Diff: main.cpp

Revision:

27:bee63ac9b70b

Parent:

26:a56cc5d715e9

--- a/main.cpp	Thu Nov 28 07:39:32 2019 +0000
+++ b/main.cpp	Tue Jan 21 12:59:37 2020 +0000
@@ -2,14 +2,18 @@
 
 /*      _DEBUG_     */
 int sommeDeControle,sommeRecue;
+char *ptr;
+
+void automate_debug(T_Pixy2State &etat);
 
 Serial pc(USBTX, USBRX, 9600);
 /*                  */
 
-typedef enum {IDLE, SND, CHECKSUM_ERROR, TIMEOUT, OK} T_state;
+typedef enum {IDLE, SND, SND_2, CHECKSUM_ERROR, TIMEOUT, OK, OK_2} T_state;
 
 // FLAGS
-char FLAG_BP = 0;
+bool FLAG_BP = false;
+int nb_appui = 0;
 
 // Prototypes
 void appui_BP(void);
@@ -19,6 +23,8 @@
 {
     PIXY2               maPixy(PC_12, PD_2);     // PC_12 : UART5_TX --- PD_2 : UART5_RX
     
+    T_pixy2Version* version;
+    T_pixy2Resolution* resolution;
     T_pixy2ErrorCode    rep;
     
     // Initialisations
@@ -34,16 +40,24 @@
 
         switch (etat) {
             case IDLE :
-                if (FLAG_BP) {
+                if (FLAG_BP && nb_appui == 0) {
                     pc.printf("Envoi...\n\r");
                     etat = SND;
-                    FLAG_BP = 0;
+                    FLAG_BP = false;
                     temps.reset();
+                    nb_appui += 1;
+                }
+                if (FLAG_BP && nb_appui == 1) {
+                    pc.printf("Envoi...\n\r");
+                    etat = SND_2;
+                    FLAG_BP = false;
+                    temps.reset();
+                    nb_appui = 0;
                 }
                 break;
 
             case SND :
-                rep = maPixy.pixy2_getMainFeature(1);
+                rep = maPixy.pixy2_getVersion(&version);
                 
                 if (rep == PIXY2_BAD_CHECKSUM) {
                     etat = CHECKSUM_ERROR;   
@@ -51,10 +65,24 @@
                 if (temps.read()>0.5f) {
                     etat = TIMEOUT;
                 }
-                if (rep >= PIXY2_VECTOR) {
+                if (rep == PIXY2_OK) {
                     etat = OK;
                 }
                 break;
+                
+            case SND_2 :
+                rep = maPixy.pixy2_getResolution(&resolution);
+                
+                if (rep == PIXY2_BAD_CHECKSUM) {
+                    etat = CHECKSUM_ERROR;   
+                }
+                if (temps.read()>0.5f) {
+                    etat = TIMEOUT;
+                }
+                if (rep == PIXY2_OK) {
+                    etat = OK_2;
+                }
+                break;
             
             case CHECKSUM_ERROR :
                 pc.printf("Erreur de CheckSum...\n\r");
@@ -64,26 +92,57 @@
                 break;
             
             case TIMEOUT :
-                pc.printf("Erreur Timeout\n\r");
+                pc.printf("Erreur Timeout...\n\rRep : %d\n\r", rep);
+                for(int i=0; i<2; ++i)
+                    pc.printf("%d\n\r", *(ptr + i));
                 etat = IDLE;
                 break;
 
             case OK :
-                pc.printf("Number of vectors  : %d\n\r", maPixy.Pixy2_numVectors);
-                for(int i=0; i<maPixy.Pixy2_numVectors; ++i) {
-                    pc.printf("Vector number : %d\n\r", maPixy.Pixy2_vectors[i].pixIndex);
-                    pc.printf("x0 : %d - y0 : %d\n\r", maPixy.Pixy2_vectors[i].pixX0, maPixy.Pixy2_vectors[i].pixY0);
-                    pc.printf("x1 : %d - y1 : %d\n\r", maPixy.Pixy2_vectors[i].pixX1, maPixy.Pixy2_vectors[i].pixY1);
-                }
+                pc.printf("Version de la camera : %s\n\r", version->pixHFString);
+                etat = IDLE;
+                break;
+                
+            case OK_2 :
+                pc.printf("Resolution de la camera : %d - %d\n\r", resolution->pixFrameWidth, resolution->pixFrameHeight);
                 etat = IDLE;
                 break;
 
         }
+        
+        //automate_debug(maPixy.etat);
     }
 }
 
 // FONCTIONS
 void appui_BP(void)
 {
-    FLAG_BP = 1;
+    FLAG_BP = true;
+}
+
+void automate_debug(T_Pixy2State &etat) {
+    
+    static int etat_debug_passe = -1;
+    
+    if(etat != etat_debug_passe) {
+        switch(etat) {
+            case idle :
+                pc.printf("IDLE\n\r");
+                break;
+            case messageSent :
+                pc.printf("DATA_SENT\n\r");
+                break;
+            case receivingHeader :
+                pc.printf("RECEIVING_HEADER\n\r");
+                break;
+            case receivingData :
+                pc.printf("RECEIVING_DATA\n\r");
+                break;
+            case dataReceived :
+                pc.printf("DATA_RECEIVED\n\r");
+                break;    
+        }
+    }
+    
+    etat_debug_passe = etat;   
 }
\ No newline at end of file