Andriy Makukha / Mbed 2 deprecated football_project_wo_output

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Dependencies:   mbed

Fork of football_project by MZJ

proto_code.cpp@49:626e84ce5e52, 2016-01-12 (annotated)

Committer:
AntonLS
Date:
Tue Jan 12 14:50:32 2016 +0000
Revision:
49:626e84ce5e52
Parent:
48:4c9551c826e9
Child:
52:060fdec99780
Child:
58:fb2198ceb412
Revert to slave ad often.  Misc.

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 26:40a0c775ff27 13 #define NUM_CONES 3
elmbed 17:d8b901d791fd 14 #define STATIONS 20 // max length of a pattern
elmbed 17:d8b901d791fd 15 #define SEQUENCES 9 // number of patterns to store
elmbed 17:d8b901d791fd 16
elmbed 17:d8b901d791fd 17 #define TRILAT_CONE 99
elmbed 17:d8b901d791fd 18
elmbed 17:d8b901d791fd 19 #define DEBOUNCE_MS 100
AntonLS 46:28c29ef61276 20 #define LIGHTS TOUCHLIGHTS
AntonLS 46:28c29ef61276 21 #define FAKEOUT 0x08
AntonLS 46:28c29ef61276 22 #define FAIL_QUICK 0x10
AntonLS 46:28c29ef61276 23 #define SILENT 0x20
elmbed 17:d8b901d791fd 24 #define GRACE_PERIOD 3000
elmbed 17:d8b901d791fd 25
AntonLS 48:4c9551c826e9 26 #define NEED_CONSOLE_OUTPUT 0 /* Set this if you need //////////////////////DEBUG messages on the console;
elmbed 17:d8b901d791fd 27 * it will have an impact on code-size and power consumption. */
elmbed 17:d8b901d791fd 28
elmbed 17:d8b901d791fd 29 #define LOOPBACK_MODE 0 // Loopback mode
elmbed 17:d8b901d791fd 30
elmbed 17:d8b901d791fd 31 #if NEED_CONSOLE_OUTPUT
elmbed 17:d8b901d791fd 32 #define DEBUG(...) { printf(__VA_ARGS__); }
elmbed 17:d8b901d791fd 33 #else
elmbed 17:d8b901d791fd 34 #define DEBUG(...) /* nothing */
elmbed 17:d8b901d791fd 35 #endif /* #if NEED_CONSOLE_OUTPUT */
elmbed 17:d8b901d791fd 36
elmbed 18:affef3a7db2a 37 #if 1
elmbed 17:d8b901d791fd 38 extern int random(int numberone, int numbertwo);
elmbed 17:d8b901d791fd 39
elmbed 17:d8b901d791fd 40 unsigned long millis();
elmbed 17:d8b901d791fd 41 unsigned long micros();
elmbed 17:d8b901d791fd 42
elmbed 17:d8b901d791fd 43 TA ta;
elmbed 17:d8b901d791fd 44
elmbed 18:affef3a7db2a 45 static bool active_cones[NUM_CONES + 1]; // + 1 so we can be 1 based like the cone numbers are
elmbed 17:d8b901d791fd 46
elmbed 28:8e74ddc4f70f 47 const static int CONTROL_CONE = 1;
elmbed 28:8e74ddc4f70f 48
elmbed 23:26f27c462976 49 #ifdef MASTER
elmbed 18:affef3a7db2a 50 static Mode_t mode = PATTERN;
elmbed 18:affef3a7db2a 51 static patternState_t state_p = IDLE_P;
elmbed 18:affef3a7db2a 52 static inputState_t state_i = IDLE_I;
elmbed 23:26f27c462976 53 #else
elmbed 23:26f27c462976 54 State_t state = IDLE;
elmbed 23:26f27c462976 55 #endif
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 17:d8b901d791fd 91 // all sequence data
elmbed 17:d8b901d791fd 92 uint8_t cone_table[STATIONS * SEQUENCES];
elmbed 17:d8b901d791fd 93 uint8_t mask_table[STATIONS * SEQUENCES];
elmbed 17:d8b901d791fd 94 uint16_t time_table[STATIONS * SEQUENCES];
elmbed 17:d8b901d791fd 95
elmbed 17:d8b901d791fd 96 // pointer to active table
elmbed 17:d8b901d791fd 97 uint8_t *cones = (uint8_t*)cone_table;
elmbed 17:d8b901d791fd 98 uint8_t *masks = (uint8_t*)mask_table;
elmbed 17:d8b901d791fd 99 uint16_t *times = (uint16_t*)time_table;
elmbed 17:d8b901d791fd 100
elmbed 17:d8b901d791fd 101 static bool lonely = false;
elmbed 17:d8b901d791fd 102
elmbed 17:d8b901d791fd 103 // Function prototypes
elmbed 23:26f27c462976 104 #ifdef MASTER
elmbed 17:d8b901d791fd 105 void spin();
elmbed 17:d8b901d791fd 106 patternState_t stateFromCone(uint8_t cone);
elmbed 17:d8b901d791fd 107 void printSplit(unsigned long timer);
elmbed 17:d8b901d791fd 108 uint8_t getRandomCone(void);
elmbed 17:d8b901d791fd 109 void clearCones(void);
elmbed 17:d8b901d791fd 110 void powerupCones(uint8_t sound);
elmbed 17:d8b901d791fd 111 void failCones(void);
elmbed 17:d8b901d791fd 112 void resetSensors(void);
elmbed 17:d8b901d791fd 113 void successCones(void);
elmbed 17:d8b901d791fd 114 void find_cones(void);
elmbed 17:d8b901d791fd 115 void printMsAsSeconds(unsigned long number);
elmbed 17:d8b901d791fd 116 void spinButtons(void);
elmbed 17:d8b901d791fd 117 uint8_t checkButtons(void);
elmbed 17:d8b901d791fd 118 Event getInputEvent(void);
elmbed 17:d8b901d791fd 119 void getRadioInput(char *ibuffer, int size);
elmbed 17:d8b901d791fd 120 void interpret(char parameter, int value);
elmbed 23:26f27c462976 121 #endif
elmbed 23:26f27c462976 122
elmbed 23:26f27c462976 123 extern "C" void writeToPhone(char *format, ...);
elmbed 17:d8b901d791fd 124
elmbed 38:76e49d045a3b 125
AntonLS 39:b1f864b71318 126 static const int active_colour = 0x00FF00; /// 0x00FF;
AntonLS 39:b1f864b71318 127 static const int warn_colour = 0xFFA500; /// 0xF050;
AntonLS 39:b1f864b71318 128 static const int fail_colour = 0x00; /// 0x0000FF;
AntonLS 39:b1f864b71318 129 static const int touch_colour = 0x0000FF; /// 0x005050;
AntonLS 39:b1f864b71318 130 static const int success_colour = 0x00FF00; /// 0xFFFF;
AntonLS 39:b1f864b71318 131 static const int pen_colour = 0xFFFF00; /// 0x10FF;
AntonLS 39:b1f864b71318 132 static const int idle_colour = 0xFF0000; /// 0x00;
elmbed 38:76e49d045a3b 133
elmbed 17:d8b901d791fd 134 char local_input[50] = {0};
elmbed 17:d8b901d791fd 135
elmbed 17:d8b901d791fd 136 //DigitalOut red(RED);
elmbed 17:d8b901d791fd 137 //DigitalOut enable1(ENABLE_1);
elmbed 17:d8b901d791fd 138 //DigitalOut green(GREEN);
elmbed 17:d8b901d791fd 139 //DigitalOut blue(BLUE);
elmbed 17:d8b901d791fd 140 //DigitalOut enable2(ENABLE_2);
elmbed 17:d8b901d791fd 141 //DigitalOut enable3(ENABLE_3);
elmbed 17:d8b901d791fd 142
elmbed 23:26f27c462976 143 #ifdef MASTER
elmbed 23:26f27c462976 144 static void master_setup()
elmbed 17:d8b901d791fd 145 {
elmbed 28:8e74ddc4f70f 146 ta.initialize(NODE_ID);
elmbed 17:d8b901d791fd 147
elmbed 17:d8b901d791fd 148 uint16_t sent = 0;
elmbed 17:d8b901d791fd 149 uint16_t lost = 0;
elmbed 17:d8b901d791fd 150 unsigned long start = micros();
elmbed 17:d8b901d791fd 151 //while (millis() - now <= ACK_TIME){
elmbed 17:d8b901d791fd 152 m->command = 'p';
elmbed 17:d8b901d791fd 153 m->value = 0;
elmbed 17:d8b901d791fd 154 m->cone = 0;
elmbed 17:d8b901d791fd 155
elmbed 23:26f27c462976 156
elmbed 23:26f27c462976 157 //find_cones(); // this causes the beep to be interrupted
elmbed 23:26f27c462976 158 //ta.beep(100);
elmbed 17:d8b901d791fd 159 int i;
elmbed 23:26f27c462976 160
elmbed 28:8e74ddc4f70f 161 for(i = 1; i < NUM_CONES + 1; ++i)
elmbed 28:8e74ddc4f70f 162 {
elmbed 28:8e74ddc4f70f 163 active_cones[i] = false;
elmbed 28:8e74ddc4f70f 164 }
elmbed 17:d8b901d791fd 165
elmbed 28:8e74ddc4f70f 166 unsigned long time = 0;
elmbed 17:d8b901d791fd 167
elmbed 17:d8b901d791fd 168 // pull course sequences from non-volatile memory
elmbed 28:8e74ddc4f70f 169 for(uint8_t i = 0; i <STATIONS * SEQUENCES; ++i)
elmbed 28:8e74ddc4f70f 170 {
elmbed 17:d8b901d791fd 171 cone_table[i] = i+1;
elmbed 17:d8b901d791fd 172 mask_table[i] = 1;
elmbed 17:d8b901d791fd 173 time_table[i] = 1000;
elmbed 17:d8b901d791fd 174 }
elmbed 18:affef3a7db2a 175
elmbed 18:affef3a7db2a 176 ta.post_color(0xFF0000);
elmbed 40:dec5270e03e9 177
AntonLS 48:4c9551c826e9 178 srand( rndHW() );
elmbed 17:d8b901d791fd 179 }
elmbed 23:26f27c462976 180 #else
elmbed 23:26f27c462976 181 static void slave_setup()
elmbed 23:26f27c462976 182 {
elmbed 28:8e74ddc4f70f 183 ta.initialize(NODE_ID);
AntonLS 46:28c29ef61276 184 /// ta.beep(250);
elmbed 23:26f27c462976 185 }
elmbed 23:26f27c462976 186 #endif
elmbed 23:26f27c462976 187
elmbed 23:26f27c462976 188 void setup()
elmbed 23:26f27c462976 189 {
elmbed 23:26f27c462976 190 #ifdef MASTER
elmbed 23:26f27c462976 191 master_setup();
elmbed 23:26f27c462976 192 #else
elmbed 23:26f27c462976 193 slave_setup();
elmbed 23:26f27c462976 194 #endif
elmbed 23:26f27c462976 195 }
elmbed 23:26f27c462976 196
elmbed 23:26f27c462976 197 #ifdef SLAVE
elmbed 23:26f27c462976 198 static void slave_loop()
elmbed 23:26f27c462976 199 {
elmbed 23:26f27c462976 200 static unsigned long start = 0;
elmbed 23:26f27c462976 201 static unsigned long timeout;
elmbed 23:26f27c462976 202 static bool process_next_as_time = false;
elmbed 23:26f27c462976 203 static bool process_next_as_mask = false;
elmbed 23:26f27c462976 204 static unsigned long timer;
elmbed 23:26f27c462976 205 static State_t last_state = IDLE;
elmbed 28:8e74ddc4f70f 206 static int counter = 0;
elmbed 23:26f27c462976 207
AntonLS 46:28c29ef61276 208 ta.spin();
AntonLS 46:28c29ef61276 209
elmbed 23:26f27c462976 210 if(last_state != state)
elmbed 23:26f27c462976 211 {
elmbed 23:26f27c462976 212 if(state == ACTIVE_TARGET)
AntonLS 48:4c9551c826e9 213 DEBUG("State is ACTIVE_TARGET\r\n");
elmbed 23:26f27c462976 214 if(state == IDLE)
AntonLS 48:4c9551c826e9 215 DEBUG("State is IDLE\r\n");
elmbed 23:26f27c462976 216 if(state == FAIL)
AntonLS 48:4c9551c826e9 217 DEBUG("State is FAIL\r\n");
elmbed 23:26f27c462976 218 if(state == SUCCESS)
AntonLS 48:4c9551c826e9 219 DEBUG("State is SUCCESS\r\n");
elmbed 23:26f27c462976 220 }
elmbed 23:26f27c462976 221 last_state = state;
AntonLS 31:a6110950f385 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 {
AntonLS 46:28c29ef61276 256 ta.resetTouch();
elmbed 23:26f27c462976 257 }
elmbed 23:26f27c462976 258
elmbed 23:26f27c462976 259 if(message == 'f')
elmbed 23:26f27c462976 260 { // Fail
elmbed 23:26f27c462976 261 //serial.printf("Fail!\n");
elmbed 38:76e49d045a3b 262 writeToPhone("FAIL\r\n");
AntonLS 46:28c29ef61276 263 /// ta.post_color(fail_colour);
AntonLS 46:28c29ef61276 264 ta.pulse(25,200,3000,fail_colour);
elmbed 23:26f27c462976 265 state = FAIL;
elmbed 23:26f27c462976 266 }
elmbed 23:26f27c462976 267
elmbed 23:26f27c462976 268 if(message == 's')
elmbed 23:26f27c462976 269 { // Success
elmbed 23:26f27c462976 270 //serial.printf("Success!\n");
elmbed 38:76e49d045a3b 271 ta.post_color(0x0FFF00);
elmbed 23:26f27c462976 272 ta.beep(1500);
elmbed 23:26f27c462976 273 state = SUCCESS;
elmbed 23:26f27c462976 274 }
elmbed 23:26f27c462976 275
elmbed 23:26f27c462976 276 if(message == 'g')
elmbed 23:26f27c462976 277 { // This cone is the active target, GO!
elmbed 23:26f27c462976 278 start = millis();
elmbed 23:26f27c462976 279 warning = false;
elmbed 23:26f27c462976 280 penalty = false;
AntonLS 46:28c29ef61276 281 /// ta.post_color(active_colour);
AntonLS 46:28c29ef61276 282 ta.pulse(50,750,~0L,active_colour);
elmbed 23:26f27c462976 283 state = ACTIVE_TARGET;
elmbed 23:26f27c462976 284 //serial.printf("fakeout, fail_quick\n");
elmbed 23:26f27c462976 285 //serial.printf("%d",fakeout);
elmbed 23:26f27c462976 286 //serial.printf(", ");
elmbed 23:26f27c462976 287 //serial.printf("%d\n",fail_quick);
elmbed 23:26f27c462976 288 }
elmbed 23:26f27c462976 289
elmbed 23:26f27c462976 290 if(message == 'q')
elmbed 23:26f27c462976 291 { // Quit
elmbed 28:8e74ddc4f70f 292 writeToPhone("Clear!\r\n");
elmbed 23:26f27c462976 293 ta.pulse_off();
elmbed 38:76e49d045a3b 294 ta.mask_color(idle_colour);
elmbed 23:26f27c462976 295 state = IDLE;
elmbed 23:26f27c462976 296 }
elmbed 23:26f27c462976 297
elmbed 23:26f27c462976 298 if(message != 'n')
elmbed 23:26f27c462976 299 {
elmbed 23:26f27c462976 300 //serial.printf("%d",message);
elmbed 23:26f27c462976 301 //serial.printf(", ");
elmbed 23:26f27c462976 302 //serial.printf("%d\n",m_in->value);
elmbed 23:26f27c462976 303 }
elmbed 23:26f27c462976 304
elmbed 23:26f27c462976 305 if(message == 'u')
elmbed 23:26f27c462976 306 { // powerup noise
elmbed 23:26f27c462976 307 ta.powerup(m_in->value);
elmbed 23:26f27c462976 308 }
elmbed 23:26f27c462976 309
elmbed 23:26f27c462976 310 if(message == 'z')
elmbed 23:26f27c462976 311 {
elmbed 23:26f27c462976 312 m->value = m_in->value;
elmbed 23:26f27c462976 313 m->command = 'z';
elmbed 28:8e74ddc4f70f 314 m->cone = 1;
elmbed 23:26f27c462976 315 ta.send(m);
elmbed 23:26f27c462976 316 }
elmbed 23:26f27c462976 317
elmbed 23:26f27c462976 318 timer = millis() - start;
elmbed 23:26f27c462976 319
elmbed 23:26f27c462976 320 switch(state)
elmbed 23:26f27c462976 321 {
elmbed 23:26f27c462976 322 case ACTIVE_TARGET:
elmbed 23:26f27c462976 323 if(ta.activated() || ((timer > timeout) && (fakeout)))
elmbed 23:26f27c462976 324 {
elmbed 23:26f27c462976 325 m->command = 'd';
elmbed 23:26f27c462976 326 m->cone = CONTROL_CONE;
elmbed 23:26f27c462976 327 ta.send(m);
AntonLS 46:28c29ef61276 328 /// ta.post_color(success_colour);
elmbed 23:26f27c462976 329 ta.pulse_off();
elmbed 23:26f27c462976 330 state = IDLE;
elmbed 23:26f27c462976 331 //serial.printf("Done!\n");
elmbed 23:26f27c462976 332 }
elmbed 23:26f27c462976 333 else if(timer > timeout && !penalty)
elmbed 23:26f27c462976 334 {
elmbed 38:76e49d045a3b 335 writeToPhone("PEN\r\n");
elmbed 23:26f27c462976 336 //serial.printf("Penalty!\n");
elmbed 23:26f27c462976 337 penalty = true;
AntonLS 46:28c29ef61276 338 ta.pulse(350,600,~0L,pen_colour);
AntonLS 46:28c29ef61276 339 /// ta.post_color(pen_colour);
elmbed 23:26f27c462976 340 }
elmbed 23:26f27c462976 341 else if(timer > ((timeout*3)/4) && !warning)
elmbed 23:26f27c462976 342 {
elmbed 38:76e49d045a3b 343 writeToPhone("WARN\r\n");
elmbed 23:26f27c462976 344 //serial.printf("Warning!\n");
elmbed 23:26f27c462976 345 warning = true;
AntonLS 46:28c29ef61276 346 ta.pulse(350,750,~0L,warn_colour);
AntonLS 46:28c29ef61276 347 /// ta.post_color(warn_colour);
elmbed 23:26f27c462976 348 }
elmbed 23:26f27c462976 349 break;
elmbed 23:26f27c462976 350 case IDLE:
elmbed 38:76e49d045a3b 351 bool act = ta.activated();
elmbed 38:76e49d045a3b 352 ta.post_color(act?touch_colour:idle_colour);
elmbed 23:26f27c462976 353 break;
elmbed 23:26f27c462976 354 default:
elmbed 23:26f27c462976 355 break;
elmbed 23:26f27c462976 356 }
elmbed 23:26f27c462976 357 }
elmbed 23:26f27c462976 358 #endif
elmbed 23:26f27c462976 359
elmbed 23:26f27c462976 360 #ifdef MASTER
elmbed 23:26f27c462976 361 static void master_loop()
elmbed 23:26f27c462976 362 {
elmbed 23:26f27c462976 363 static Mode_t last_mode = mode;
elmbed 28:8e74ddc4f70f 364 static int counter = 0;
elmbed 23:26f27c462976 365
elmbed 23:26f27c462976 366 if (last_mode != mode)
elmbed 23:26f27c462976 367 {
elmbed 23:26f27c462976 368 if (mode == FREEFORM)
AntonLS 48:4c9551c826e9 369 srnd( rndHW() );
elmbed 38:76e49d045a3b 370 writeToPhone("RR.\r\n");
elmbed 23:26f27c462976 371
elmbed 23:26f27c462976 372 if (mode == PATTERN)
elmbed 38:76e49d045a3b 373 writeToPhone("SP.\r\n");
elmbed 23:26f27c462976 374 }
elmbed 23:26f27c462976 375
elmbed 23:26f27c462976 376 last_mode = mode;
elmbed 23:26f27c462976 377
elmbed 23:26f27c462976 378 ta.spin();
elmbed 23:26f27c462976 379 //spinButtons();
elmbed 38:76e49d045a3b 380 //if((logging || micros() < dist_timeout) && ta.recieve(m_in))
elmbed 38:76e49d045a3b 381 // writeToPhone("CMD: %c",m_in->command);
elmbed 38:76e49d045a3b 382 // else
elmbed 23:26f27c462976 383 spin();
elmbed 23:26f27c462976 384 }
elmbed 23:26f27c462976 385 #endif
elmbed 17:d8b901d791fd 386
elmbed 17:d8b901d791fd 387 void loop()
elmbed 17:d8b901d791fd 388 {
elmbed 23:26f27c462976 389 #ifdef MASTER
elmbed 23:26f27c462976 390 master_loop();
elmbed 23:26f27c462976 391 #else
elmbed 23:26f27c462976 392 slave_loop();
elmbed 23:26f27c462976 393 #endif
elmbed 17:d8b901d791fd 394 }
elmbed 17:d8b901d791fd 395
elmbed 23:26f27c462976 396 static void getNext()
elmbed 17:d8b901d791fd 397 {
elmbed 23:26f27c462976 398 #ifdef MASTER
elmbed 17:d8b901d791fd 399 if(mode == FREEFORM)
elmbed 17:d8b901d791fd 400 {
elmbed 40:dec5270e03e9 401 active_cone = getRandomCone();
elmbed 38:76e49d045a3b 402
elmbed 38:76e49d045a3b 403 writeToPhone("GN_AC: %d\r\n", active_cone);
elmbed 38:76e49d045a3b 404
elmbed 17:d8b901d791fd 405 mask = 0x07;
elmbed 17:d8b901d791fd 406 ta.setMask(mask & LIGHTS);
AntonLS 46:28c29ef61276 407 timeout = ~0;
elmbed 38:76e49d045a3b 408
elmbed 17:d8b901d791fd 409 return;
elmbed 17:d8b901d791fd 410 }
elmbed 17:d8b901d791fd 411
elmbed 17:d8b901d791fd 412 active_cone = cones[index];
elmbed 17:d8b901d791fd 413 mask = masks[index];
elmbed 17:d8b901d791fd 414 fakeout = mask & FAKEOUT;
elmbed 17:d8b901d791fd 415 fail_quick = mask & FAIL_QUICK;
elmbed 17:d8b901d791fd 416 timeout = times[index];
elmbed 17:d8b901d791fd 417 index++;
AntonLS 48:4c9551c826e9 418 writeToPhone( "Next cone is %u\r\n", active_cone ); // PROTOCOL
elmbed 23:26f27c462976 419 #endif
elmbed 17:d8b901d791fd 420 }
elmbed 18:affef3a7db2a 421 #if 1
elmbed 23:26f27c462976 422 static void spin()
elmbed 17:d8b901d791fd 423 {
AntonLS 39:b1f864b71318 424 #ifdef MASTER
elmbed 17:d8b901d791fd 425 static patternState_t last_state = START_P;
elmbed 17:d8b901d791fd 426 static uint8_t last_cone = 255;
elmbed 17:d8b901d791fd 427 static unsigned long start;
elmbed 17:d8b901d791fd 428 static unsigned long timer;
elmbed 17:d8b901d791fd 429 static bool first; // first should be true when we first enter a state (even if we just exited the same state)
elmbed 17:d8b901d791fd 430 char command = 'n';
elmbed 17:d8b901d791fd 431 unsigned long value = 0;
elmbed 17:d8b901d791fd 432
elmbed 17:d8b901d791fd 433 m_in->command = 0;
elmbed 17:d8b901d791fd 434 m_in->value = 0;
elmbed 17:d8b901d791fd 435 m_in->cone = 0;
elmbed 17:d8b901d791fd 436
elmbed 17:d8b901d791fd 437 if(ta.recieve(m_in))
elmbed 17:d8b901d791fd 438 {
elmbed 38:76e49d045a3b 439 writeToPhone("SR: %d '%c'\r\n", m_in->cone, m_in->command);
elmbed 17:d8b901d791fd 440 command = m_in->command;
elmbed 17:d8b901d791fd 441 value = m_in->value;
elmbed 17:d8b901d791fd 442 }
elmbed 17:d8b901d791fd 443
elmbed 17:d8b901d791fd 444 first = false;
elmbed 17:d8b901d791fd 445
elmbed 17:d8b901d791fd 446 if(last_state != state_p || new_state)
elmbed 17:d8b901d791fd 447 {
elmbed 17:d8b901d791fd 448 if(state_p == START_P)
AntonLS 39:b1f864b71318 449 writeToPhone("State is START\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 450 if(state_p == WAITING_P)
AntonLS 39:b1f864b71318 451 writeToPhone("State is WAITING\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 452 if(state_p == ACTIVE_TARGET_P)
AntonLS 39:b1f864b71318 453 writeToPhone("State is ACTIVE_TARGET\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 454 if(state_p == IDLE_P)
AntonLS 39:b1f864b71318 455 writeToPhone("State is IDLE\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 456 if(state_p == FAIL_P)
AntonLS 39:b1f864b71318 457 writeToPhone("State is FAIL\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 458 if(state_p == SUCCESS_P)
AntonLS 39:b1f864b71318 459 writeToPhone("State is SUCCESS\r\n"); // PROTOCOL
elmbed 17:d8b901d791fd 460
elmbed 17:d8b901d791fd 461 first = true;
elmbed 17:d8b901d791fd 462 new_state = false;
elmbed 17:d8b901d791fd 463 }
elmbed 17:d8b901d791fd 464
elmbed 17:d8b901d791fd 465 last_state = state_p;
elmbed 17:d8b901d791fd 466 last_cone = active_cone;
elmbed 17:d8b901d791fd 467
elmbed 17:d8b901d791fd 468 timer = millis() - start;
elmbed 17:d8b901d791fd 469
elmbed 17:d8b901d791fd 470 switch(state_p)
elmbed 17:d8b901d791fd 471 {
elmbed 17:d8b901d791fd 472 case IDLE_P:
AntonLS 30:c60b0d52b067 473 ta.setMask( DEFTOUCHMASK );
elmbed 17:d8b901d791fd 474 if(!in_menu)
elmbed 38:76e49d045a3b 475 ta.post_color((ta.activated())?touch_colour:idle_colour);
elmbed 17:d8b901d791fd 476 break;
elmbed 17:d8b901d791fd 477
elmbed 17:d8b901d791fd 478 case START_P:
elmbed 38:76e49d045a3b 479 clearCones();
elmbed 17:d8b901d791fd 480 tag_start = false;
elmbed 38:76e49d045a3b 481 ta.post_color(idle_colour);
elmbed 17:d8b901d791fd 482 index = 0;
elmbed 17:d8b901d791fd 483 getNext();
elmbed 17:d8b901d791fd 484
elmbed 17:d8b901d791fd 485 if(timeout == 0)
elmbed 17:d8b901d791fd 486 { // timeout of 0 means wait indefinitely for the first cone to be activated, then start the rest of the sequence
elmbed 17:d8b901d791fd 487 timeout = ~0;
elmbed 17:d8b901d791fd 488 tag_start = true;
AntonLS 39:b1f864b71318 489 // DEBUG("Activate cone "); // May use this again in future.
AntonLS 39:b1f864b71318 490 // DEBUG("%d",active_cone);
AntonLS 39:b1f864b71318 491 // DEBUG(" to start.\n");
elmbed 38:76e49d045a3b 492 writeToPhone("ACS: %d\r\n", active_cone);
elmbed 17:d8b901d791fd 493 }
elmbed 17:d8b901d791fd 494
elmbed 17:d8b901d791fd 495 start = millis();
elmbed 17:d8b901d791fd 496 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 497 if(active_cone == 0)
elmbed 17:d8b901d791fd 498 { // in this case stateFromCone returns SUCCESS_P, but really there was no course sequence
elmbed 17:d8b901d791fd 499 DEBUG("\n");
elmbed 17:d8b901d791fd 500 DEBUG("Empty course sequence!\n");
elmbed 38:76e49d045a3b 501 writeToPhone("ECS\r\n");
elmbed 17:d8b901d791fd 502 ta.post_color(0x0000FF);
elmbed 17:d8b901d791fd 503 state_p = IDLE_P;
elmbed 17:d8b901d791fd 504 break;
elmbed 17:d8b901d791fd 505 }
elmbed 17:d8b901d791fd 506 break;
elmbed 17:d8b901d791fd 507
elmbed 17:d8b901d791fd 508 case WAITING_P:
elmbed 17:d8b901d791fd 509 if(first)
elmbed 17:d8b901d791fd 510 {
elmbed 17:d8b901d791fd 511 m->command = 'm';
elmbed 17:d8b901d791fd 512 m->value = mask;
elmbed 17:d8b901d791fd 513 m->cone = active_cone;
elmbed 17:d8b901d791fd 514 ta.send(m);
elmbed 38:76e49d045a3b 515
elmbed 38:76e49d045a3b 516 wait_ms(300);
elmbed 17:d8b901d791fd 517 m->command = 't';
elmbed 17:d8b901d791fd 518 m->value = (uint32_t)timeout;
elmbed 17:d8b901d791fd 519 ta.send(m);
elmbed 38:76e49d045a3b 520
elmbed 38:76e49d045a3b 521 wait_ms(300);
elmbed 17:d8b901d791fd 522 m->command = 'g';
elmbed 17:d8b901d791fd 523 ta.send(m);
elmbed 17:d8b901d791fd 524
elmbed 38:76e49d045a3b 525 writeToPhone("ACW: %d\r\n", active_cone);
elmbed 17:d8b901d791fd 526 }
elmbed 17:d8b901d791fd 527
elmbed 38:76e49d045a3b 528 ta.post_color(( ta.activated())?touch_colour:idle_colour);
elmbed 17:d8b901d791fd 529
elmbed 17:d8b901d791fd 530 DEBUG("Waiting: %d %d %c\n", m_in->cone, active_cone, command);
elmbed 17:d8b901d791fd 531
elmbed 17:d8b901d791fd 532 if((m_in->cone == active_cone && command == 'd' ) || ((timer >= timeout) && fakeout))
elmbed 17:d8b901d791fd 533 {
elmbed 17:d8b901d791fd 534 if((timer >= timeout) && !fakeout)
elmbed 17:d8b901d791fd 535 {
elmbed 38:76e49d045a3b 536 writeToPhone("TSP\r\n");
elmbed 17:d8b901d791fd 537 }
elmbed 17:d8b901d791fd 538 printSplit(timer);
elmbed 17:d8b901d791fd 539 getNext();
elmbed 17:d8b901d791fd 540 start = millis();
elmbed 17:d8b901d791fd 541
elmbed 17:d8b901d791fd 542 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 543
elmbed 17:d8b901d791fd 544 if(state_p == WAITING_P)
elmbed 17:d8b901d791fd 545 {
elmbed 38:76e49d045a3b 546 writeToPhone("NSW\r\n");
elmbed 17:d8b901d791fd 547 new_state = true;
elmbed 17:d8b901d791fd 548 }
elmbed 17:d8b901d791fd 549 }
elmbed 17:d8b901d791fd 550 else if(~timeout != 0 && mode == PATTERN && timer >= (timeout + ((fail_quick)?0:GRACE_PERIOD)))
elmbed 17:d8b901d791fd 551 {
elmbed 38:76e49d045a3b 552 writeToPhone("FW\r\n");
elmbed 17:d8b901d791fd 553 state_p = FAIL_P;
elmbed 17:d8b901d791fd 554 }
elmbed 17:d8b901d791fd 555 break;
elmbed 17:d8b901d791fd 556
elmbed 17:d8b901d791fd 557 case ACTIVE_TARGET_P:
elmbed 17:d8b901d791fd 558 if(first)
elmbed 17:d8b901d791fd 559 {
elmbed 17:d8b901d791fd 560 ta.setMask(mask);
elmbed 17:d8b901d791fd 561
elmbed 17:d8b901d791fd 562 warning = false;
elmbed 17:d8b901d791fd 563 penalty = false;
AntonLS 46:28c29ef61276 564 /// ta.post_color(active_colour);
AntonLS 46:28c29ef61276 565 ta.pulse(50,750,~0L,active_colour);
AntonLS 46:28c29ef61276 566 //if(!(mask & SILENT))ta.pulse(50,750,~0L,active_colour);
elmbed 17:d8b901d791fd 567 }
elmbed 17:d8b901d791fd 568 if(timer >= timeout)
elmbed 17:d8b901d791fd 569 {
elmbed 17:d8b901d791fd 570 if(!penalty)
elmbed 17:d8b901d791fd 571 {
AntonLS 46:28c29ef61276 572 /// ta.post_color(pen_colour);
AntonLS 46:28c29ef61276 573 ta.pulse(50,325,~0L,pen_colour);
elmbed 17:d8b901d791fd 574
elmbed 17:d8b901d791fd 575 penalty = true;
elmbed 17:d8b901d791fd 576 }
elmbed 38:76e49d045a3b 577 ta.post_color(pen_colour);
elmbed 17:d8b901d791fd 578 }
elmbed 17:d8b901d791fd 579 else if(timer > ((timeout*3)/4) && !warning)
elmbed 17:d8b901d791fd 580 {
elmbed 17:d8b901d791fd 581 warning = true;
AntonLS 46:28c29ef61276 582 /// ta.post_color(warn_colour);
AntonLS 46:28c29ef61276 583 ta.pulse(50,750,~0L,warn_colour);
elmbed 17:d8b901d791fd 584 }
elmbed 17:d8b901d791fd 585
elmbed 17:d8b901d791fd 586 if(ta.activated() || ((timer >= timeout) && fakeout))
elmbed 17:d8b901d791fd 587 {
elmbed 17:d8b901d791fd 588 if((timer >= timeout) && !fakeout)
elmbed 17:d8b901d791fd 589 DEBUG("Timesplit penalty! ");
elmbed 17:d8b901d791fd 590
elmbed 17:d8b901d791fd 591 printSplit(timer);
elmbed 38:76e49d045a3b 592 ta.post_color(success_colour);
elmbed 17:d8b901d791fd 593 getNext();
elmbed 17:d8b901d791fd 594 start = millis();
elmbed 17:d8b901d791fd 595 state_p = stateFromCone(active_cone);
elmbed 17:d8b901d791fd 596
elmbed 17:d8b901d791fd 597 if(state_p == ACTIVE_TARGET_P)
elmbed 17:d8b901d791fd 598 new_state = true;
elmbed 17:d8b901d791fd 599 ta.pulse_off();
elmbed 17:d8b901d791fd 600
elmbed 17:d8b901d791fd 601 }
elmbed 17:d8b901d791fd 602 else if(~timeout != 0 && mode == PATTERN && timer >= (timeout + ((fail_quick)?0:GRACE_PERIOD)))
elmbed 17:d8b901d791fd 603 {
elmbed 17:d8b901d791fd 604 state_p = FAIL_P;
elmbed 17:d8b901d791fd 605 ta.pulse_off();
elmbed 17:d8b901d791fd 606 }
elmbed 17:d8b901d791fd 607 //DEBUG.println(timeout + ((fail_quick)?0:GRACE_PERIOD));
elmbed 17:d8b901d791fd 608 //DEBUG.println(timeout);
elmbed 17:d8b901d791fd 609
elmbed 17:d8b901d791fd 610 break;
elmbed 17:d8b901d791fd 611
elmbed 17:d8b901d791fd 612 case FAIL_P:
elmbed 17:d8b901d791fd 613 if(first)
elmbed 17:d8b901d791fd 614 {
elmbed 17:d8b901d791fd 615 start = millis();
elmbed 17:d8b901d791fd 616 DEBUG("\n");
elmbed 17:d8b901d791fd 617 DEBUG("Timeout\n");
elmbed 17:d8b901d791fd 618 //ta.post_color();
AntonLS 46:28c29ef61276 619 ta.pulse(25,200,3000,fail_colour);
AntonLS 46:28c29ef61276 620 /// ta.post_color(fail_colour);
elmbed 17:d8b901d791fd 621
elmbed 17:d8b901d791fd 622 failCones();
elmbed 17:d8b901d791fd 623 //ta.fail();
elmbed 17:d8b901d791fd 624 }
elmbed 17:d8b901d791fd 625 else if(timer > 3000)
elmbed 17:d8b901d791fd 626 {
elmbed 17:d8b901d791fd 627 DEBUG("Clear!\n");
elmbed 17:d8b901d791fd 628 state_p = IDLE_P;
elmbed 17:d8b901d791fd 629 clearCones();
elmbed 17:d8b901d791fd 630 }
elmbed 17:d8b901d791fd 631 break;
elmbed 17:d8b901d791fd 632 case SUCCESS_P:
elmbed 17:d8b901d791fd 633 if(first)
elmbed 17:d8b901d791fd 634 {
elmbed 17:d8b901d791fd 635 start = millis();
elmbed 17:d8b901d791fd 636 DEBUG("\n");
elmbed 17:d8b901d791fd 637 DEBUG("Done!\n");
elmbed 38:76e49d045a3b 638 ta.post_color(success_colour);
elmbed 17:d8b901d791fd 639 ta.beep(1500);
elmbed 17:d8b901d791fd 640 successCones();
elmbed 17:d8b901d791fd 641 //ta.success();
elmbed 17:d8b901d791fd 642 }
elmbed 17:d8b901d791fd 643 else if(timer > 1500)
elmbed 17:d8b901d791fd 644 {
elmbed 17:d8b901d791fd 645 DEBUG("Clear!\n");
elmbed 17:d8b901d791fd 646 state_p = IDLE_P;
elmbed 17:d8b901d791fd 647 clearCones();
elmbed 17:d8b901d791fd 648 }
elmbed 17:d8b901d791fd 649 break;
elmbed 17:d8b901d791fd 650
elmbed 17:d8b901d791fd 651 default:
elmbed 38:76e49d045a3b 652 ta.post_color(idle_colour);
elmbed 17:d8b901d791fd 653 break;
elmbed 17:d8b901d791fd 654 }
elmbed 23:26f27c462976 655 #endif
elmbed 17:d8b901d791fd 656 }
elmbed 18:affef3a7db2a 657 #endif
elmbed 18:affef3a7db2a 658
elmbed 23:26f27c462976 659 #ifdef MASTER
elmbed 17:d8b901d791fd 660 void getRadioInput(char *ibuffer, int size)
elmbed 17:d8b901d791fd 661 {
elmbed 17:d8b901d791fd 662 static int i = 0;
elmbed 17:d8b901d791fd 663 int buffer_counter = 0;
elmbed 17:d8b901d791fd 664 static char parameter = '_';
elmbed 17:d8b901d791fd 665 static char buffer[MAX_LEN + 1];
elmbed 17:d8b901d791fd 666 int value = 0;
elmbed 17:d8b901d791fd 667 char *endp = NULL;
AntonLS 45:1eb335c00cb2 668
elmbed 17:d8b901d791fd 669 // listen for commands coming over bluetooth
elmbed 17:d8b901d791fd 670 while (buffer_counter < size)
elmbed 17:d8b901d791fd 671 {
elmbed 17:d8b901d791fd 672 char ch = ibuffer[buffer_counter++];
elmbed 17:d8b901d791fd 673
elmbed 17:d8b901d791fd 674 if((ch == '\r' || ch == ';' || ch == '\n') && parameter != '_')
elmbed 17:d8b901d791fd 675 {
elmbed 17:d8b901d791fd 676 if(i > 1)
elmbed 17:d8b901d791fd 677 {
AntonLS 41:dee3fd34e37a 678 buffer[i-1] = 0;
elmbed 17:d8b901d791fd 679 if(parameter == 'l')
elmbed 17:d8b901d791fd 680 value = strtoul(buffer, &endp, 2);
AntonLS 41:dee3fd34e37a 681 else if(parameter == 'B')
AntonLS 41:dee3fd34e37a 682 value = strtoul(buffer, &endp, 16);
AntonLS 41:dee3fd34e37a 683 else
AntonLS 41:dee3fd34e37a 684 value = atoi(buffer);
elmbed 17:d8b901d791fd 685 }
elmbed 18:affef3a7db2a 686
elmbed 17:d8b901d791fd 687 interpret(parameter, value);
elmbed 17:d8b901d791fd 688 DEBUG("After interp: '%c'\r\n", parameter);
elmbed 17:d8b901d791fd 689 parameter = '_';
elmbed 17:d8b901d791fd 690 buffer[0] = 0;
elmbed 17:d8b901d791fd 691 i=0;
elmbed 17:d8b901d791fd 692 }
elmbed 17:d8b901d791fd 693 else
elmbed 17:d8b901d791fd 694 {
elmbed 17:d8b901d791fd 695 if(i==0)
elmbed 17:d8b901d791fd 696 parameter = ch;
elmbed 17:d8b901d791fd 697 else
elmbed 17:d8b901d791fd 698 buffer[i-1] = ch;
elmbed 17:d8b901d791fd 699 i++;
elmbed 17:d8b901d791fd 700 }
elmbed 17:d8b901d791fd 701
elmbed 17:d8b901d791fd 702 if(ch == '_' || ch == '\r' || ch == ';' || ch == '\n')
elmbed 17:d8b901d791fd 703 {
elmbed 17:d8b901d791fd 704 parameter = '_';
elmbed 17:d8b901d791fd 705 buffer[0] = 0;
elmbed 17:d8b901d791fd 706 i=0;
elmbed 17:d8b901d791fd 707 }
elmbed 17:d8b901d791fd 708 }
elmbed 17:d8b901d791fd 709 }
elmbed 17:d8b901d791fd 710
elmbed 23:26f27c462976 711 static void interpret(char parameter, int value)
elmbed 17:d8b901d791fd 712 {
elmbed 18:affef3a7db2a 713 int remainder;
elmbed 18:affef3a7db2a 714 uint16_t split;
elmbed 18:affef3a7db2a 715 uint16_t t;
elmbed 18:affef3a7db2a 716 uint8_t c;
elmbed 18:affef3a7db2a 717 uint8_t l;
elmbed 18:affef3a7db2a 718 int last;
elmbed 18:affef3a7db2a 719 int middle;
elmbed 18:affef3a7db2a 720 uint8_t length;
elmbed 18:affef3a7db2a 721 uint8_t offset;
elmbed 18:affef3a7db2a 722 int i;
elmbed 18:affef3a7db2a 723 uint8_t v;
elmbed 18:affef3a7db2a 724 uint16_t val;
elmbed 17:d8b901d791fd 725
elmbed 17:d8b901d791fd 726 switch(parameter)
elmbed 17:d8b901d791fd 727 {
elmbed 17:d8b901d791fd 728 case 'f':
elmbed 17:d8b901d791fd 729 if(lonely)
elmbed 17:d8b901d791fd 730 {
elmbed 18:affef3a7db2a 731 writeToPhone("Sorry, no other cones detected, please try detecting cones first.\r\n");
elmbed 17:d8b901d791fd 732 break;
elmbed 17:d8b901d791fd 733 }
elmbed 18:affef3a7db2a 734
elmbed 18:affef3a7db2a 735 writeToPhone("Entered freeform\r\n");
elmbed 17:d8b901d791fd 736 mode = FREEFORM;
elmbed 17:d8b901d791fd 737 state_p = START_P;
elmbed 17:d8b901d791fd 738 clearCones();
elmbed 18:affef3a7db2a 739 //find_cones();
elmbed 17:d8b901d791fd 740 break;
elmbed 17:d8b901d791fd 741 case 'p':
elmbed 17:d8b901d791fd 742 if(value == 0)
elmbed 17:d8b901d791fd 743 {
elmbed 18:affef3a7db2a 744 writeToPhone("\r\n");
elmbed 18:affef3a7db2a 745 writeToPhone("Running pattern %d\r\n", active_sequence + 1);
elmbed 18:affef3a7db2a 746
elmbed 17:d8b901d791fd 747 mode = PATTERN;
elmbed 17:d8b901d791fd 748 state_p = START_P;
elmbed 17:d8b901d791fd 749 active_cone = 0;
elmbed 18:affef3a7db2a 750
elmbed 17:d8b901d791fd 751 clearCones();
elmbed 17:d8b901d791fd 752 }
elmbed 17:d8b901d791fd 753 else
elmbed 17:d8b901d791fd 754 {
elmbed 18:affef3a7db2a 755 writeToPhone("Selected pattern %d\r\n", value);
elmbed 18:affef3a7db2a 756
elmbed 17:d8b901d791fd 757 if(value <= SEQUENCES && value > 0)
elmbed 17:d8b901d791fd 758 {
elmbed 17:d8b901d791fd 759 active_sequence = value - 1;
elmbed 17:d8b901d791fd 760 cones = (uint8_t*)cone_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 761 times = (uint16_t*)time_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 762 masks = (uint8_t*)mask_table + (value-1)*STATIONS;
elmbed 17:d8b901d791fd 763 }
elmbed 17:d8b901d791fd 764 else
elmbed 17:d8b901d791fd 765 {
AntonLS 41:dee3fd34e37a 766 writeToPhone("This pattern is not available. Please select a value between 1 and %d\r\n", SEQUENCES);
elmbed 17:d8b901d791fd 767 }
elmbed 17:d8b901d791fd 768 }
elmbed 17:d8b901d791fd 769 break;
AntonLS 41:dee3fd34e37a 770 case 'P':
AntonLS 41:dee3fd34e37a 771 if(value != 0)
AntonLS 41:dee3fd34e37a 772 {
AntonLS 41:dee3fd34e37a 773 if(value <= SEQUENCES && value > 0)
AntonLS 41:dee3fd34e37a 774 {
AntonLS 41:dee3fd34e37a 775 active_sequence = value - 1;
AntonLS 41:dee3fd34e37a 776 cones = (uint8_t*)cone_table + (value-1)*STATIONS;
AntonLS 41:dee3fd34e37a 777 times = (uint16_t*)time_table + (value-1)*STATIONS;
AntonLS 41:dee3fd34e37a 778 masks = (uint8_t*)mask_table + (value-1)*STATIONS;
AntonLS 41:dee3fd34e37a 779
AntonLS 41:dee3fd34e37a 780 // Side effect: Also sets current station to 1:
AntonLS 41:dee3fd34e37a 781 station = 1;
AntonLS 41:dee3fd34e37a 782 }
AntonLS 41:dee3fd34e37a 783 else
AntonLS 41:dee3fd34e37a 784 {
AntonLS 41:dee3fd34e37a 785 writeToPhone("Only from 1 to %d\r\n", SEQUENCES);
AntonLS 41:dee3fd34e37a 786 }
AntonLS 41:dee3fd34e37a 787 }
AntonLS 41:dee3fd34e37a 788 else // P; or P0;
AntonLS 41:dee3fd34e37a 789 {
AntonLS 41:dee3fd34e37a 790 writeToPhone("Nothing done\r\n");
AntonLS 41:dee3fd34e37a 791 }
AntonLS 41:dee3fd34e37a 792 break;
elmbed 17:d8b901d791fd 793 case 's':
AntonLS 41:dee3fd34e37a 794 writeToPhone("Selected station %d\r\n", value);
AntonLS 41:dee3fd34e37a 795 case 'S':
elmbed 17:d8b901d791fd 796 station = value;
elmbed 17:d8b901d791fd 797 break;
elmbed 17:d8b901d791fd 798 case 'd':
elmbed 18:affef3a7db2a 799 if(value == 0){
elmbed 17:d8b901d791fd 800 logging = false;
elmbed 17:d8b901d791fd 801 m->value = 0;
elmbed 17:d8b901d791fd 802 dist_timeout = micros() + 2000000;
elmbed 17:d8b901d791fd 803 }
elmbed 18:affef3a7db2a 804 if(value == 1){
elmbed 17:d8b901d791fd 805 logging = true;
elmbed 17:d8b901d791fd 806 m->value = 1;
elmbed 17:d8b901d791fd 807 }
elmbed 17:d8b901d791fd 808 m->command = 'd';
elmbed 17:d8b901d791fd 809 m->cone = TRILAT_CONE;
elmbed 17:d8b901d791fd 810 ta.send(m);
elmbed 18:affef3a7db2a 811 //Serial.print("Sent d");
elmbed 18:affef3a7db2a 812 //Serial.println(value);
elmbed 17:d8b901d791fd 813 break;
elmbed 17:d8b901d791fd 814 case 'c':
AntonLS 41:dee3fd34e37a 815 writeToPhone("Station %d will be cone %d\r\n", station, value);
AntonLS 41:dee3fd34e37a 816 case 'C':
elmbed 17:d8b901d791fd 817 c = value;
elmbed 18:affef3a7db2a 818 if(station <= STATIONS && station > 0)cones[station-1] = c;
elmbed 17:d8b901d791fd 819 break;
elmbed 17:d8b901d791fd 820 case 't':
elmbed 17:d8b901d791fd 821 t = (uint16_t)value;
elmbed 17:d8b901d791fd 822 remainder = t%1000;
AntonLS 19:afcbb425b3cf 823 writeToPhone("Station %d split time is: %d.%03d seconds.\r\n", station, t/1000, remainder);
AntonLS 41:dee3fd34e37a 824 case 'T':
AntonLS 41:dee3fd34e37a 825 t = (uint16_t)value;
AntonLS 41:dee3fd34e37a 826 // remainder = t%1000;
AntonLS 19:afcbb425b3cf 827 /// if(remainder < 100)writeToPhone("0");
AntonLS 19:afcbb425b3cf 828 /// if(remainder < 10)writeToPhone("0");
AntonLS 19:afcbb425b3cf 829 /// writeToPhone("%d seconds.\r\n",remainder);
elmbed 18:affef3a7db2a 830 if(station <= STATIONS && station > 0)times[station-1] = t;
elmbed 17:d8b901d791fd 831 break;
elmbed 17:d8b901d791fd 832 case 'l':
AntonLS 41:dee3fd34e37a 833 // l = 0;
elmbed 17:d8b901d791fd 834 l = (uint8_t)value;
elmbed 17:d8b901d791fd 835 masks[station-1] = l;
AntonLS 19:afcbb425b3cf 836 writeToPhone( "Station %d config bits: ", station );
AntonLS 19:afcbb425b3cf 837 writeBitsToPhone( l );
AntonLS 19:afcbb425b3cf 838 writeToPhone( "\r\n" );
elmbed 17:d8b901d791fd 839 break;
AntonLS 41:dee3fd34e37a 840 case 'B': // After setting bits, echo back station data.
AntonLS 41:dee3fd34e37a 841 l = (uint8_t)value;
AntonLS 41:dee3fd34e37a 842 masks[station-1] = l;
AntonLS 45:1eb335c00cb2 843 writeToPhone( "%c%02u;C%02u;T%05u;B%02x\r\n", (1==station) ? 'P' : 'S',
AntonLS 41:dee3fd34e37a 844 (1==station) ? active_sequence +1 : station,
AntonLS 41:dee3fd34e37a 845 cones[station-1], times[station-1], l );
AntonLS 41:dee3fd34e37a 846 break;
elmbed 17:d8b901d791fd 847 case 'q':
elmbed 17:d8b901d791fd 848 state_p = IDLE_P;
elmbed 17:d8b901d791fd 849 new_state = true; // force state reporting, even if we're already in IDLE
AntonLS 46:28c29ef61276 850 ta.pulse_off(); /// //
AntonLS 46:28c29ef61276 851 clearCones(); /// //
elmbed 17:d8b901d791fd 852 break;
elmbed 17:d8b901d791fd 853 case 'r':
elmbed 18:affef3a7db2a 854 //Serial.println(F(""));
AntonLS 39:b1f864b71318 855 // writeToPhone("Current pattern is %d:\r\n", active_sequence+1);
AntonLS 39:b1f864b71318 856 writeToPhone("Pattern is %d:\r\n", active_sequence+1); // PROTOCOL optimization
elmbed 18:affef3a7db2a 857 for(int i=0; i<STATIONS; i++){
AntonLS 39:b1f864b71318 858 // writeToPhone("Station %d: cone %d, ", i+1, cones[i]);
AntonLS 45:1eb335c00cb2 859 writeToPhone("S%02u,C%02u", i+1, cones[i]); // PROTOCOL optimization
elmbed 17:d8b901d791fd 860 split = times[i];
AntonLS 39:b1f864b71318 861 // printMsAsSeconds(split); // Removed for PROTOCOL optimization
elmbed 18:affef3a7db2a 862 //Serial.print(F("s timeout, lights: "));
AntonLS 39:b1f864b71318 863 // writeToPhone("s timeout, config bits: ");
AntonLS 45:1eb335c00cb2 864 writeToPhone(",T%05u", split); // PROTOCOL optimization
elmbed 17:d8b901d791fd 865 l = masks[i];
elmbed 17:d8b901d791fd 866 /*
elmbed 18:affef3a7db2a 867 if(l<0b10000000)
elmbed 18:affef3a7db2a 868 writeToPhone("0");
elmbed 18:affef3a7db2a 869 if(l<0b1000000)
elmbed 18:affef3a7db2a 870 writeToPhone("0");
elmbed 18:affef3a7db2a 871 if(l<0b100000)
elmbed 18:affef3a7db2a 872 writeToPhone("0");
elmbed 18:affef3a7db2a 873 if(l<0b10000)
elmbed 18:affef3a7db2a 874 writeToPhone("0");
elmbed 18:affef3a7db2a 875 if(l<0b1000)
elmbed 18:affef3a7db2a 876 writeToPhone("0");
elmbed 18:affef3a7db2a 877 if(l<0b100)
elmbed 18:affef3a7db2a 878 writeToPhone("0");
elmbed 18:affef3a7db2a 879 if(l<0b10)
elmbed 18:affef3a7db2a 880 writeToPhone("0");
elmbed 18:affef3a7db2a 881 */
AntonLS 39:b1f864b71318 882 // writeBitsToPhone( l, 3 ); // Removed for PROTOCOL optimization
AntonLS 39:b1f864b71318 883 writeToPhone(",B%02x", l); // PROTOCOL optimization
AntonLS 19:afcbb425b3cf 884 writeToPhone( "\r\n" );
elmbed 18:affef3a7db2a 885 //Serial.println(l, BIN);
elmbed 17:d8b901d791fd 886 }
elmbed 17:d8b901d791fd 887 break;
elmbed 17:d8b901d791fd 888 case 'u':
elmbed 17:d8b901d791fd 889 // let any pending messages clear
elmbed 18:affef3a7db2a 890 while(ta.get_buffer_size()){
elmbed 17:d8b901d791fd 891 ta.spin();
elmbed 17:d8b901d791fd 892 }
elmbed 18:affef3a7db2a 893 if(value == 1){
elmbed 18:affef3a7db2a 894 writeToPhone("Course leader!\r\n");
elmbed 17:d8b901d791fd 895 powerupCones(value);
elmbed 17:d8b901d791fd 896 ta.powerup(value);
elmbed 17:d8b901d791fd 897 }
elmbed 18:affef3a7db2a 898 if(value == 2){
elmbed 18:affef3a7db2a 899 writeToPhone("Split leader!\r\n");
elmbed 17:d8b901d791fd 900 powerupCones(value);
elmbed 18:affef3a7db2a 901 //ta.powerup(value);
elmbed 17:d8b901d791fd 902 }
elmbed 18:affef3a7db2a 903 if(value > 10 && value < 5000){
elmbed 17:d8b901d791fd 904 ta.beep(value);
elmbed 17:d8b901d791fd 905 }
elmbed 17:d8b901d791fd 906 break;
elmbed 17:d8b901d791fd 907 case 'w':
elmbed 18:affef3a7db2a 908 if(value > 0 && value <= SEQUENCES){
elmbed 17:d8b901d791fd 909 length = STATIONS;
elmbed 17:d8b901d791fd 910 offset = (value - 1) * STATIONS;
elmbed 18:affef3a7db2a 911 writeToPhone("Saved sequence %d\r\n", value);
elmbed 17:d8b901d791fd 912 }
elmbed 18:affef3a7db2a 913 else{
elmbed 17:d8b901d791fd 914 length = STATIONS * SEQUENCES;
elmbed 17:d8b901d791fd 915 offset = 0;
elmbed 18:affef3a7db2a 916 writeToPhone("Saved all sequences.\r\n");
elmbed 17:d8b901d791fd 917 }
elmbed 18:affef3a7db2a 918 for(i=offset;i<length+offset;i++){
elmbed 18:affef3a7db2a 919 //eeprom_update_byte(addressConeTable + i, cone_table[i]);
elmbed 18:affef3a7db2a 920 //eeprom_update_byte(addressMaskTable + i, mask_table[i]);
elmbed 18:affef3a7db2a 921 //eeprom_update_word(addressTimeTable + i, time_table[i]);
elmbed 17:d8b901d791fd 922 }
elmbed 17:d8b901d791fd 923 break;
elmbed 17:d8b901d791fd 924 case 'x':
elmbed 17:d8b901d791fd 925 resetSensors();
AntonLS 46:28c29ef61276 926 ta.resetTouch();
elmbed 17:d8b901d791fd 927 break;
elmbed 17:d8b901d791fd 928
elmbed 17:d8b901d791fd 929 case 'z':
elmbed 17:d8b901d791fd 930 find_cones();
elmbed 18:affef3a7db2a 931 /*m->value = value;
elmbed 17:d8b901d791fd 932 m->command = 'z';
elmbed 17:d8b901d791fd 933 m->cone = 2;
elmbed 18:affef3a7db2a 934 Serial.println("sending...");
elmbed 17:d8b901d791fd 935 ta.send(m);
elmbed 18:affef3a7db2a 936 Serial.println("sent");*/
elmbed 17:d8b901d791fd 937 break;
elmbed 17:d8b901d791fd 938 }
elmbed 17:d8b901d791fd 939 }
elmbed 23:26f27c462976 940
elmbed 23:26f27c462976 941 static patternState_t stateFromCone(uint8_t cone)
elmbed 17:d8b901d791fd 942 {
elmbed 17:d8b901d791fd 943 if(cone == 0 || index == STATIONS)
elmbed 17:d8b901d791fd 944 return SUCCESS_P;
elmbed 17:d8b901d791fd 945 if(cone == 1)
elmbed 17:d8b901d791fd 946 return ACTIVE_TARGET_P;
elmbed 17:d8b901d791fd 947
elmbed 17:d8b901d791fd 948 return WAITING_P;
elmbed 17:d8b901d791fd 949 }
elmbed 17:d8b901d791fd 950
elmbed 23:26f27c462976 951 static void printSplit(unsigned long timer)
elmbed 17:d8b901d791fd 952 {
elmbed 17:d8b901d791fd 953 if(tag_start)
elmbed 17:d8b901d791fd 954 {
AntonLS 48:4c9551c826e9 955 writeToPhone( "Sequence started at cone %u (", active_cone ); // PROTOCOL
AntonLS 48:4c9551c826e9 956 printMsAsSeconds(timer); // PROTOCOL
AntonLS 48:4c9551c826e9 957 writeToPhone( " seconds).\r\n" ); // PROTOCOL
elmbed 17:d8b901d791fd 958 tag_start = false;
elmbed 17:d8b901d791fd 959 }
elmbed 17:d8b901d791fd 960 else
elmbed 17:d8b901d791fd 961 {
AntonLS 48:4c9551c826e9 962 writeToPhone( "Target cone is: %u, ", active_cone ); // PROTOCOL
AntonLS 48:4c9551c826e9 963 printMsAsSeconds(timer); // PROTOCOL
AntonLS 48:4c9551c826e9 964 writeToPhone( " split\r\n" ); // PROTOCOL
elmbed 17:d8b901d791fd 965 }
elmbed 17:d8b901d791fd 966 }
elmbed 17:d8b901d791fd 967
elmbed 23:26f27c462976 968 static uint8_t getRandomCone(void)
elmbed 17:d8b901d791fd 969 {
elmbed 40:dec5270e03e9 970 static uint8_t last_cone = 0;
elmbed 17:d8b901d791fd 971 uint8_t cone;
AntonLS 48:4c9551c826e9 972
AntonLS 48:4c9551c826e9 973 uint8_t avail = 1;
AntonLS 48:4c9551c826e9 974 uint8_t ac[NUM_CONES] = {1};
AntonLS 48:4c9551c826e9 975 for( uint8_t i=2; i<=NUM_CONES; i++ )
AntonLS 48:4c9551c826e9 976 if( active_cones[i] && (i != last_cone) ) ac[avail++] = i;
AntonLS 48:4c9551c826e9 977
AntonLS 48:4c9551c826e9 978 cone = ((avail >1) ? ac[rnd() % avail] : 1);
AntonLS 48:4c9551c826e9 979
AntonLS 48:4c9551c826e9 980 writeToPhone( "Target cone is %u\r\n", cone ); // PROTOCOL
elmbed 40:dec5270e03e9 981
elmbed 40:dec5270e03e9 982 last_cone = cone;
AntonLS 48:4c9551c826e9 983
AntonLS 48:4c9551c826e9 984 return cone;
elmbed 17:d8b901d791fd 985 }
elmbed 17:d8b901d791fd 986
elmbed 23:26f27c462976 987 static void clearCones(void)
elmbed 17:d8b901d791fd 988 {
elmbed 38:76e49d045a3b 989 #if 1
elmbed 17:d8b901d791fd 990 uint8_t i;
elmbed 17:d8b901d791fd 991 m->command = 'q';
elmbed 17:d8b901d791fd 992
elmbed 17:d8b901d791fd 993 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 994 {
elmbed 17:d8b901d791fd 995 m->cone = i;
elmbed 17:d8b901d791fd 996 if(active_cones[i])
elmbed 17:d8b901d791fd 997 ta.send(m);
AntonLS 48:4c9551c826e9 998 /// active_cones[i] = false;
elmbed 17:d8b901d791fd 999 //ta.send("q", i);
elmbed 17:d8b901d791fd 1000 }
elmbed 17:d8b901d791fd 1001
elmbed 17:d8b901d791fd 1002 DEBUG("sent clear\r\n");
elmbed 23:26f27c462976 1003 #endif
elmbed 17:d8b901d791fd 1004 }
elmbed 17:d8b901d791fd 1005
elmbed 23:26f27c462976 1006 static void powerupCones(uint8_t sound)
elmbed 17:d8b901d791fd 1007 {
elmbed 23:26f27c462976 1008 #if 1
elmbed 17:d8b901d791fd 1009 uint8_t i;
elmbed 17:d8b901d791fd 1010 m->command = 'u';
elmbed 17:d8b901d791fd 1011 m->value = sound;
elmbed 17:d8b901d791fd 1012
elmbed 17:d8b901d791fd 1013 if(sound == 2)
elmbed 17:d8b901d791fd 1014 {
elmbed 28:8e74ddc4f70f 1015 if(active_cone == NODE_ID)
elmbed 17:d8b901d791fd 1016 {
elmbed 17:d8b901d791fd 1017 ta.powerup(sound);
elmbed 17:d8b901d791fd 1018 }
elmbed 17:d8b901d791fd 1019 else
elmbed 17:d8b901d791fd 1020 {
elmbed 17:d8b901d791fd 1021 m->cone = active_cone;
elmbed 17:d8b901d791fd 1022 ta.send(m);
elmbed 17:d8b901d791fd 1023 }
elmbed 17:d8b901d791fd 1024 }
elmbed 17:d8b901d791fd 1025 else
elmbed 17:d8b901d791fd 1026 {
elmbed 17:d8b901d791fd 1027 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1028 {
elmbed 17:d8b901d791fd 1029 m->cone = i;
elmbed 17:d8b901d791fd 1030 if(active_cones[i])
elmbed 17:d8b901d791fd 1031 ta.send(m);
elmbed 17:d8b901d791fd 1032 //ta.send("f", i);
elmbed 17:d8b901d791fd 1033 }
elmbed 17:d8b901d791fd 1034 }
elmbed 23:26f27c462976 1035 #endif
elmbed 17:d8b901d791fd 1036 //DEBUG("sent powerup");
elmbed 17:d8b901d791fd 1037 }
elmbed 17:d8b901d791fd 1038
elmbed 23:26f27c462976 1039 static void failCones(void)
elmbed 17:d8b901d791fd 1040 {
elmbed 38:76e49d045a3b 1041 #if 1
elmbed 17:d8b901d791fd 1042 uint8_t i;
elmbed 17:d8b901d791fd 1043 m->command = 'f';
elmbed 17:d8b901d791fd 1044
elmbed 17:d8b901d791fd 1045 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1046 {
elmbed 17:d8b901d791fd 1047 m->cone = i;
elmbed 17:d8b901d791fd 1048
elmbed 17:d8b901d791fd 1049 if(active_cones[i])
elmbed 17:d8b901d791fd 1050 ta.send(m);
elmbed 17:d8b901d791fd 1051 //ta.send("f", i);
elmbed 17:d8b901d791fd 1052 }
elmbed 17:d8b901d791fd 1053
elmbed 17:d8b901d791fd 1054 while(ta.get_buffer_size())
elmbed 17:d8b901d791fd 1055 {
elmbed 17:d8b901d791fd 1056 ta.spin();
elmbed 17:d8b901d791fd 1057 }
elmbed 17:d8b901d791fd 1058
elmbed 17:d8b901d791fd 1059 //DEBUG("sent fail\n");
elmbed 23:26f27c462976 1060 #endif
elmbed 17:d8b901d791fd 1061 }
elmbed 17:d8b901d791fd 1062
elmbed 23:26f27c462976 1063 static void resetSensors(void)
elmbed 17:d8b901d791fd 1064 {
elmbed 38:76e49d045a3b 1065 #if 1
elmbed 17:d8b901d791fd 1066 uint8_t i;
elmbed 17:d8b901d791fd 1067 m->command = 'x';
elmbed 17:d8b901d791fd 1068
elmbed 17:d8b901d791fd 1069 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1070 {
elmbed 17:d8b901d791fd 1071 m->cone = i;
elmbed 17:d8b901d791fd 1072 if(active_cones[i])
elmbed 17:d8b901d791fd 1073 ta.send(m);
elmbed 17:d8b901d791fd 1074 //ta.send("f", i);
elmbed 17:d8b901d791fd 1075 }
elmbed 17:d8b901d791fd 1076
elmbed 17:d8b901d791fd 1077 DEBUG("sent sensor reset\n");
elmbed 23:26f27c462976 1078 #endif
elmbed 17:d8b901d791fd 1079 }
elmbed 17:d8b901d791fd 1080
elmbed 23:26f27c462976 1081 static void successCones(void)
elmbed 17:d8b901d791fd 1082 {
elmbed 38:76e49d045a3b 1083 #if 1
elmbed 17:d8b901d791fd 1084 uint8_t i;
elmbed 17:d8b901d791fd 1085 m->command = 's';
elmbed 17:d8b901d791fd 1086
elmbed 17:d8b901d791fd 1087 for(i=2;i<NUM_CONES+1;i++)
elmbed 17:d8b901d791fd 1088 {
elmbed 17:d8b901d791fd 1089 m->cone = i;
elmbed 17:d8b901d791fd 1090 if(active_cones[i])
elmbed 17:d8b901d791fd 1091 ta.send(m);
elmbed 17:d8b901d791fd 1092 //ta.send("s", i);
elmbed 17:d8b901d791fd 1093 }
elmbed 17:d8b901d791fd 1094
elmbed 17:d8b901d791fd 1095 while(ta.get_buffer_size())
elmbed 17:d8b901d791fd 1096 {
elmbed 17:d8b901d791fd 1097 ta.spin();
elmbed 17:d8b901d791fd 1098 }
elmbed 17:d8b901d791fd 1099
elmbed 17:d8b901d791fd 1100 //DEBUG("sent success\n");
elmbed 23:26f27c462976 1101 #endif
elmbed 17:d8b901d791fd 1102 }
elmbed 17:d8b901d791fd 1103
elmbed 23:26f27c462976 1104 static void find_cones(void)
elmbed 17:d8b901d791fd 1105 {
elmbed 17:d8b901d791fd 1106 while(ta.get_buffer_size())
elmbed 23:26f27c462976 1107 {
elmbed 17:d8b901d791fd 1108 ta.spin(); // wait for all messages to leave queue
elmbed 28:8e74ddc4f70f 1109 }
elmbed 17:d8b901d791fd 1110
elmbed 23:26f27c462976 1111 ta.beep_off();
elmbed 17:d8b901d791fd 1112 uint8_t i;
elmbed 17:d8b901d791fd 1113 m->command = 'z';
elmbed 28:8e74ddc4f70f 1114
elmbed 17:d8b901d791fd 1115 lonely = true;
elmbed 17:d8b901d791fd 1116
elmbed 29:ae208b014987 1117 writeToPhone("FC\r\n");
elmbed 29:ae208b014987 1118
elmbed 29:ae208b014987 1119 int retry_count = 0;
AntonLS 32:64e5d7340d82 1120
elmbed 26:40a0c775ff27 1121 for(i = 2; i < NUM_CONES + 1; ++i)
elmbed 17:d8b901d791fd 1122 {
elmbed 29:ae208b014987 1123 retry_count = 0;
elmbed 29:ae208b014987 1124 go_again:
elmbed 17:d8b901d791fd 1125 active_cones[i] = false;
elmbed 17:d8b901d791fd 1126 m->cone = i;
elmbed 17:d8b901d791fd 1127 ta.send_immediate(m);
elmbed 17:d8b901d791fd 1128
elmbed 17:d8b901d791fd 1129 unsigned long st = millis();
elmbed 29:ae208b014987 1130 unsigned long current = 0L;
elmbed 29:ae208b014987 1131 unsigned long delta = 0L;
elmbed 17:d8b901d791fd 1132
AntonLS 32:64e5d7340d82 1133 writeToPhone("S: %lu F: %d\r\n", st, i); /// DEBUG-only message
elmbed 23:26f27c462976 1134
elmbed 17:d8b901d791fd 1135 while(1)
elmbed 17:d8b901d791fd 1136 {
elmbed 23:26f27c462976 1137 current = millis();
elmbed 23:26f27c462976 1138 delta = current - st;
elmbed 17:d8b901d791fd 1139
elmbed 35:c1405da88d3a 1140 if(delta > 300L)
elmbed 23:26f27c462976 1141 {
elmbed 29:ae208b014987 1142 writeToPhone("FT: %d %lu\r\n", i, current);
elmbed 29:ae208b014987 1143
elmbed 29:ae208b014987 1144 if (++retry_count < 3)
elmbed 29:ae208b014987 1145 {
elmbed 29:ae208b014987 1146 goto go_again;
elmbed 29:ae208b014987 1147 }
elmbed 29:ae208b014987 1148 else
elmbed 29:ae208b014987 1149 {
elmbed 29:ae208b014987 1150 break;
elmbed 29:ae208b014987 1151 }
elmbed 28:8e74ddc4f70f 1152 }
elmbed 17:d8b901d791fd 1153 if(ta.recieve(m_in))
elmbed 17:d8b901d791fd 1154 {
elmbed 17:d8b901d791fd 1155 lonely = false;
elmbed 17:d8b901d791fd 1156 active_cones[m_in->cone] = true;
elmbed 17:d8b901d791fd 1157
elmbed 29:ae208b014987 1158 writeToPhone("FS: %d\r\n", m_in->cone);
elmbed 17:d8b901d791fd 1159 break;
elmbed 17:d8b901d791fd 1160 }
elmbed 17:d8b901d791fd 1161 }
elmbed 29:ae208b014987 1162
elmbed 29:ae208b014987 1163 wait_us(50);
elmbed 17:d8b901d791fd 1164 }
elmbed 17:d8b901d791fd 1165
elmbed 26:40a0c775ff27 1166 writeToPhone("available cones are: (1");
elmbed 17:d8b901d791fd 1167
elmbed 26:40a0c775ff27 1168 for(i = 2; i < NUM_CONES + 1; ++i)
elmbed 17:d8b901d791fd 1169 {
elmbed 17:d8b901d791fd 1170 if(active_cones[i])
elmbed 17:d8b901d791fd 1171 {
elmbed 26:40a0c775ff27 1172 writeToPhone(", %d", i);
elmbed 17:d8b901d791fd 1173 }
elmbed 17:d8b901d791fd 1174 }
elmbed 26:40a0c775ff27 1175
elmbed 26:40a0c775ff27 1176 writeToPhone(")\r\n");
elmbed 17:d8b901d791fd 1177 }
elmbed 17:d8b901d791fd 1178
elmbed 23:26f27c462976 1179 static void printMsAsSeconds(unsigned long number)
elmbed 17:d8b901d791fd 1180 {
elmbed 17:d8b901d791fd 1181 uint16_t remainder;
elmbed 17:d8b901d791fd 1182
elmbed 17:d8b901d791fd 1183 remainder = number%1000;
AntonLS 19:afcbb425b3cf 1184
AntonLS 39:b1f864b71318 1185 writeToPhone( "%d.%03d", number/1000, remainder ); /// Needs to stay without newline.
elmbed 17:d8b901d791fd 1186 }
elmbed 17:d8b901d791fd 1187
elmbed 23:26f27c462976 1188 static void spinButtons(void)
elmbed 17:d8b901d791fd 1189 {
elmbed 17:d8b901d791fd 1190 static inputState_t last_state = IDLE_I;
elmbed 17:d8b901d791fd 1191 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 1192 static Event event;
elmbed 17:d8b901d791fd 1193 static uint8_t sequence = 0;
elmbed 17:d8b901d791fd 1194 static unsigned long start = 0;
elmbed 17:d8b901d791fd 1195 uint8_t section = 0;
elmbed 17:d8b901d791fd 1196
elmbed 17:d8b901d791fd 1197 //uint8_t buttons;
elmbed 17:d8b901d791fd 1198
elmbed 17:d8b901d791fd 1199 //timer = millis() - start;
elmbed 17:d8b901d791fd 1200 if(millis() > 500)
elmbed 17:d8b901d791fd 1201 event = getInputEvent();
elmbed 17:d8b901d791fd 1202
elmbed 17:d8b901d791fd 1203 if(event.type == Event::press)
elmbed 17:d8b901d791fd 1204 {
elmbed 17:d8b901d791fd 1205 in_menu = true;
elmbed 17:d8b901d791fd 1206 state_i = MENU_I;
elmbed 17:d8b901d791fd 1207 }
elmbed 17:d8b901d791fd 1208
elmbed 17:d8b901d791fd 1209 first_i = false;
elmbed 17:d8b901d791fd 1210
elmbed 17:d8b901d791fd 1211 if(last_state != state_i)
elmbed 17:d8b901d791fd 1212 {
elmbed 17:d8b901d791fd 1213 //if(state_i == IDLE_I)////////////DEBUG.println(F("");
elmbed 17:d8b901d791fd 1214 //if(state_i == RUNNING_I)//////////////DEBUG.println(F("State is WAITING");
elmbed 17:d8b901d791fd 1215 // need to print menu timeout?
elmbed 17:d8b901d791fd 1216 if(state_i == MENU_I)
elmbed 17:d8b901d791fd 1217 ////DEBUG("Menu\n");
elmbed 17:d8b901d791fd 1218 if(state_i == PATTERN_SELECT_I)
elmbed 17:d8b901d791fd 1219 ////DEBUG("Choosing pattern");
elmbed 17:d8b901d791fd 1220 first_i = true;
elmbed 17:d8b901d791fd 1221 }
elmbed 17:d8b901d791fd 1222
elmbed 17:d8b901d791fd 1223 last_state = state_i;
elmbed 17:d8b901d791fd 1224
elmbed 17:d8b901d791fd 1225 if(state_i == RUNNING_I)
elmbed 17:d8b901d791fd 1226 in_menu = false;
elmbed 17:d8b901d791fd 1227
elmbed 17:d8b901d791fd 1228 switch(state_i)
elmbed 17:d8b901d791fd 1229 {
elmbed 17:d8b901d791fd 1230 case IDLE_I:
elmbed 17:d8b901d791fd 1231 // display something distinctive
elmbed 17:d8b901d791fd 1232 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1233 {
elmbed 17:d8b901d791fd 1234 state_i = RUNNING_I;
elmbed 17:d8b901d791fd 1235 //send 'p' or 'f' command as appropriate
elmbed 17:d8b901d791fd 1236 if(mode == FREEFORM)
elmbed 17:d8b901d791fd 1237 interpret('f', 0);
elmbed 17:d8b901d791fd 1238 else
elmbed 17:d8b901d791fd 1239 interpret('p', 0);
elmbed 17:d8b901d791fd 1240 }
elmbed 35:c1405da88d3a 1241
elmbed 17:d8b901d791fd 1242 break;
elmbed 17:d8b901d791fd 1243 case RUNNING_I:
elmbed 17:d8b901d791fd 1244 if(event.type == Event::finish)
elmbed 17:d8b901d791fd 1245 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1246 break;
elmbed 17:d8b901d791fd 1247 case MENU_I:
elmbed 17:d8b901d791fd 1248 if(first_i)
elmbed 17:d8b901d791fd 1249 interpret('q', 0);
elmbed 17:d8b901d791fd 1250 // every 3 seconds we cycle through the menu
elmbed 17:d8b901d791fd 1251 // one option per second
elmbed 17:d8b901d791fd 1252 // light changes color and stays on for 500ms
elmbed 17:d8b901d791fd 1253 section = ((millis() - start)%3000)/500;
elmbed 17:d8b901d791fd 1254
elmbed 17:d8b901d791fd 1255 if(section == 0)
elmbed 17:d8b901d791fd 1256 ta.post_color(0xFF);
elmbed 17:d8b901d791fd 1257 if(section == 1)
elmbed 17:d8b901d791fd 1258 ta.post_color(0);
elmbed 17:d8b901d791fd 1259 if(section == 2)
elmbed 17:d8b901d791fd 1260 ta.post_color(0xFF00);
elmbed 17:d8b901d791fd 1261 if(section == 3)
elmbed 17:d8b901d791fd 1262 ta.post_color(0);
elmbed 17:d8b901d791fd 1263 if(section == 4)
elmbed 17:d8b901d791fd 1264 ta.post_color(0xFF0000);
elmbed 17:d8b901d791fd 1265 if(section == 5)
elmbed 17:d8b901d791fd 1266 ta.post_color(0);
elmbed 17:d8b901d791fd 1267 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1268 {
elmbed 17:d8b901d791fd 1269 // set state here based on current light color
elmbed 17:d8b901d791fd 1270 if(section < 2)
elmbed 17:d8b901d791fd 1271 {
elmbed 17:d8b901d791fd 1272 mode = FREEFORM;
elmbed 17:d8b901d791fd 1273 ta.post_color(0xFF);
elmbed 17:d8b901d791fd 1274 ////////DEBUG.println(F("Freeform mode.");
elmbed 17:d8b901d791fd 1275 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1276 break;
elmbed 17:d8b901d791fd 1277 }
elmbed 17:d8b901d791fd 1278
elmbed 17:d8b901d791fd 1279 if(section < 4)
elmbed 17:d8b901d791fd 1280 {
elmbed 17:d8b901d791fd 1281 mode = PATTERN;
elmbed 17:d8b901d791fd 1282 ta.post_color(0xFF00);
elmbed 17:d8b901d791fd 1283 ////////DEBUG.println(F("Pattern mode.");
elmbed 17:d8b901d791fd 1284 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1285 break;
elmbed 17:d8b901d791fd 1286 }
elmbed 17:d8b901d791fd 1287
elmbed 17:d8b901d791fd 1288 if(section < 6)
elmbed 17:d8b901d791fd 1289 {
elmbed 17:d8b901d791fd 1290 state_i = PATTERN_SELECT_I;
elmbed 17:d8b901d791fd 1291 ta.post_color(0xFF0000);
elmbed 17:d8b901d791fd 1292 break;
elmbed 17:d8b901d791fd 1293 }
elmbed 17:d8b901d791fd 1294 }
elmbed 17:d8b901d791fd 1295 break;
elmbed 17:d8b901d791fd 1296 case PATTERN_SELECT_I:
elmbed 17:d8b901d791fd 1297 if(first_i)
elmbed 17:d8b901d791fd 1298 {
elmbed 17:d8b901d791fd 1299 sequence = active_sequence;
elmbed 17:d8b901d791fd 1300 mode = PATTERN;
elmbed 17:d8b901d791fd 1301 //start = millis();
elmbed 17:d8b901d791fd 1302 }
elmbed 17:d8b901d791fd 1303 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1304 {
elmbed 17:d8b901d791fd 1305 ta.beep(50);
elmbed 17:d8b901d791fd 1306 if(event.value == 1 && sequence > 0)
elmbed 17:d8b901d791fd 1307 {
elmbed 17:d8b901d791fd 1308 sequence--;
elmbed 17:d8b901d791fd 1309 }
elmbed 17:d8b901d791fd 1310
elmbed 17:d8b901d791fd 1311 if(event.value == 2 && sequence < SEQUENCES - 1)
elmbed 17:d8b901d791fd 1312 {
elmbed 17:d8b901d791fd 1313 sequence++;
elmbed 17:d8b901d791fd 1314 }
elmbed 17:d8b901d791fd 1315
elmbed 17:d8b901d791fd 1316 if(event.value == 3)
elmbed 17:d8b901d791fd 1317 {
elmbed 17:d8b901d791fd 1318 interpret('p', sequence + 1);
elmbed 17:d8b901d791fd 1319 state_i = IDLE_I;
elmbed 17:d8b901d791fd 1320 }
elmbed 17:d8b901d791fd 1321
elmbed 17:d8b901d791fd 1322 if(event.value != 3)
elmbed 17:d8b901d791fd 1323 {
elmbed 17:d8b901d791fd 1324 ////DEBUG("Menu says: sequence ");
elmbed 17:d8b901d791fd 1325 ////DEBUG("%d\n",sequence + 1);
elmbed 17:d8b901d791fd 1326 }
elmbed 17:d8b901d791fd 1327 break;
elmbed 17:d8b901d791fd 1328 case TEACH_I:
elmbed 17:d8b901d791fd 1329 // not implemented yet
elmbed 17:d8b901d791fd 1330 break;
elmbed 17:d8b901d791fd 1331 default: break;
elmbed 17:d8b901d791fd 1332 }
elmbed 17:d8b901d791fd 1333 }
elmbed 17:d8b901d791fd 1334 }
elmbed 17:d8b901d791fd 1335
elmbed 23:26f27c462976 1336 static uint8_t checkButtons(void)
elmbed 17:d8b901d791fd 1337 {
elmbed 17:d8b901d791fd 1338 static unsigned long last_time = 0;
elmbed 17:d8b901d791fd 1339 //static uint8_t last = 0;
elmbed 17:d8b901d791fd 1340 static uint8_t buttons = 0;
elmbed 17:d8b901d791fd 1341
elmbed 17:d8b901d791fd 1342 // listen for commands from the buttons
elmbed 17:d8b901d791fd 1343 unsigned long time = millis();
elmbed 17:d8b901d791fd 1344 // only check every DEBOUNCE_MS to avoid jitter
elmbed 17:d8b901d791fd 1345 if(time - last_time > DEBOUNCE_MS)
elmbed 17:d8b901d791fd 1346 {
elmbed 17:d8b901d791fd 1347 last_time = time;
AntonLS 49:626e84ce5e52 1348 buttons = ta.buttons();
elmbed 17:d8b901d791fd 1349 }
elmbed 17:d8b901d791fd 1350
elmbed 17:d8b901d791fd 1351 return buttons;
elmbed 17:d8b901d791fd 1352 }
elmbed 17:d8b901d791fd 1353
elmbed 23:26f27c462976 1354 static Event getInputEvent(void)
elmbed 17:d8b901d791fd 1355 {
elmbed 17:d8b901d791fd 1356 static uint8_t last_buttons = 0;
elmbed 17:d8b901d791fd 1357 static unsigned long time1 = 0;
elmbed 17:d8b901d791fd 1358 static unsigned long time2 = 0;
elmbed 17:d8b901d791fd 1359 static unsigned long time3 = 0;
elmbed 17:d8b901d791fd 1360 unsigned long duration = 0;
elmbed 17:d8b901d791fd 1361 uint8_t buttons = 0;
elmbed 17:d8b901d791fd 1362 Event event;
elmbed 17:d8b901d791fd 1363 event.type = Event::none;
elmbed 17:d8b901d791fd 1364 event.value = 0;
elmbed 17:d8b901d791fd 1365
elmbed 17:d8b901d791fd 1366 buttons = checkButtons();
elmbed 17:d8b901d791fd 1367 uint8_t rising = buttons & ~last_buttons;
elmbed 17:d8b901d791fd 1368 uint8_t falling = ~buttons & last_buttons;
elmbed 17:d8b901d791fd 1369
elmbed 17:d8b901d791fd 1370 /*if(rising){
elmbed 17:d8b901d791fd 1371 //DEBUG.print("Rising ");
elmbed 17:d8b901d791fd 1372 //DEBUG.println(rising);
elmbed 17:d8b901d791fd 1373 }
elmbed 17:d8b901d791fd 1374 if(falling){
elmbed 17:d8b901d791fd 1375 //DEBUG.print("Falling ");
elmbed 17:d8b901d791fd 1376 //DEBUG.println(falling);
elmbed 17:d8b901d791fd 1377 }*/
elmbed 17:d8b901d791fd 1378 if(rising & 0x01)
elmbed 17:d8b901d791fd 1379 time1 = millis();
elmbed 17:d8b901d791fd 1380 if(rising & 0x02)
elmbed 17:d8b901d791fd 1381 time2 = millis();
elmbed 17:d8b901d791fd 1382 if(rising & 0x04)
elmbed 17:d8b901d791fd 1383 time3 = millis();
elmbed 17:d8b901d791fd 1384
elmbed 17:d8b901d791fd 1385 // simultaneous falling edges will cause lower values to be ignored
elmbed 17:d8b901d791fd 1386 if(falling & 0x01)
elmbed 17:d8b901d791fd 1387 {
elmbed 17:d8b901d791fd 1388 duration = millis() - time1;
elmbed 17:d8b901d791fd 1389 event.value = 1;
elmbed 17:d8b901d791fd 1390 }
elmbed 17:d8b901d791fd 1391
elmbed 17:d8b901d791fd 1392 if(falling & 0x02)
elmbed 17:d8b901d791fd 1393 {
elmbed 17:d8b901d791fd 1394 duration = millis() - time2;
elmbed 17:d8b901d791fd 1395 event.value = 2;
elmbed 17:d8b901d791fd 1396 }
elmbed 17:d8b901d791fd 1397
elmbed 17:d8b901d791fd 1398 if(falling & 0x04)
elmbed 17:d8b901d791fd 1399 {
elmbed 17:d8b901d791fd 1400 duration = millis() - time3;
elmbed 17:d8b901d791fd 1401 event.value = 3;
elmbed 17:d8b901d791fd 1402 }
elmbed 17:d8b901d791fd 1403
elmbed 17:d8b901d791fd 1404 if(duration > 0)
elmbed 17:d8b901d791fd 1405 event.type = Event::tap;
elmbed 17:d8b901d791fd 1406 if(duration > 2000)
elmbed 17:d8b901d791fd 1407 event.type = Event::press;
elmbed 17:d8b901d791fd 1408
elmbed 17:d8b901d791fd 1409 // give feedback that we've waited lng enough for a press
elmbed 17:d8b901d791fd 1410 unsigned long t = millis() - time1;
elmbed 17:d8b901d791fd 1411
elmbed 17:d8b901d791fd 1412 if(2020 > t && t > 2000 && (buttons & 0x01))
elmbed 17:d8b901d791fd 1413 ta.beep(20);
elmbed 17:d8b901d791fd 1414
elmbed 17:d8b901d791fd 1415 t = millis() - time2;
elmbed 17:d8b901d791fd 1416
elmbed 17:d8b901d791fd 1417 if(2020 > t && t > 2000 && (buttons & 0x02))
elmbed 17:d8b901d791fd 1418 ta.beep(20);
elmbed 17:d8b901d791fd 1419
elmbed 17:d8b901d791fd 1420 t = millis() - time3;
elmbed 17:d8b901d791fd 1421
elmbed 17:d8b901d791fd 1422 if(2020 > t && t > 2000 && (buttons & 0x04))
elmbed 17:d8b901d791fd 1423 ta.beep(20);
elmbed 17:d8b901d791fd 1424
elmbed 17:d8b901d791fd 1425 if(event.type != Event::none)
elmbed 17:d8b901d791fd 1426 {
elmbed 17:d8b901d791fd 1427 //DEBUG("Event: ");
elmbed 17:d8b901d791fd 1428 if(event.type == Event::tap)
elmbed 17:d8b901d791fd 1429 ////DEBUG("tap, ");
elmbed 17:d8b901d791fd 1430 if(event.type == Event::press)
elmbed 17:d8b901d791fd 1431 ////DEBUG("press, ");
elmbed 17:d8b901d791fd 1432
elmbed 17:d8b901d791fd 1433 uint8_t val = event.value;
elmbed 17:d8b901d791fd 1434 //DEBUG("%d\n",val);
elmbed 17:d8b901d791fd 1435 //////DEBUG.println(duration);
elmbed 17:d8b901d791fd 1436 }
elmbed 17:d8b901d791fd 1437
elmbed 17:d8b901d791fd 1438 last_buttons = buttons;
elmbed 17:d8b901d791fd 1439 return event;
elmbed 17:d8b901d791fd 1440 }
elmbed 18:affef3a7db2a 1441 #endif
elmbed 18:affef3a7db2a 1442
elmbed 18:affef3a7db2a 1443 #endif