Andriy Makukha / Mbed 2 deprecated football_project_wo_output

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Dependencies:   mbed

Fork of football_project by MZJ

proto_code.cpp@32:64e5d7340d82, 2016-01-06 (annotated)

Committer:
AntonLS
Date:
Wed Jan 06 16:39:59 2016 +0000
Revision:
32:64e5d7340d82
Parent:
31:a6110950f385
Child:
33:0fa936c5a098
Merged in z Shaun's z command tweaks.

Who changed what in which revision?

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