Keisuke Sehara / Mbed 2 deprecated STM32_Whisking

fast-feedback virtual target task code on STM Nucleo

Dependencies:   mbed

task.cpp@14:af3adf5d5ddf, 2018-06-25 (annotated)

Committer:
gwappa
Date:
Mon Jun 25 14:47:41 2018 +0000
Revision:
14:af3adf5d5ddf
Parent:
13:8ea85a33e37a
Child:
15:20f7f737c256
working version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gwappa 1:871d3066c2ab 1 #include "task.h"
gwappa 1:871d3066c2ab 2 #include "utils.h"
gwappa 8:973dcd190672 3 #include "states.h"
gwappa 4:fcf597f82632 4 #include "automaton.h"
gwappa 1:871d3066c2ab 5
gwappa 1:871d3066c2ab 6 Task::Task(const Mode& mode):
gwappa 1:871d3066c2ab 7 mode(mode),
gwappa 5:849446d19406 8 delay_min_ms(CHR_DELAY_MIN, 3000),
gwappa 5:849446d19406 9 delay_var_ms(CHR_DELAY_VAR, 3000),
gwappa 5:849446d19406 10 prep_dur_ms (CHR_PREP_DUR, 3000),
gwappa 13:8ea85a33e37a 11 aud_dur_ms (CHR_AUD_DUR, 4000),
gwappa 11:897ecd5413e0 12 aud_tick_hz (CHR_AUD_FREQ, 4),
gwappa 13:8ea85a33e37a 13 resp_dur_ms (CHR_RESP_DUR, 1000),
gwappa 5:849446d19406 14 post_dur_ms (CHR_POST_DUR, 4000),
gwappa 5:849446d19406 15 reward_ms (CHR_REWARD_DUR,10),
gwappa 11:897ecd5413e0 16 vis_min_ms (CHR_VIS_MIN, 50),
gwappa 14:af3adf5d5ddf 17 vis_avg_ms (CHR_VIS_AVG, 800),
gwappa 13:8ea85a33e37a 18 vis_fail_perc(CHR_VIS_FAIL, 20),
gwappa 5:849446d19406 19 test_reward (CMD_TEST_REWARD, callback(this, &Task::testReward)),
gwappa 5:849446d19406 20 run (CMD_EXECUTE, callback(this, &Task::runTrial))
gwappa 1:871d3066c2ab 21 { }
gwappa 5:849446d19406 22
gwappa 11:897ecd5413e0 23 const char ModeSelection::CMD_ID_MODE = '_';
gwappa 11:897ecd5413e0 24 const char ModeSelection::CMD_MODE_PAIR = 'P';
gwappa 11:897ecd5413e0 25 const char ModeSelection::CMD_MODE_REPORT = 'R';
gwappa 11:897ecd5413e0 26 const char ModeSelection::CMD_MODE_ASSOCIATE = 'A';
gwappa 11:897ecd5413e0 27 const char ModeSelection::CMD_MODE_MOTION = 'M';
gwappa 9:e136394bdb39 28
gwappa 5:849446d19406 29 ModeSelection::ModeSelection(const Mode& defaultValue):
gwappa 5:849446d19406 30 value(defaultValue) {
gwappa 5:849446d19406 31 config::addCommand(CMD_ID_MODE, this);
gwappa 5:849446d19406 32 }
gwappa 5:849446d19406 33
gwappa 5:849446d19406 34 ModeSelection::~ModeSelection() {
gwappa 5:849446d19406 35 config::removeCommand(CMD_ID_MODE);
gwappa 5:849446d19406 36 }
gwappa 1:871d3066c2ab 37
gwappa 5:849446d19406 38 bool ModeSelection::parse(const char& c) {
gwappa 5:849446d19406 39 switch(c) {
gwappa 11:897ecd5413e0 40 case CMD_MODE_PAIR: value = Pair; return true;
gwappa 11:897ecd5413e0 41 case CMD_MODE_REPORT: value = Report; return true;
gwappa 11:897ecd5413e0 42 case CMD_MODE_ASSOCIATE: value = Associate; return true;
gwappa 11:897ecd5413e0 43 case CMD_MODE_MOTION: value = Motion; return true;
gwappa 5:849446d19406 44 default:
gwappa 5:849446d19406 45 return false;
gwappa 5:849446d19406 46 }
gwappa 5:849446d19406 47 }
gwappa 5:849446d19406 48
gwappa 5:849446d19406 49 bool ModeSelection::writeSettings() {
gwappa 5:849446d19406 50 #define WRITE(CHR, VAL) if (value == (VAL)) { IO::write("[%c]",CHR); } else { IO::write("%c",CHR); }
gwappa 11:897ecd5413e0 51 WRITE(CMD_MODE_PAIR, Pair)
gwappa 11:897ecd5413e0 52 WRITE(CMD_MODE_REPORT, Report)
gwappa 11:897ecd5413e0 53 WRITE(CMD_MODE_ASSOCIATE, Associate)
gwappa 11:897ecd5413e0 54 WRITE(CMD_MODE_MOTION, Motion)
gwappa 1:871d3066c2ab 55 #undef WRITE
gwappa 5:849446d19406 56 return true;
gwappa 1:871d3066c2ab 57 }
gwappa 5:849446d19406 58
gwappa 5:849446d19406 59 void ModeSelection::echoback() {
gwappa 5:849446d19406 60 IO::write(IO::CONFIG_HEADER);
gwappa 5:849446d19406 61 writeSettings();
gwappa 6:13d180af7501 62 IO::write("\r\n");
gwappa 1:871d3066c2ab 63 }
gwappa 1:871d3066c2ab 64
gwappa 5:849446d19406 65
gwappa 5:849446d19406 66 void Task::testReward() {
gwappa 8:973dcd190672 67 automaton::init<TestReward>();
gwappa 8:973dcd190672 68 automaton::run();
gwappa 10:7c216d528c35 69 IO::result("done");
gwappa 5:849446d19406 70 }
gwappa 5:849446d19406 71
gwappa 5:849446d19406 72 void Task::runTrial() {
gwappa 8:973dcd190672 73 automaton::init<Delay>();
gwappa 5:849446d19406 74 automaton::run();
gwappa 5:849446d19406 75 }
gwappa 5:849446d19406 76
gwappa 5:849446d19406 77 void Task::parseFromSerial() {
gwappa 5:849446d19406 78 config::handleSerial();
gwappa 5:849446d19406 79 }
gwappa 5:849446d19406 80
gwappa 5:849446d19406 81 void Task::writeSettingsToSerial() {
gwappa 5:849446d19406 82 config::writeSettingsToSerial();
gwappa 5:849446d19406 83 }