File content as of revision 32:9a4046224b11:

//
// globals.cpp
// Created by Chandan Siyag on 13/11/2015.

#include "globals.h"
#include "Block.h"
#include "fpga.h"
#include "TCS3472_I2C.h"
#include "MCP23017.h"
#include "WattBob_TextLCD.h"

int kDefaultBaudRate = 19200;

int ColourSensorError = 0.5;
//SerialBase gParity = SerialBase::None, 2 = Even, 3 = Odd
int gStopBits = 1;
float gIntegrationTime = 2.5;
int gToggleServoNumber = 0;
float currentMinError[3] = {0,0,0};
float currentMaxError[3] = {0,0,0};

// Intialise gloabl variables
Block defaultHazBlock = Block(Block::Small, Block::Red);
Block _HazBlock = Block(defaultHazBlock);

// Default gloabl variables values
bool connectedToPC = false;
bool runServoTest = false;
bool runBreakBeamTest = false;
bool runColourSensorTest = false;
bool getColourSensorValue = false;
bool getBlockColourValue = false;
bool setNewHazBlock = false;
bool pcModeChanged = false;
int errorMultiplier = 1;
int hazReadingCount = 1;

PCModes currentMode = None;
Controls currentState = Pause;

/// Sets up the default hazardous block
void DefaultHazBlock(){
	
	for (int i = 0; i < 3; i++){ 
		currentMaxError[i] = kMaxRedError[i];
		currentMinError[i] = kMinRedError[i];
	}
	Colour _minRedBlock = Colour();
	Colour _maxRedBlock = Colour();
	Colour _averageRedBlock = Colour();
	
	for (int i = 0; i < 4; i++){
		_minRedBlock.components[i] = kMinRedBlock[i];
		_maxRedBlock.components[i] = kMaxRedBlock[i];
		_averageRedBlock.components[i] = kAverageRedBlock[i];
	}
	
	defaultHazBlock.minColour = Colour(_minRedBlock);
	defaultHazBlock.maxColour = Colour(_maxRedBlock);
	defaultHazBlock.averageColour = Colour(_averageRedBlock);
	defaultHazBlock.size = Block::Small;
	
	_HazBlock = Block(defaultHazBlock);
}

/// Sends the supplied colours description to the PC
void printColourDescription(Colour colour){
	pc.printf("Red: %.3f, Green: %.3f, Blue: %.3f, Clear: %.3f\n", colour.components[0], colour.components[1], colour.components[2], colour.components[3]);
}

/// Sends the block infomation to the PC.
void printBlockDescription(Block block){
	pc.printf("VALUE:Size: %i\n", block.size);
	printColourDescription(block.minColour);
	printColourDescription(block.averageColour);
	printColourDescription(block.maxColour);
	//TODO: print errors
	pc.printf(":VALUE");
}

/// Reads the switches on the MBED pressed.
/// Finishes on the Key-Up
int readSwitches()
{
    if(i2cport->read_bit(8)) {
        while (i2cport->read_bit(8)) { }
        return 1;
    } else if (i2cport->read_bit(9)) {
        while (i2cport->read_bit(9)) { }
        return 2;
    } else if (i2cport->read_bit(10)) {
        while (i2cport->read_bit(10)) { }
        return 3;
    } else if (i2cport->read_bit(11)) {
        while (i2cport->read_bit(11)) { }
        return 4;
    } else {
        return 0;
    }

}

/// Sets connecteToPC property to true when PC asks MBED to connect to itself.
void connectToPC(CommandTypeRaw typeRaw)
{
    connectedToPC = true;
    pc.printf("INFO:PC connected to MBED.\n");
}

/// Called when PC tells MBED to disconnect.
void disconnectToPC(CommandTypeRaw typeRaw)
{
    pc.printf("INFO:PC disconnected to MBED.\n");
    connectedToPC = false;
    currentMode = None;
}

/// Sends all the information about the hazardous block to the PC.
/// Or sets the new hazardous block depending on the command type i.e. Set or Query
void hazBlock(CommandTypeRaw typeRaw)
{
    if (typeRaw == Set) {
    	setNewHazBlock = true;
    	pc.printf("INFO: Setting new haz block.\n");
	} else if (typeRaw == Query) {
    	pc.printf("VALUE:Hazardous Block:\n \tSize:%i \n \tMin Error:%.3f, %.3f, %.3f\n \t Max Error:%.3f, %.3f, %.3f\n:VALUE", _HazBlock.size, kMinError[_HazBlock.colour][1], kMinError[_HazBlock.colour][1], kMinError[_HazBlock.colour][2], kMaxError[_HazBlock.colour][0], kMaxError[_HazBlock.colour][1], kMaxError[_HazBlock.colour][2]);
        pc.printf("VALUE:\tAverage Colour:%.3f, %.3f, %.3f, %.3f\n:VALUE", kAverageValues[_HazBlock.colour][0], kAverageValues[_HazBlock.colour][1], kAverageValues[_HazBlock.colour][2], kAverageValues[_HazBlock.colour][3]);
    }
}

/// Placeholder function, not used anymore since it's done with hazBlock(!)
/// Is supposed to send information about next block.
void getCurrentBlock(CommandTypeRaw typeRaw)
{
    pc.printf("DEBUG: Getting current block readings\n");
}

/// Sets colour sensor Integration time set by the PC.
void setIntegrationTimeTo(float integrationTime)
{
    gIntegrationTime = integrationTime;
    rgbSensor.setIntegrationTime(gIntegrationTime);
    pc.printf("DEBUG: Setting integration-time to %.2f.\n", gIntegrationTime);
}

/// Placeholder function. Done with colour sensor test mode.
/// Is supposed to send current colour sensor information at regular intervals.
void previewOnPC(bool on)
{
    pc.printf("setting preview on pc to %i.\n", on);
}

/// Start/stop colour sensor test mode.
void testColourSensor(Controls state){
	if (state == Start){
		pc.printf("INFO: Running colour test.\n");
		runColourSensorTest = true;
	} else if (state == Pause){
		pc.printf("INFO: Finished colour test.\n");
		runColourSensorTest = false;
	}
}

/// Sends current colour sensor values.
void readColourSensor()
{
    int colourValue[4];
    rgbSensor.getAllColors(colourValue);
    pc.printf(	"VALUE:Colour Reading:%i,%i,%i,%i\n:VALUE", colourValue[0], colourValue[1], colourValue[2], colourValue[3]);

}

/// Enter/exit servo test mode.
void testServos(Controls state)
{
    if (state == Start) {
        pc.printf("INFO: Running servo test.\n");
        runServoTest = true;
    } else if (state == Pause) {
        pc.printf("INFO: Finished running servo test.\n");
        runServoTest = false;
    }
}

/// Placeholder function. Servos now are always set to the default position i.e Non Hazardous (upright).
void resetServos()
{
    pc.printf("resetting servos.\n");
}

/// Placeholder functions. The port info is sent every time port is opened, and updated every time anything changes.
void getPortInfo()
{
    pc.printf("getting port info.\n");
}

/// Set the port baud rate to what PC told it to.
void setPortBaudRate(int baudRate)
{
    pc.baud(baudRate);
    wait(0.1);
    pc.printf("DEBUG: Setting port Baud Rate to: %i.\n", baudRate);
}

/// Sets port parity according to the PC.
void setPortParity(int parity)
{
    SerialBase::Parity _parity = static_cast<SerialBase::Parity>(parity);
    pc.format(8, _parity, 1);
    wait(0.1);
    pc.printf("DEBUG: Setting port parity to: %i.\n", parity);
}

/// Start/pause break beam test mode.
void testBreakBeams(Controls state){
	if (state == Start){
		pc.printf("INFO: Running break beam test.\n");
		runBreakBeamTest = true;
	}else if (state == Pause){
		pc.printf("INFO: Exiting break beam test.\n");
		runBreakBeamTest = false;
	}
}