_TARGET_P)
AntonLS 39:b1f864b71318 460 writeToPhone("State is ACTIVE_TARGET\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 461 if(state_p == IDLE_P)
AntonLS 39:b1f864b71318 462 writeToPhone("State is IDLE\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 463 if(state_p == FAIL_P)
AntonLS 39:b1f864b71318 464 writeToPhone("State is FAIL\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 465 if(state_p == SUCCESS_P)
AntonLS 39:b1f864b71318 466 writeToPhone("State is SUCCESS\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 467
elmbed 17:d8b901d791fd 468 first = true;
elmbed 17:d8b901d791fd 469 new_state = false;
elmbed 17:d8b901d791fd 470 }
elmbed 17:d8b901d791fd 471
elmbed 17:d8b901d791fd 472 last_state = state_p;
elmbed 17:d8b901d791fd 473 last_cone = active_cone;
elmbed 17:d8b901d791fd 474
elmbed 17:d8b901d791fd 475 timer = millis() - start;
elmbed 17:d8b901d791fd 476
elmbed 17:d8b901d791fd 477 switch(state_p)
elmbed 17:d8b901d791fd 478 {
elmbed 17:d8b901d791fd 479 case IDLE_P:
AntonLS 30:c60b0d52b067 480 ta.setMask( DEFTOUCHMASK );
elmbed 17:d8b901d791fd 481 if(!in_menu)
elmbed 38:76e49d045a3b 482 ta.post_color((ta.activated())?touch_colour:idle_colour);
elmbed 17:d8b901d791fd 483 break;
elmbed 17:d8b901d791fd 484
elmbed 17:d8b901d791fd 485 case START_P:
elmbed 38:76e49d045a3b 486 clearCones();
elmbed 17:d8b901d791fd 487 tag_start = false;
elmbed 38:76e49d045a3b 488 ta.post_color(idle_colour);
elmbed 17:d8b901d791fd 489 index = 0;
elmbed 17:d8b901d791fd 490 getNext();
elmbed 17:d8b901d791fd 491
elmbed 17:d8b901d791fd 492 if(timeout == 0)
elmbed 17:d8b901d791fd 493 { // timeout of 0 means wait indefinitely for the first cone to be activated, then start the rest of the sequence
elmbed 17:d8b901d791fd 494 timeout = ~0;
elmbed 17:d8b901d791fd 495 tag_start = true;
AntonLS 39:b1f864b71318 496 // DEBUG("Activate cone "); // May use this again in future.
AntonLS 39:b1f864b71318 497 // DEBUG("%d",active_cone);
AntonLS 39:b1f864b71318 498 // DEBUG(" to start.\n");
elmbed 38:76e49d045a3b 499 writeToPhone("ACS: %d\r\n", active_cone);
elmbed 17:d8b901d791fd 500 }
elmbed 17:d8b901d791fd 501
elmbed 17:d8b901d791fd 502 start = millis();
elmbed 17:d8b901d791fd 503 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 504 if(active_cone == 0)
elmbed 17:d8b901d791fd 505 { // in this case stateFromCone returns SUCCESS_P, but really there was no course sequence
elmbed 17:d8b901d791fd 506 DEBUG("\n");
elmbed 17:d8b901d791fd 507 DEBUG("Empty course sequence!\n");
elmbed 38:76e49d045a3b 508 writeToPhone("ECS\r\n");
elmbed 17:d8b901d791fd 509 ta.post_color(0x0000FF);
elmbed 17:d8b901d791fd 510 state_p = IDLE_P;
elmbed 17:d8b901d791fd 511 break;
elmbed 17:d8b901d791fd 512 }
elmbed 17:d8b901d791fd 513 break;
elmbed 17:d8b901d791fd 514
elmbed 17:d8b901d791fd 515 case WAITING_P:
elmbed 17:d8b901d791fd 516 if(first)
elmbed 17:d8b901d791fd 517 {
elmbed 17:d8b901d791fd 518 m->command = 'm';
elmbed 17:d8b901d791fd 519 m->value = mask;
elmbed 17:d8b901d791fd 520 m->cone = active_cone;
elmbed 17:d8b901d791fd 521 ta.send(m);
elmbed 38:76e49d045a3b 522
elmbed 38:76e49d045a3b 523 wait_ms(300);
elmbed 17:d8b901d791fd 524 m->command = 't';
elmbed 17:d8b901d791fd 525 m->value = (uint32_t)timeout;
elmbed 17:d8b901d791fd 526 ta.send(m);
elmbed 38:76e49d045a3b 527
elmbed 38:76e49d045a3b 528 wait_ms(300);
elmbed 17:d8b901d791fd 529 m->command = 'g';
elmbed 17:d8b901d791fd 530 ta.send(m);
elmbed 17:d8b901d791fd 531
elmbed 38:76e49d045a3b 532 writeToPhone("ACW: %d\r\n", active_cone);
elmbed 17:d8b901d791fd 533 }
elmbed 17:d8b901d791fd 534
elmbed 38:76e49d045a3b 535 ta.post_color(( ta.activated())?touch_colour:idle_colour);
elmbed 17:d8b901d791fd 536
elmbed 17:d8b901d791fd 537 DEBUG("Waiting: %d %d %c\n", m_in->cone, active_cone, command);
elmbed 17:d8b901d791fd 538
elmbed 17:d8b901d791fd 539 if((m_in->cone == active_cone && command == 'd' ) || ((timer >= timeout) && fakeout))
elmbed 17:d8b901d791fd 540 {
elmbed 17:d8b901d791fd 541 if((timer >= timeout) && !fakeout)
elmbed 17:d8b901d791fd 542 {
elmbed 38:76e49d045a3b 543 writeToPhone("TSP\r\n");
elmbed 17:d8b901d791fd 544 }
elmbed 17:d8b901d791fd 545 printSplit(timer);
elmbed 17:d8b901d791fd 546 getNext();
elmbed 17:d8b901d791fd 547 start = millis();
elmbed 17:d8b901d791fd 548
elmbed 17:d8b901d791fd 549 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 550
elmbed 17:d8b901d791fd 551 if(state_p == WAITING_P)
elmbed 17:d8b901d791fd 552 {
elmbed 38:76e49d045a3b 553 writeToPhone("NSW\r\n");
elmbed 17:d8b901d791fd 554 new_state = true;
elmbed 17:d8b901d791fd 555 }
elmbed 17:d8b901d791fd 556 }
elmbed 17:d8b901d791fd 557 else if(~timeout != 0 && mode == PATTERN && timer >= (timeout + ((fail_quick)?0:GRACE_PERIOD)))
elmbed 17:d8b901d791fd 558 {
elmbed 38:76e49d045a3b 559 writeToPhone("FW\r\n");
elmbed 17:d8b901d791fd 560 state_p = FAIL_P;
elmbed 17:d8b901d791fd 561 }
elmbed 17:d8b901d791fd 562 break;
elmbed 17:d8b901d791fd 563
elmbed 17:d8b901d791fd 564 case ACTIVE_TARGET_P:
elmbed 17:d8b901d791fd 565 if(first)
elmbed 17:d8b901d791fd 566 {
elmbed 17:d8b901d791fd 567 ta.setMask(mask);
elmbed 17:d8b901d791fd 568
elmbed 17:d8b901d791fd 569 warning = false;
elmbed 17:d8b901d791fd 570 penalty = false;
elmbed 38:76e49d045a3b 571 ta.post_color(active_colour);
elmbed 38:76e49d045a3b 572 //ta.pulse(50,750,~0L,0x00FF00);
elmbed 17:d8b901d791fd 573 //if(!(mask & SILENT))ta.pulse(50,750,~0L,0c00FF00);
elmbed 17:d8b901d791fd 574 }
elmbed 17:d8b901d791fd 575 if(timer >= timeout)
elmbed 17:d8b901d791fd 576 {
elmbed 17:d8b901d791fd 577 if(!penalty)
elmbed 17:d8b901d791fd 578 {
elmbed 38:76e49d045a3b 579 ta.post_color(pen_colour);
elmbed 38:76e49d045a3b 580 //ta.pulse(50,325,~0L,0xFF00FF);
elmbed 17:d8b901d791fd 581
elmbed 17:d8b901d791fd 582 penalty = true;
elmbed 17:d8b901d791fd 583 }
elmbed 38:76e49d045a3b 584 ta.post_color(pen_colour);
elmbed 17:d8b901d791fd 585 }
elmbed 17:d8b901d791fd 586 else if(timer > ((timeout*3)/4) && !warning)
elmbed 17:d8b901d791fd 587 {
elmbed 17:d8b901d791fd 588 warning = true;
elmbed 38:76e49d045a3b 589 ta.post_color(warn_colour);
elmbed 38:76e49d045a3b 590 //ta.pulse(50,750,~0L,0xFFFF00);
elmbed 17:d8b901d791fd 591 }
elmbed 17:d8b901d791fd 592
elmbed 17:d8b901d791fd 593 if(ta.activated() || ((timer >= timeout) && fakeout))
elmbed 17:d8b901d791fd 594 {
elmbed 17:d8b901d791fd 595 if((timer >= timeout) && !fakeout)
elmbed 17:d8b901d791fd 596 DEBUG("Timesplit penalty! ");
elmbed 17:d8b901d791fd 597
elmbed 17:d8b901d791fd 598 printSplit(timer);
elmbed 38:76e49d045a3b 599 ta.post_color(success_colour);
elmbed 17:d8b901d791fd 600 getNext();
elmbed 17:d8b901d791fd 601 start = millis();
elmbed 17:d8b901d791fd 602 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 603
elmbed 17:d8b901d791fd 604 if(state_p == ACTIVE_TARGET_P)
elmbed 17:d8b901d791fd 605 new_state = true;
elmbed 17:d8b901d791fd 606 ta.pulse_off();
elmbed 17:d8b901d791fd 607
elmbed 17:d8b901d791fd 608 }
elmbed 17:d8b901d791fd 609 else if(~timeout != 0 && mode == PATTERN && timer >= (timeout + ((fail_quick)?0:GRACE_PERIOD)))
elmbed 17:d8b901d791fd 610 {
elmbed 17:d8b901d791fd 611 state_p = FAIL_P;
elmbed 17:d8b901d791fd 612 ta.pulse_off();
elmbed 17:d8b901d791fd 613 }
elmbed 17:d8b901d791fd 614 //DEBUG.println(timeout + ((fail_quick)?0:GRACE_PERIOD));
elmbed 17:d8b901d791fd 615 //DEBUG.println(timeout);
elmbed 17:d8b901d791fd 616
elmbed 17:d8b901d791fd 617 break;
elmbed 17:d8b901d791fd 618
elmbed 17:d8b901d791fd 619 case FAIL_P:
elmbed 17:d8b901d791fd 620 if(first)
elmbed 17:d8b901d791fd 621 {
elmbed 17:d8b901d791fd 622 start = millis();
elmbed 17:d8b901d791fd 623 DEBUG("\n");
elmbed 17:d8b901d791fd 624 DEBUG("Timeout\n");
elmbed 17:d8b901d791fd 625 //ta.post_color();
elmbed 38:76e49d045a3b 626 //ta.pulse(25,200,3000,0xFF0000);
elmbed 38:76e49d045a3b 627 ta.post_color(fail_colour);
elmbed 17:d8b901d791fd 628
elmbed 17:d8b901d791fd 629 failCones();
elmbed 17:d8b901d791fd 630 //ta.fail();
elmbed 17:d8b901d791fd 631 }
elmbed 17:d8b901d791fd 632 else if(timer > 3000)
elmbed 17:d8b901d791fd 633 {
elmbed 17:d8b901d791fd 634 DEBUG("Clear!\n");
elmbed 17:d8b901d791fd 635 state_p = IDLE_P;
elmbed 17:d8b901d791fd 636 clearCones();
elmbed 17:d8b901d791fd 637 }
elmbed 17:d8b901d791fd 638 break;
elmbed 17:d8b901d791fd 639 case SUCCESS_P:
elmbed 17:d8b901d791fd 640 if(first)
elmbed 17:d8b901d791fd 641 {
elmbed 17:d8b901d791fd 642 start = millis();
elmbed 17:d8b901d791fd 643 DEBUG("\n");
elmbed 17:d8b901d791fd 644 DEBUG("Done!\n");
elmbed 38:76e49d045a3b 645 ta.post_color(success_colour);
elmbed 17:d8b901d791fd 646 ta.beep(1500);
elmbed 17:d8b901d791fd 647 successCones();
elmbed 17:d8b901d791fd 648 //ta.success();
elmbed 17:d8b901d791fd 649 }
elmbed 17:d8b901d791fd 650 else if(timer > 1500)
elmbed 17:d8b901d791fd 651 {
elmbed 17:d8b901d791fd 652 DEBUG("Clear!\n");
elmbed 17:d8b901d791fd 653 state_p = IDLE_P;
elmbed 17:d8b901d791fd 654 clearCones();
elmbed 17:d8b901d791fd 655 }
elmbed 17:d8b901d791fd 656 break;
elmbed 17:d8b901d791fd 657
elmbed 17:d8b901d791fd 658 default:
elmbed 38:76e49d045a3b 659 ta.post_color(idle_colour);
elmbed 17:d8b901d791fd 660 break;
elmbed 17:d8b901d791fd 661 }
elmbed 23:26f27c462976 662 #endif
elmbed 17:d8b901d791fd 663 }
elmbed 18:affef3a7db2a 664 #endif
elmbed 18:affef3a7db2a 665
elmbed 23:26f27c462976 666 #ifdef MASTER
elmbed 17:d8b901d791fd 667 void getRadioInput(char *ibuffer, int size)
elmbed 17:d8b901d791fd 668 {
elmbed 17:d8b901d791fd 669 static int i = 0;
elmbed 17:d8b901d791fd 670 int buffer_counter = 0;
elmbed 17:d8b901d791fd 671 static char parameter = '_';
elmbed 17:d8b901d791fd 672 static char buffer[MAX_LEN + 1];
elmbed 17:d8b901d791fd 673 int value = 0;
elmbed 17:d8b901d791fd 674 char *endp = NULL;
elmbed 17:d8b901d791fd 675
elmbed 17:d8b901d791fd 676 // listen for commands coming over bluetooth
elmbed 17:d8b901d791fd 677 while (buffer_counter < size)
elmbed 17:d8b901d791fd 678 {
elmbed 17:d8b901d791fd 679 char ch = ibuffer[buffer_counter++];
elmbed 17:d8b901d791fd 680
elmbed 17:d8b901d791fd 681 if((ch == '\r' || ch == ';' || ch == '\n') && parameter != '_')
elmbed 17:d8b901d791fd 682 {
elmbed 17:d8b901d791fd 683 if(i > 1)
elmbed 17:d8b901d791fd 684 {
AntonLS 41:dee3fd34e37a 685 buffer[i-1] = 0;
elmbed 17:d8b901d791fd 686 if(parameter == 'l')
elmbed 17:d8b901d791fd 687 value = strtoul(buffer, &endp, 2);
AntonLS 41:dee3fd34e37a 688 else if(parameter == 'B')
AntonLS 41:dee3fd34e37a 689 value = strtoul(buffer, &endp, 16);
AntonLS 41:dee3fd34e37a 690 else
AntonLS 41:dee3fd34e37a 691 value = atoi(buffer);
elmbed 17:d8b901d791fd 692 }
elmbed 18:affef3a7db2a 693
elmbed 17:d8b901d791fd 694 interpret(parameter, value);
elmbed 17:d8b901d791fd 695 DEBUG("After interp: '%c'\r\n", parameter);
elmbed 17:d8b901d791fd 696 parameter = '_';
elmbed 17:d8b901d791fd 697 buffer[0] = 0;
elmbed 17:d8b901d791fd 698 i=0;
elmbed 17:d8b901d791fd 699 }
elmbed 17:d8b901d791fd 700 else
elmbed 17:d8b901d791fd 701 {
elmbed 17:d8b901d791fd 702 if(i==0)
elmbed 17:d8b901d791fd 703 parameter = ch;
elmbed 17:d8b901d791fd 704 else
elmbed 17:d8b901d791fd 705 buffer[i-1] = ch;
elmbed 17:d8b901d791fd 706 i++;
elmbed 17:d8b901d791fd 707 }
elmbed 17:d8b901d791fd 708
elmbed 17:d8b901d791fd 709 if(ch == '_' || ch == '\r' || ch == ';' || ch == '\n')
elmbed 17:d8b901d791fd 710 {
elmbed 17:d8b901d791fd 711 parameter = '_';
elmbed 17:d8b901d791fd 712 buffer[0] = 0;
elmbed 17:d8b901d791fd 713 i=0;
elmbed 17:d8b901d791fd 714 }
elmbed 17:d8b901d791fd 715 }
elmbed 17:d8b901d791fd 716 }
elmbed 17:d8b901d791fd 717
elmbed 23:26f27c462976 718 static void interpret(char parameter, int value)
elmbed 17:d8b901d791fd 719 {
elmbed 18:affef3a7db2a 720 int remainder;
elmbed 18:affef3a7db2a 721 uint16_t split;
elmbed 18:affef3a7db2a 722 uint16_t t;
elmbed 18:affef3a7db2a 723 uint8_t c;
elmbed 18:affef3a7db2a 724 uint8_t l;
elmbed 18:affef3a7db2a 725 int last;
elmbed 18:affef3a7db2a 726 int middle;
elmbed 18:affef3a7db2a 727 uint8_t length;
elmbed 18:affef3a7db2a 728 uint8_t offset;
elmbed 18:affef3a7db2a 729 int i;
elmbed 18:affef3a7db2a 730 uint8_t v;
elmbed 18:affef3a7db2a 731 uint16_t val;
elmbed 17:d8b901d791fd 732
elmbed 17:d8b901d791fd 733 switch(parameter)
elmbed 17:d8b901d791fd 734 {
elmbed 17:d8b901d791fd 735 case 'f':
elmbed 17:d8b901d791fd 736 if(lonely)
elmbed 17:d8b901d791fd 737 {
elmbed 18:affef3a7db2a 738 writeToPhone("Sorry, no other cones detected, please try detecting cones first.\r\n");
elmbed 17:d8b901d791fd 739 break;
elmbed 17:d8b901d791fd 740 }
elmbed 18:affef3a7db2a 741
elmbed 18:affef3a7db2a 742 writeToPhone("Entered freeform\r\n");
elmbed 17:d8b901d791fd 743 mode = FREEFORM;
elmbed 17:d8b901d791fd 744 state_p = START_P;
elmbed 17:d8b901d791fd 745 clearCones();
elmbed 18:affef3a7db2a 746 //find_cones();
elmbed 17:d8b901d791fd 747 break;
elmbed 17:d8b901d791fd 748 case 'p':
elmbed 17:d8b901d791fd 749 if(value == 0)
elmbed 17:d8b901d791fd 750 {
elmbed 18:affef3a7db2a 751 writeToPhone("\r\n");
elmbed 18:affef3a7db2a 752 writeToPhone("Running pattern %d\r\n", active_sequence + 1);
elmbed 18:affef3a7db2a 753
elmbed 17:d8b901d791fd 754 mode = PATTERN;
elmbed 17:d8b901d791fd 755 state_p = START_P;
elmbed 17:d8b901d791fd 756 active_cone = 0;
elmbed 18:affef3a7db2a 757
elmbed 17:d8b901d791fd 758 clearCones();
elmbed 17:d8b901d791fd 759 }
elmbed 17:d8b901d791fd 760 else
elmbed 17:d8b901d791fd 761 {
elmbed 18:affef3a7db2a 762 writeToPhone("Selected pattern %d\r\n", value);
elmbed 18:affef3a7db2a 763
elmbed 17:d8b901d791fd 764 if(value <= SEQUENCES && value > 0)
elmbed 17:d8b901d791fd 765 {
elmbed 17:d8b901d791fd 766 active_sequence = value - 1;
elmbed 17:d8b901d791fd 767 cones = (uint8_t*)cone_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 768 times = (uint16_t*)time_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 769 masks = (uint8_t*)mask_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 770 }
elmbed 17:d8b901d791fd 771 else
elmbed 17:d8b901d791fd 772 {
AntonLS 41:dee3fd34e37a 773 writeToPhone("This pattern is not available. Please select a value between 1 and %d\r\n", SEQUENCES);
elmbed 17:d8b901d791fd 774 }
elmbed 17:d8b901d791fd 775 }
elmbed 17:d8b901d791fd 776 break;
AntonLS 41:dee3fd34e37a 777 case 'P':
AntonLS 41:dee3fd34e37a 778 if(value != 0)
AntonLS 41:dee3fd34e37a 779 {
AntonLS 41:dee3fd34e37a 780 if(value <= SEQUENCES && value > 0)
AntonLS 41:dee3fd34e37a 781 {
AntonLS 41:dee3fd34e37a 782 active_sequence = value - 1;
AntonLS 41:dee3fd34e37a 783 cones = (uint8_t*)cone_table + (value-1)*STATIONS;
AntonLS 41:dee3fd34e37a 784 times = (uint16_t*)time_table + (value-1)*STATIONS;
AntonLS 41:dee3fd34e37a 785 masks = (uint8_t*)mask_table + (value-1)*STATIONS;
AntonLS 41:dee3fd34e37a 786
AntonLS 41:dee3fd34e37a 787 // Side effect: Also sets current station to 1:
AntonLS 41:dee3fd34e37a 788 station = 1;
AntonLS 41:dee3fd34e37a 789 }
AntonLS 41:dee3fd34e37a 790 else
AntonLS 41:dee3fd34e37a 791 {
AntonLS 41:dee3fd34e37a 792 writeToPhone("Only from 1 to %d\r\n", SEQUENCES);
AntonLS 41:dee3fd34e37a 793 }
AntonLS 41:dee3fd34e37a 794 }
AntonLS 41:dee3fd34e37a 795 else // P; or P0;
AntonLS 41:dee3fd34e37a 796 {
AntonLS 41:dee3fd34e37a 797 writeToPhone("Nothing done\r\n");
AntonLS 41:dee3fd34e37a 798 }
AntonLS 41:dee3fd34e37a 799 break;
elmbed 17:d8b901d791fd 800 case 's':
AntonLS 41:dee3fd34e37a 801 writeToPhone("Selected station %d\r\n", value);
AntonLS 41:dee3fd34e37a 802 case 'S':
elmbed 17:d8b901d791fd 803 station = value;
elmbed 17:d8b901d791fd 804 break;
elmbed 17:d8b901d791fd 805 case 'd':
elmbed 18:affef3a7db2a 806 if(value == 0){
elmbed 17:d8b901d791fd 807 logging = false;
elmbed 17:d8b901d791fd 808 m->value = 0;
elmbed 17:d8b901d791fd 809 dist_timeout = micros() + 2000000;
elmbed 17:d8b901d791fd 810 }
elmbed 18:affef3a7db2a 811 if(value == 1){
elmbed 17:d8b901d791fd 812 logging = true;
elmbed 17:d8b901d791fd 813 m->value = 1;
elmbed 17:d8b901d791fd 814 }
elmbed 17:d8b901d791fd 815 m->command = 'd';
elmbed 17:d8b901d791fd 816 m->cone = TRILAT_CONE;
elmbed 17:d8b901d791fd 817 ta.send(m);
elmbed 18:affef3a7db2a 818 //Serial.print("Sent d");
elmbed 18:affef3a7db2a 819 //Serial.println(value);
elmbed 17:d8b901d791fd 820 break;
elmbed 17:d8b901d791fd 821 case 'c':
AntonLS 41:dee3fd34e37a 822 writeToPhone("Station %d will be cone %d\r\n", station, value);
AntonLS 41:dee3fd34e37a 823 case 'C':
elmbed 17:d8b901d791fd 824 c = value;
elmbed 18:affef3a7db2a 825 if(station <= STATIONS && station > 0)cones[station-1] = c;
elmbed 17:d8b901d791fd 826 break;
elmbed 17:d8b901d791fd 827 case 't':
elmbed 17:d8b901d791fd 828 t = (uint16_t)value;
elmbed 17:d8b901d791fd 829 remainder = t%1000;
AntonLS 19:afcbb425b3cf 830 writeToPhone("Station %d split time is: %d.%03d seconds.\r\n", station, t/1000, remainder);
AntonLS 41:dee3fd34e37a 831 case 'T':
AntonLS 41:dee3fd34e37a 832 t = (uint16_t)value;
AntonLS 41:dee3fd34e37a 833 // remainder = t%1000;
AntonLS 19:afcbb425b3cf 834 /// if(remainder < 100)writeToPhone("0");
AntonLS 19:afcbb425b3cf 835 /// if(remainder < 10)writeToPhone("0");
AntonLS 19:afcbb425b3cf 836 /// writeToPhone("%d seconds.\r\n",remainder);
elmbed 18:affef3a7db2a 837 if(station <= STATIONS && station > 0)times[station-1] = t;
elmbed 17:d8b901d791fd 838 break;
elmbed 17:d8b901d791fd 839 case 'l':
AntonLS 41:dee3fd34e37a 840 // l = 0;
elmbed 17:d8b901d791fd 841 l = (uint8_t)value;
elmbed 17:d8b901d791fd 842 masks[station-1] = l;
AntonLS 19:afcbb425b3cf 843 writeToPhone( "Station %d config bits: ", station );
AntonLS 19:afcbb425b3cf 844 writeBitsToPhone( l );
AntonLS 19:afcbb425b3cf 845 writeToPhone( "\r\n" );
elmbed 17:d8b901d791fd 846 break;
AntonLS 41:dee3fd34e37a 847 case 'B': // After setting bits, echo back station data.
AntonLS 41:dee3fd34e37a 848 l = (uint8_t)value;
AntonLS 41:dee3fd34e37a 849 masks[station-1] = l;
AntonLS 41:dee3fd34e37a 850 writeToPhone( "%c%02d;C%02d;T&05d;B%02x\r\n", (1==station) ? 'P' : 'S',
AntonLS 41:dee3fd34e37a 851 (1==station) ? active_sequence +1 : station,
AntonLS 41:dee3fd34e37a 852 cones[station-1], times[station-1], l );
AntonLS 41:dee3fd34e37a 853 break;
elmbed 17:d8b901d791fd 854 case 'q':
elmbed 17:d8b901d791fd 855 state_p = IDLE_P;
elmbed 17:d8b901d791fd 856 new_state = true; // force state reporting, even if we're already in IDLE
elmbed 23:26f27c462976 857 //ta.pulse_off();
elmbed 23:26f27c462976 858 //clearCones();
elmbed 17:d8b901d791fd 859 break;
elmbed 17:d8b901d791fd 860 case 'r':
elmbed 18:affef3a7db2a 861 //Serial.println(F(""));
AntonLS 39:b1f864b71318 862 // writeToPhone("Current pattern is %d:\r\n", active_sequence+1);
AntonLS 39:b1f864b71318 863 writeToPhone("Pattern is %d:\r\n", active_sequence+1); // PROTOCOL optimization
elmbed 18:affef3a7db2a 864 for(int i=0; i<STATIONS; i++){
AntonLS 39:b1f864b71318 865 // writeToPhone("Station %d: cone %d, ", i+1, cones[i]);
AntonLS 39:b1f864b71318 866 writeToPhone("S%02d,C%02d", i+1, cones[i]); // PROTOCOL optimization
elmbed 17:d8b901d791fd 867 split = times[i];
AntonLS 39:b1f864b71318 868 // printMsAsSeconds(split); // Removed for PROTOCOL optimization
elmbed 18:affef3a7db2a 869 //Serial.print(F("s timeout, lights: "));
AntonLS 39:b1f864b71318 870 // writeToPhone("s timeout, config bits: ");
AntonLS 39:b1f864b71318 871 writeToPhone(",T%05d", split); // PROTOCOL optimization
elmbed 17:d8b901d791fd 872 l = masks[i];
elmbed 17:d8b901d791fd 873 /*
elmbed 18:affef3a7db2a 874 if(l<0b10000000)
elmbed 18:affef3a7db2a 875 writeToPhone("0");
elmbed 18:affef3a7db2a 876 if(l<0b1000000)
elmbed 18:affef3a7db2a 877 writeToPhone("0");
elmbed 18:affef3a7db2a 878 if(l<0b100000)
elmbed 18:affef3a7db2a 879 writeToPhone("0");
elmbed 18:affef3a7db2a 880 if(l<0b10000)
elmbed 18:affef3a7db2a 881 writeToPhone("0");
elmbed 18:affef3a7db2a 882 if(l<0b1000)
elmbed 18:affef3a7db2a 883 writeToPhone("0");
elmbed 18:affef3a7db2a 884 if(l<0b100)
elmbed 18:affef3a7db2a 885 writeToPhone("0");
elmbed 18:affef3a7db2a 886 if(l<0b10)
elmbed 18:affef3a7db2a 887 writeToPhone("0");
elmbed 18:affef3a7db2a 888 */
AntonLS 39:b1f864b71318 889 // writeBitsToPhone( l, 3 ); // Removed for PROTOCOL optimization
AntonLS 39:b1f864b71318 890 writeToPhone(",B%02x", l); // PROTOCOL optimization
AntonLS 19:afcbb425b3cf 891 writeToPhone( "\r\n" );
elmbed 18:affef3a7db2a 892 //Serial.println(l, BIN);
elmbed 17:d8b901d791fd 893 }
elmbed 17:d8b901d791fd 894 break;
elmbed 17:d8b901d791fd 895 case 'u':
elmbed 17:d8b901d791fd 896 // let any pending messages clear
elmbed 18:affef3a7db2a 897 while(ta.get_buffer_size()){
elmbed 17:d8b901d791fd 898 ta.spin();
elmbed 17:d8b901d791fd 899 }
elmbed 18:affef3a7db2a 900 if(value == 1){
elmbed 18:affef3a7db2a 901 writeToPhone("Course leader!\r\n");
elmbed 17:d8b901d791fd 902 powerupCones(value);
elmbed 17:d8b901d791fd 903 ta.powerup(value);
elmbed 17:d8b901d791fd 904 }
elmbed 18:affef3a7db2a 905 if(value == 2){
elmbed 18:affef3a7db2a 906 writeToPhone("Split leader!\r\n");
elmbed 17:d8b901d791fd 907 powerupCones(value);
elmbed 18:affef3a7db2a 908 //ta.powerup(value);
elmbed 17:d8b901d791fd 909 }
elmbed 18:affef3a7db2a 910 if(value > 10 && value < 5000){
elmbed 17:d8b901d791fd 911 ta.beep(value);
elmbed 17:d8b901d791fd 912 }
elmbed 17:d8b901d791fd 913 break;
elmbed 17:d8b901d791fd 914 case 'w':
elmbed 18:affef3a7db2a 915 if(value > 0 && value <= SEQUENCES){
elmbed 17:d8b901d791fd 916 length = STATIONS;
elmbed 17:d8b901d791fd 917 offset = (value - 1) * STATIONS;
elmbed 18:affef3a7db2a 918 writeToPhone("Saved sequence %d\r\n", value);
elmbed 17:d8b901d791fd 919 }
elmbed 18:affef3a7db2a 920 else{
elmbed 17:d8b901d791fd 921 length = STATIONS * SEQUENCES;
elmbed 17:d8b901d791fd 922 offset = 0;
elmbed 18:affef3a7db2a 923 writeToPhone("Saved all sequences.\r\n");
elmbed 17:d8b901d791fd 924 }
elmbed 18:affef3a7db2a 925 for(i=offset;i<length+offset;i++){
elmbed 18:affef3a7db2a 926 //eeprom_update_byte(addressConeTable + i, cone_table[i]);
elmbed 18:affef3a7db2a 927 //eeprom_update_byte(addressMaskTable + i, mask_table[i]);
elmbed 18:affef3a7db2a 928 //eeprom_update_word(addressTimeTable + i, time_table[i]);
elmbed 17:d8b901d791fd 929 }
elmbed 17:d8b901d791fd 930 break;
elmbed 17:d8b901d791fd 931 case 'x':
elmbed 17:d8b901d791fd 932 resetSensors();
elmbed 18:affef3a7db2a 933 //digitalWrite(A3, LOW);
elmbed 18:affef3a7db2a 934 //delay(100);
elmbed 18:affef3a7db2a 935 //digitalWrite(A3, HIGH);
elmbed 17:d8b901d791fd 936 break;
elmbed 17:d8b901d791fd 937
elmbed 17:d8b901d791fd 938 case 'z':
elmbed 17:d8b901d791fd 939 find_cones();
elmbed 18:affef3a7db2a 940 /*m->value = value;
elmbed 17:d8b901d791fd 941 m->command = 'z';
elmbed 17:d8b901d791fd 942 m->cone = 2;
elmbed 18:affef3a7db2a 943 Serial.println("sending...");
elmbed 17:d8b901d791fd 944 ta.send(m);
elmbed 18:affef3a7db2a 945 Serial.println("sent");*/
elmbed 17:d8b901d791fd 946 break;
elmbed 17:d8b901d791fd 947 }
elmbed 17:d8b901d791fd 948 }
elmbed 23:26f27c462976 949
elmbed 23:26f27c462976 950 static patternState_t stateFromCone(uint8_t cone)
elmbed 17:d8b901d791fd 951 {
elmbed 17:d8b901d791fd 952 if(cone == 0 || index == STATIONS)
elmbed 17:d8b901d791fd 953 return SUCCESS_P;
elmbed 17:d8b901d791fd 954 if(cone == 1)
elmbed 17:d8b901d791fd 955 return ACTIVE_TARGET_P;
elmbed 17:d8b901d791fd 956
elmbed 17:d8b901d791fd 957 return WAITING_P;
elmbed 17:d8b901d791fd 958 }
elmbed 17:d8b901d791fd 959
elmbed 23:26f27c462976 960 static void printSplit(unsigned long timer)
elmbed 17:d8b901d791fd 961 {
elmbed 17:d8b901d791fd 962 if(tag_start)
elmbed 17:d8b901d791fd 963 {
elmbed 17:d8b901d791fd 964 //DEBUG("Sequence started at cone ");
elmbed 17:d8b901d791fd 965 //DEBUG("%d",active_cone);
elmbed 17:d8b901d791fd 966 //DEBUG(" (");
elmbed 17:d8b901d791fd 967 printMsAsSeconds(timer);
elmbed 17:d8b901d791fd 968 //DEBUG(" seconds).\n");
elmbed 17:d8b901d791fd 969 tag_start = false;
elmbed 17:d8b901d791fd 970 }
elmbed 17:d8b901d791fd 971 else
elmbed 17:d8b901d791fd 972 {
elmbed 17:d8b901d791fd 973 //DEBUG("Target cone is: ");
elmbed 17:d8b901d791fd 974 //DEBUG("%d",active_cone);
elmbed 17:d8b901d791fd 975 //DEBUG(", ");
elmbed 17:d8b901d791fd 976 printMsAsSeconds(timer);
elmbed 17:d8b901d791fd 977 //DEBUG(" split");
elmbed 17:d8b901d791fd 978 }
elmbed 17:d8b901d791fd 979 }
elmbed 17:d8b901d791fd 980
elmbed 23:26f27c462976 981 static uint8_t getRandomCone(void)
elmbed 17:d8b901d791fd 982 {
elmbed 17:d8b901d791fd 983 static uint8_t lastCone = 0;
elmbed 17:d8b901d791fd 984 uint8_t cone;
elmbed 17:d8b901d791fd 985
elmbed 17:d8b901d791fd 986 do
elmbed 17:d8b901d791fd 987 {
elmbed 17:d8b901d791fd 988 cone = random(1, NUM_CONES + 1);
elmbed 17:d8b901d791fd 989 }
elmbed 17:d8b901d791fd 990 while(cone == lastCone || active_cones[cone] == false);
elmbed 17:d8b901d791fd 991
elmbed 17:d8b901d791fd 992 //DEBUG("Target cone is ");
elmbed 17:d8b901d791fd 993 //DEBUG("%d\n",cone);
elmbed 17:d8b901d791fd 994 lastCone = cone;
elmbed 17:d8b901d791fd 995 return cone;
elmbed 17:d8b901d791fd 996 }
elmbed 17:d8b901d791fd 997
elmbed 23:26f27c462976 998 static void clearCones(void)
elmbed 17:d8b901d791fd 999 {
elmbed 38:76e49d045a3b 1000 #if 1
elmbed 17:d8b901d791fd 1001 uint8_t i;
elmbed 17:d8b901d791fd 1002 m->command = 'q';
elmbed 17:d8b901d791fd 1003
elmbed 17:d8b901d791fd 1004 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1005 {
elmbed 17:d8b901d791fd 1006 m->cone = i;
elmbed 17:d8b901d791fd 1007 if(active_cones[i])
elmbed 17:d8b901d791fd 1008 ta.send(m);
elmbed 17:d8b901d791fd 1009 active_cones[i] = false;
elmbed 17:d8b901d791fd 1010 //ta.send("q", i);
elmbed 17:d8b901d791fd 1011 }
elmbed 17:d8b901d791fd 1012
elmbed 17:d8b901d791fd 1013 DEBUG("sent clear\r\n");
elmbed 23:26f27c462976 1014 #endif
elmbed 17:d8b901d791fd 1015 }
elmbed 17:d8b901d791fd 1016
elmbed 23:26f27c462976 1017 static void powerupCones(uint8_t sound)
elmbed 17:d8b901d791fd 1018 {
elmbed 23:26f27c462976 1019 #if 1
elmbed 17:d8b901d791fd 1020 uint8_t i;
elmbed 17:d8b901d791fd 1021 m->command = 'u';
elmbed 17:d8b901d791fd 1022 m->value = sound;
elmbed 17:d8b901d791fd 1023
elmbed 17:d8b901d791fd 1024 if(sound == 2)
elmbed 17:d8b901d791fd 1025 {
elmbed 28:8e74ddc4f70f 1026 if(active_cone == NODE_ID)
elmbed 17:d8b901d791fd 1027 {
elmbed 17:d8b901d791fd 1028 ta.powerup(sound);
elmbed 17:d8b901d791fd 1029 }
elmbed 17:d8b901d791fd 1030 else
elmbed 17:d8b901d791fd 1031 {
elmbed 17:d8b901d791fd 1032 m->cone = active_cone;
elmbed 17:d8b901d791fd 1033 ta.send(m);
elmbed 17:d8b901d791fd 1034 }
elmbed 17:d8b901d791fd 1035 }
elmbed 17:d8b901d791fd 1036 else
elmbed 17:d8b901d791fd 1037 {
elmbed 17:d8b901d791fd 1038 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1039 {
elmbed 17:d8b901d791fd 1040 m->cone = i;
elmbed 17:d8b901d791fd 1041 if(active_cones[i])
elmbed 17:d8b901d791fd 1042 ta.send(m);
elmbed 17:d8b901d791fd 1043 //ta.send("f", i);
elmbed 17:d8b901d791fd 1044 }
elmbed 17:d8b901d791fd 1045 }
elmbed 23:26f27c462976 1046 #endif
elmbed 17:d8b901d791fd 1047 //DEBUG("sent powerup");
elmbed 17:d8b901d791fd 1048 }
elmbed 17:d8b901d791fd 1049
elmbed 23:26f27c462976 1050 static void failCones(void)
elmbed 17:d8b901d791fd 1051 {
elmbed 38:76e49d045a3b 1052 #if 1
elmbed 17:d8b901d791fd 1053 uint8_t i;
elmbed 17:d8b901d791fd 1054 m->command = 'f';
elmbed 17:d8b901d791fd 1055
elmbed 17:d8b901d791fd 1056 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1057 {
elmbed 17:d8b901d791fd 1058 m->cone = i;
elmbed 17:d8b901d791fd 1059
elmbed 17:d8b901d791fd 1060 if(active_cones[i])
elmbed 17:d8b901d791fd 1061 ta.send(m);
elmbed 17:d8b901d791fd 1062 //ta.send("f", i);
elmbed 17:d8b901d791fd 1063 }
elmbed 17:d8b901d791fd 1064
elmbed 17:d8b901d791fd 1065 while(ta.get_buffer_size())
elmbed 17:d8b901d791fd 1066 {
elmbed 17:d8b901d791fd 1067 ta.spin();
elmbed 17:d8b901d791fd 1068 }
elmbed 17:d8b901d791fd 1069
elmbed 17:d8b901d791fd 1070 //DEBUG("sent fail\n");
elmbed 23:26f27c462976 1071 #endif
elmbed 17:d8b901d791fd 1072 }
elmbed 17:d8b901d791fd 1073
elmbed 23:26f27c462976 1074 static void resetSensors(void)
elmbed 17:d8b901d791fd 1075 {
elmbed 38:76e49d045a3b 1076 #if 1
elmbed 17:d8b901d791fd 1077 uint8_t i;
elmbed 17:d8b901d791fd 1078 m->command = 'x';
elmbed 17:d8b901d791fd 1079
elmbed 17:d8b901d791fd 1080 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1081 {
elmbed 17:d8b901d791fd 1082 m->cone = i;
elmbed 17:d8b901d791fd 1083 if(active_cones[i])
elmbed 17:d8b901d791fd 1084 ta.send(m);
elmbed 17:d8b901d791fd 1085 //ta.send("f", i);
elmbed 17:d8b901d791fd 1086 }
elmbed 17:d8b901d791fd 1087
elmbed 17:d8b901d791fd 1088 DEBUG("sent sensor reset\n");
elmbed 23:26f27c462976 1089 #endif
elmbed 17:d8b901d791fd 1090 }
elmbed 17:d8b901d791fd 1091
elmbed 23:26f27c462976 1092 static void successCones(void)
elmbed 17:d8b901d791fd 1093 {
elmbed 38:76e49d045a3b 1094 #if 1
elmbed 17:d8b901d791fd 1095 uint8_t i;
elmbed 17:d8b901d791fd 1096 m->command = 's';
elmbed 17:d8b901d791fd 1097
elmbed 17:d8b901d791fd 1098 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1099 {
elmbed 17:d8b901d791fd 1100 m->cone = i;
elmbed 17:d8b901d791fd 1101 if(active_cones[i])
elmbed 17:d8b901d791fd 1102 ta.send(m);
elmbed 17:d8b901d791fd 1103 //ta.send("s", i);
elmbed 17:d8b901d791fd 1104 }
elmbed 17:d8b901d791fd 1105
elmbed 17:d8b901d791fd 1106 while(ta.get_buffer_size())
elmbed 17:d8b901d791fd 1107 {
elmbed 17:d8b901d791fd 1108 ta.spin();
elmbed 17:d8b901d791fd 1109 }
elmbed 17:d8b901d791fd 1110
elmbed 17:d8b901d791fd 1111 //DEBUG("sent success\n");
elmbed 23:26f27c462976 1112 #endif
elmbed 17:d8b901d791fd 1113 }
elmbed 17:d8b901d791fd 1114
elmbed 23:26f27c462976 1115 static void find_cones(void)
elmbed 17:d8b901d791fd 1116 {
elmbed 17:d8b901d791fd 1117 while(ta.get_buffer_size())
elmbed 23:26f27c462976 1118 {
elmbed 17:d8b901d791fd 1119 ta.spin(); // wait for all messages to leave queue
elmbed 28:8e74ddc4f70f 1120 }
elmbed 17:d8b901d791fd 1121
elmbed 23:26f27c462976 1122 ta.beep_off();
elmbed 17:d8b901d791fd 1123 uint8_t i;
elmbed 17:d8b901d791fd 1124 m->command = 'z';
elmbed 28:8e74ddc4f70f 1125
elmbed 17:d8b901d791fd 1126 lonely = true;
elmbed 17:d8b901d791fd 1127
elmbed 29:ae208b014987 1128 writeToPhone("FC\r\n");
elmbed 29:ae208b014987 1129
elmbed 29:ae208b014987 1130 int retry_count = 0;
AntonLS 32:64e5d7340d82 1131
elmbed 26:40a0c775ff27 1132 for(i = 2; i < NUM_CONES + 1; ++i)
elmbed 17:d8b901d791fd 1133 {
elmbed 29:ae208b014987 1134 retry_count = 0;
elmbed 29:ae208b014987 1135 go_again:
elmbed 17:d8b901d791fd 1136 active_cones[i] = false;
elmbed 17:d8b901d791fd 1137 m->cone = i;
elmbed 17:d8b901d791fd 1138 ta.send_immediate(m);
elmbed 17:d8b901d791fd 1139
elmbed 17:d8b901d791fd 1140 unsigned long st = millis();
elmbed 29:ae208b014987 1141 unsigned long current = 0L;
elmbed 29:ae208b014987 1142 unsigned long delta = 0L;
elmbed 17:d8b901d791fd 1143
AntonLS 32:64e5d7340d82 1144 writeToPhone("S: %lu F: %d\r\n", st, i); /// DEBUG-only message
elmbed 23:26f27c462976 1145
elmbed 17:d8b901d791fd 1146 while(1)
elmbed 17:d8b901d791fd 1147 {
elmbed 23:26f27c462976 1148 current = millis();
elmbed 23:26f27c462976 1149 delta = current - st;
elmbed 17:d8b901d791fd 1150
elmbed 35:c1405da88d3a 1151 if(delta > 300L)
elmbed 23:26f27c462976 1152 {
elmbed 29:ae208b014987 1153 writeToPhone("FT: %d %lu\r\n", i, current);
elmbed 29:ae208b014987 1154
elmbed 29:ae208b014987 1155 if (++retry_count < 3)
elmbed 29:ae208b014987 1156 {
elmbed 29:ae208b014987 1157 goto go_again;
elmbed 29:ae208b014987 1158 }
elmbed 29:ae208b014987 1159 else
elmbed 29:ae208b014987 1160 {
elmbed 29:ae208b014987 1161 break;
elmbed 29:ae208b014987 1162 }
elmbed 28:8e74ddc4f70f 1163 }
elmbed 17:d8b901d791fd 1164 if(ta.recieve(m_in))
elmbed 17:d8b901d791fd 1165 {
elmbed 17:d8b901d791fd 1166 lonely = false;
elmbed 17:d8b901d791fd 1167 active_cones[m_in->cone] = true;
elmbed 17:d8b901d791fd 1168
elmbed 29:ae208b014987 1169 writeToPhone("FS: %d\r\n", m_in->cone);
elmbed 17:d8b901d791fd 1170 break;
elmbed 17:d8b901d791fd 1171 }
elmbed 17:d8b901d791fd 1172 }
elmbed 29:ae208b014987 1173
elmbed 29:ae208b014987 1174 wait_us(50);
elmbed 17:d8b901d791fd 1175 }
elmbed 17:d8b901d791fd 1176
elmbed 26:40a0c775ff27 1177 writeToPhone("available cones are: (1");
elmbed 17:d8b901d791fd 1178
elmbed 26:40a0c775ff27 1179 for(i = 2; i < NUM_CONES + 1; ++i)
elmbed 17:d8b901d791fd 1180 {
elmbed 17:d8b901d791fd 1181 if(active_cones[i])
elmbed 17:d8b901d791fd 1182 {
elmbed 26:40a0c775ff27 1183 writeToPhone(", %d", i);
elmbed 17:d8b901d791fd 1184 }
elmbed 17:d8b901d791fd 1185 }
elmbed 26:40a0c775ff27 1186
elmbed 26:40a0c775ff27 1187 writeToPhone(")\r\n");
elmbed 17:d8b901d791fd 1188 }
elmbed 17:d8b901d791fd 1189
elmbed 23:26f27c462976 1190 static void printMsAsSeconds(unsigned long number)
elmbed 17:d8b901d791fd 1191 {
elmbed 17:d8b901d791fd 1192 uint16_t remainder;
elmbed 17:d8b901d791fd 1193
elmbed 17:d8b901d791fd 1194 remainder = number%1000;
AntonLS 19:afcbb425b3cf 1195
AntonLS 39:b1f864b71318 1196 writeToPhone( "%d.%03d", number/1000, remainder ); /// Needs to stay without newline.
elmbed 17:d8b901d791fd 1197 }
elmbed 17:d8b901d791fd 1198
elmbed 23:26f27c462976 1199 static void spinButtons(void)
elmbed 17:d8b901d791fd 1200 {
elmbed 17:d8b901d791fd 1201 static inputState_t last_state = IDLE_I;
elmbed 17:d8b901d791fd 1202 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 1203 static Event event;
elmbed 17:d8b901d791fd 1204 static uint8_t sequence = 0;
elmbed 17:d8b901d791fd 1205 static unsigned long start = 0;
elmbed 17:d8b901d791fd 1206 uint8_t section = 0;
elmbed 17:d8b901d791fd 1207
elmbed 17:d8b901d791fd 1208 //uint8_t buttons;
elmbed 17:d8b901d791fd 1209
elmbed 17:d8b901d791fd 1210 //timer = millis() - start;
elmbed 17:d8b901d791fd 1211 if(millis() > 500)
elmbed 17:d8b901d791fd 1212 event = getInputEvent();
elmbed 17:d8b901d791fd 1213
elmbed 17:d8b901d791fd 1214 if(event.type == Event::press)
elmbed 17:d8b901d791fd 1215 {
elmbed 17:d8b901d791fd 1216 in_menu = true;
elmbed 17:d8b901d791fd 1217 state_i = MENU_I;
elmbed 17:d8b901d791fd 1218 }
elmbed 17:d8b901d791fd 1219
elmbed 17:d8b901d791fd 1220 first_i = false;
elmbed 17:d8b901d791fd 1221
elmbed 17:d8b901d791fd 1222 if(last_state != state_i)
elmbed 17:d8b901d791fd 1223 {
elmbed 17:d8b901d791fd 1224 //if(state_i == IDLE_I)////////////DEBUG.println(F("");
elmbed 17:d8b901d791fd 1225 //if(state_i == RUNNING_I)//////////////DEBUG.println(F("State is WAITING");
elmbed 17:d8b901d791fd 1226 // need to print menu timeout?
elmbed 17:d8b901d791fd 1227 if(state_i == MENU_I)
elmbed 17:d8b901d791fd 1228 ////DEBUG("Menu\n");
elmbed 17:d8b901d791fd 1229 if(state_i == PATTERN_SELECT_I)
elmbed 17:d8b901d791fd 1230 ////DEBUG("Choosing pattern");
elmbed 17:d8b901d791fd 1231 first_i = true;
elmbed 17:d8b901d791fd 1232 }
elmbed 17:d8b901d791fd 1233
elmbed 17:d8b901d791fd 1234 last_state = state_i;
elmbed 17:d8b901d791fd 1235
elmbed 17:d8b901d791fd 1236 if(state_i == RUNNING_I)
elmbed 17:d8b901d791fd 1237 in_menu = false;
elmbed 17:d8b901d791fd 1238
elmbed 17:d8b901d791fd 1239 switch(state_i)
elmbed 17:d8b901d791fd 1240 {
elmbed 17:d8b901d791fd 1241 case IDLE_I:
elmbed 17:d8b901d791fd 1242 // display something distinctive
elmbed 17:d8b901d791fd 1243 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1244 {
elmbed 17:d8b901d791fd 1245 state_i = RUNNING_I;
elmbed 17:d8b901d791fd 1246 //send 'p' or 'f' command as appropriate
elmbed 17:d8b901d791fd 1247 if(mode == FREEFORM)
elmbed 17:d8b901d791fd 1248 interpret('f', 0);
elmbed 17:d8b901d791fd 1249 else
elmbed 17:d8b901d791fd 1250 interpret('p', 0);
elmbed 17:d8b901d791fd 1251 }
elmbed 35:c1405da88d3a 1252
elmbed 17:d8b901d791fd 1253 break;
elmbed 17:d8b901d791fd 1254 case RUNNING_I:
elmbed 17:d8b901d791fd 1255 if(event.type == Event::finish)
elmbed 17:d8b901d791fd 1256 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1257 break;
elmbed 17:d8b901d791fd 1258 case MENU_I:
elmbed 17:d8b901d791fd 1259 if(first_i)
elmbed 17:d8b901d791fd 1260 interpret('q', 0);
elmbed 17:d8b901d791fd 1261 // every 3 seconds we cycle through the menu
elmbed 17:d8b901d791fd 1262 // one option per second
elmbed 17:d8b901d791fd 1263 // light changes color and stays on for 500ms
elmbed 17:d8b901d791fd 1264 section = ((millis() - start)%3000)/500;
elmbed 17:d8b901d791fd 1265
elmbed 17:d8b901d791fd 1266 if(section == 0)
elmbed 17:d8b901d791fd 1267 ta.post_color(0xFF);
elmbed 17:d8b901d791fd 1268 if(section == 1)
elmbed 17:d8b901d791fd 1269 ta.post_color(0);
elmbed 17:d8b901d791fd 1270 if(section == 2)
elmbed 17:d8b901d791fd 1271 ta.post_color(0xFF00);
elmbed 17:d8b901d791fd 1272 if(section == 3)
elmbed 17:d8b901d791fd 1273 ta.post_color(0);
elmbed 17:d8b901d791fd 1274 if(section == 4)
elmbed 17:d8b901d791fd 1275 ta.post_color(0xFF0000);
elmbed 17:d8b901d791fd 1276 if(section == 5)
elmbed 17:d8b901d791fd 1277 ta.post_color(0);
elmbed 17:d8b901d791fd 1278 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1279 {
elmbed 17:d8b901d791fd 1280 // set state here based on current light color
elmbed 17:d8b901d791fd 1281 if(section < 2)
elmbed 17:d8b901d791fd 1282 {
elmbed 17:d8b901d791fd 1283 mode = FREEFORM;
elmbed 17:d8b901d791fd 1284 ta.post_color(0xFF);
elmbed 17:d8b901d791fd 1285 ////////DEBUG.println(F("Freeform mode.");
elmbed 17:d8b901d791fd 1286 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1287 break;
elmbed 17:d8b901d791fd 1288 }
elmbed 17:d8b901d791fd 1289
elmbed 17:d8b901d791fd 1290 if(section < 4)
elmbed 17:d8b901d791fd 1291 {
elmbed 17:d8b901d791fd 1292 mode = PATTERN;
elmbed 17:d8b901d791fd 1293 ta.post_color(0xFF00);
elmbed 17:d8b901d791fd 1294 ////////DEBUG.println(F("Pattern mode.");
elmbed 17:d8b901d791fd 1295 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1296 break;
elmbed 17:d8b901d791fd 1297 }
elmbed 17:d8b901d791fd 1298
elmbed 17:d8b901d791fd 1299 if(section < 6)
elmbed 17:d8b901d791fd 1300 {
elmbed 17:d8b901d791fd 1301 state_i = PATTERN_SELECT_I;
elmbed 17:d8b901d791fd 1302 ta.post_color(0xFF0000);
elmbed 17:d8b901d791fd 1303 break;
elmbed 17:d8b901d791fd 1304 }
elmbed 17:d8b901d791fd 1305 }
elmbed 17:d8b901d791fd 1306 break;
elmbed 17:d8b901d791fd 1307 case PATTERN_SELECT_I:
elmbed 17:d8b901d791fd 1308 if(first_i)
elmbed 17:d8b901d791fd 1309 {
elmbed 17:d8b901d791fd 1310 sequence = active_sequence;
elmbed 17:d8b901d791fd 1311 mode = PATTERN;
elmbed 17:d8b901d791fd 1312 //start = millis();
elmbed 17:d8b901d791fd 1313 }
elmbed 17:d8b901d791fd 1314 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1315 {
elmbed 17:d8b901d791fd 1316 ta.beep(50);
elmbed 17:d8b901d791fd 1317 if(event.value == 1 && sequence > 0)
elmbed 17:d8b901d791fd 1318 {
elmbed 17:d8b901d791fd 1319 sequence--;
elmbed 17:d8b901d791fd 1320 }
elmbed 17:d8b901d791fd 1321
elmbed 17:d8b901d791fd 1322 if(event.value == 2 && sequence < SEQUENCES - 1)
elmbed 17:d8b901d791fd 1323 {
elmbed 17:d8b901d791fd 1324 sequence++;
elmbed 17:d8b901d791fd 1325 }
elmbed 17:d8b901d791fd 1326
elmbed 17:d8b901d791fd 1327 if(event.value == 3)
elmbed 17:d8b901d791fd 1328 {
elmbed 17:d8b901d791fd 1329 interpret('p', sequence + 1);
elmbed 17:d8b901d791fd 1330 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1331 }
elmbed 17:d8b901d791fd 1332
elmbed 17:d8b901d791fd 1333 if(event.value != 3)
elmbed 17:d8b901d791fd 1334 {
elmbed 17:d8b901d791fd 1335 ////DEBUG("Menu says: sequence ");
elmbed 17:d8b901d791fd 1336 ////DEBUG("%d\n",sequence + 1);
elmbed 17:d8b901d791fd 1337 }
elmbed 17:d8b901d791fd 1338 break;
elmbed 17:d8b901d791fd 1339 case TEACH_I:
elmbed 17:d8b901d791fd 1340 // not implemented yet
elmbed 17:d8b901d791fd 1341 break;
elmbed 17:d8b901d791fd 1342 default: break;
elmbed 17:d8b901d791fd 1343 }
elmbed 17:d8b901d791fd 1344 }
elmbed 17:d8b901d791fd 1345 }
elmbed 17:d8b901d791fd 1346
elmbed 23:26f27c462976 1347 static uint8_t checkButtons(void)
elmbed 17:d8b901d791fd 1348 {
elmbed 17:d8b901d791fd 1349 static unsigned long last_time = 0;
elmbed 17:d8b901d791fd 1350 //static uint8_t last = 0;
elmbed 17:d8b901d791fd 1351 static uint8_t buttons = 0;
elmbed 17:d8b901d791fd 1352
elmbed 17:d8b901d791fd 1353 // listen for commands from the buttons
elmbed 17:d8b901d791fd 1354 unsigned long time = millis();
elmbed 17:d8b901d791fd 1355 // only check every DEBOUNCE_MS to avoid jitter
elmbed 17:d8b901d791fd 1356 if(time - last_time > DEBOUNCE_MS)
elmbed 17:d8b901d791fd 1357 {
elmbed 17:d8b901d791fd 1358 last_time = time;
AntonLS 31:a6110950f385 1359 buttons = ta.buttons() | TA::buttonsRising;
AntonLS 31:a6110950f385 1360 TA::buttonsRising = 0;
elmbed 17:d8b901d791fd 1361 }
elmbed 17:d8b901d791fd 1362
elmbed 17:d8b901d791fd 1363 return buttons;
elmbed 17:d8b901d791fd 1364 }
elmbed 17:d8b901d791fd 1365
elmbed 23:26f27c462976 1366 static Event getInputEvent(void)
elmbed 17:d8b901d791fd 1367 {
elmbed 17:d8b901d791fd 1368 static uint8_t last_buttons = 0;
elmbed 17:d8b901d791fd 1369 static unsigned long time1 = 0;
elmbed 17:d8b901d791fd 1370 static unsigned long time2 = 0;
elmbed 17:d8b901d791fd 1371 static unsigned long time3 = 0;
elmbed 17:d8b901d791fd 1372 unsigned long duration = 0;
elmbed 17:d8b901d791fd 1373 uint8_t buttons = 0;
elmbed 17:d8b901d791fd 1374 Event event;
elmbed 17:d8b901d791fd 1375 event.type = Event::none;
elmbed 17:d8b901d791fd 1376 event.value = 0;
elmbed 17:d8b901d791fd 1377
elmbed 17:d8b901d791fd 1378 buttons = checkButtons();
elmbed 17:d8b901d791fd 1379 uint8_t rising = buttons & ~last_buttons;
elmbed 17:d8b901d791fd 1380 uint8_t falling = ~buttons & last_buttons;
elmbed 17:d8b901d791fd 1381
elmbed 17:d8b901d791fd 1382 /*if(rising){
elmbed 17:d8b901d791fd 1383 //DEBUG.print("Rising ");
elmbed 17:d8b901d791fd 1384 //DEBUG.println(rising);
elmbed 17:d8b901d791fd 1385 }
elmbed 17:d8b901d791fd 1386 if(falling){
elmbed 17:d8b901d791fd 1387 //DEBUG.print("Falling ");
elmbed 17:d8b901d791fd 1388 //DEBUG.println(falling);
elmbed 17:d8b901d791fd 1389 }*/
elmbed 17:d8b901d791fd 1390 if(rising & 0x01)
elmbed 17:d8b901d791fd 1391 time1 = millis();
elmbed 17:d8b901d791fd 1392 if(rising & 0x02)
elmbed 17:d8b901d791fd 1393 time2 = millis();
elmbed 17:d8b901d791fd 1394 if(rising & 0x04)
elmbed 17:d8b901d791fd 1395 time3 = millis();
elmbed 17:d8b901d791fd 1396
elmbed 17:d8b901d791fd 1397 // simultaneous falling edges will cause lower values to be ignored
elmbed 17:d8b901d791fd 1398 if(falling & 0x01)
elmbed 17:d8b901d791fd 1399 {
elmbed 17:d8b901d791fd 1400 duration = millis() - time1;
elmbed 17:d8b901d791fd 1401 event.value = 1;
elmbed 17:d8b901d791fd 1402 }
elmbed 17:d8b901d791fd 1403
elmbed 17:d8b901d791fd 1404 if(falling & 0x02)
elmbed 17:d8b901d791fd 1405 {
elmbed 17:d8b901d791fd 1406 duration = millis() - time2;
elmbed 17:d8b901d791fd 1407 event.value = 2;
elmbed 17:d8b901d791fd 1408 }
elmbed 17:d8b901d791fd 1409
elmbed 17:d8b901d791fd 1410 if(falling & 0x04)
elmbed 17:d8b901d791fd 1411 {
elmbed 17:d8b901d791fd 1412 duration = millis() - time3;
elmbed 17:d8b901d791fd 1413 event.value = 3;
elmbed 17:d8b901d791fd 1414 }
elmbed 17:d8b901d791fd 1415
elmbed 17:d8b901d791fd 1416 if(duration > 0)
elmbed 17:d8b901d791fd 1417 event.type = Event::tap;
elmbed 17:d8b901d791fd 1418 if(duration > 2000)
elmbed 17:d8b901d791fd 1419 event.type = Event::press;
elmbed 17:d8b901d791fd 1420
elmbed 17:d8b901d791fd 1421 // give feedback that we've waited lng enough for a press
elmbed 17:d8b901d791fd 1422 unsigned long t = millis() - time1;
elmbed 17:d8b901d791fd 1423
elmbed 17:d8b901d791fd 1424 if(2020 > t && t > 2000 && (buttons & 0x01))
elmbed 17:d8b901d791fd 1425 ta.beep(20);
elmbed 17:d8b901d791fd 1426
elmbed 17:d8b901d791fd 1427 t = millis() - time2;
elmbed 17:d8b901d791fd 1428
elmbed 17:d8b901d791fd 1429 if(2020 > t && t > 2000 && (buttons & 0x02))
elmbed 17:d8b901d791fd 1430 ta.beep(20);
elmbed 17:d8b901d791fd 1431
elmbed 17:d8b901d791fd 1432 t = millis() - time3;
elmbed 17:d8b901d791fd 1433
elmbed 17:d8b901d791fd 1434 if(2020 > t && t > 2000 && (buttons & 0x04))
elmbed 17:d8b901d791fd 1435 ta.beep(20);
elmbed 17:d8b901d791fd 1436
elmbed 17:d8b901d791fd 1437 if(event.type != Event::none)
elmbed 17:d8b901d791fd 1438 {
elmbed 17:d8b901d791fd 1439 //DEBUG("Event: ");
elmbed 17:d8b901d791fd 1440 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1441 ////DEBUG("tap, ");
elmbed 17:d8b901d791fd 1442 if(event.type == Event::press)
elmbed 17:d8b901d791fd 1443 ////DEBUG("press, ");
elmbed 17:d8b901d791fd 1444
elmbed 17:d8b901d791fd 1445 uint8_t val = event.value;
elmbed 17:d8b901d791fd 1446 //DEBUG("%d\n",val);
elmbed 17:d8b901d791fd 1447 //////DEBUG.println(duration);
elmbed 17:d8b901d791fd 1448 }
elmbed 17:d8b901d791fd 1449
elmbed 17:d8b901d791fd 1450 last_buttons = buttons;
elmbed 17:d8b901d791fd 1451 return event;
elmbed 17:d8b901d791fd 1452 }
elmbed 18:affef3a7db2a 1453 #endif
elmbed 18:affef3a7db2a 1454
elmbed 18:affef3a7db2a 1455 #endif