CRAC Team / CRAC-Strat_2017_homologation_petit_rob

code petit robot pour homologation

Fork of CRAC-Strat_2017_HOMOLOGATION_PETIT_ROBOT by CRAC Team

Strategie/Strategie.cpp@21:590cdacb6a35, 2017-05-25 (annotated)

Committer:
ClementBreteau
Date:
Thu May 25 06:34:53 2017 +0000
Revision:
21:590cdacb6a35
Parent:
20:de595e4ff01d 
homologation petit robot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ClementBreteau 14:c8fc06c4887f 1 #include "Strategie.h"
antbig 0:ad97421fb1fb 2
antbig 5:dcd817534b57 3 E_stratGameEtat gameEtat = ETAT_CHECK_CARTE_SCREEN;
antbig 0:ad97421fb1fb 4 E_stratGameEtat lastEtat = ETAT_CHECK_CARTE_SCREEN;
antbig 0:ad97421fb1fb 5 unsigned char screenChecktry = 0;
antbig 0:ad97421fb1fb 6 Timer cartesCheker;//Le timer pour le timeout de la vérification des cartes
antbig 0:ad97421fb1fb 7 Timer fakeJack;
antbig 0:ad97421fb1fb 8 Timer gameTimer;
antbig 0:ad97421fb1fb 9 Timer debugetatTimer;
antbig 5:dcd817534b57 10 Timer timeoutWarning;
antbig 5:dcd817534b57 11 Timer timeoutWarningWaitEnd;
antbig 0:ad97421fb1fb 12 Timeout chronoEnd;//permet d'envoyer la trame CAN pour la fin
antbig 0:ad97421fb1fb 13
antbig 0:ad97421fb1fb 14 unsigned short waitingAckID = 0;//L'id du ack attendu
antbig 0:ad97421fb1fb 15 unsigned short waitingAckFrom = 0;//La provenance du ack attendu
ClementBreteau 14:c8fc06c4887f 16 char modeTelemetre; // Si à 1, indique que l'on attend une reponse du telemetre
ClementBreteau 21:590cdacb6a35 17 unsigned short telemetreDistance = 0;
antbig 0:ad97421fb1fb 18 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
antbig 0:ad97421fb1fb 19
antbig 0:ad97421fb1fb 20 signed short x_robot,y_robot,theta_robot;//La position du robot
antbig 0:ad97421fb1fb 21
antbig 12:14729d584500 22 signed short start_move_x,start_move_y,start_move_theta;//La position du robot lors du début d'un mouvement, utilisé pour reprendre le mouvement apres stop balise
antbig 12:14729d584500 23
antbig 5:dcd817534b57 24 #ifdef ROBOT_BIG
ClementBreteau 14:c8fc06c4887f 25 //unsigned short id_check[NOMBRE_CARTES]= {CHECK_BALISE,CHECK_MOTEUR,CHECK_ACTIONNEURS,CHECK_AX12,CHECK_POMPES};
ClementBreteau 14:c8fc06c4887f 26 //unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_BALISE,ALIVE_MOTEUR,ALIVE_ACTIONNEURS,ALIVE_AX12,ALIVE_POMPES};
ClementBreteau 14:c8fc06c4887f 27
ClementBreteau 15:c2fc239e85df 28 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR,CHECK_MOTEUR};
ClementBreteau 15:c2fc239e85df 29 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR,ALIVE_MOTEUR};
ClementBreteau 15:c2fc239e85df 30
ClementBreteau 15:c2fc239e85df 31 InterruptIn jack(p25); // entrée analogique en interruption pour le jack
ClementBreteau 15:c2fc239e85df 32 #else
ClementBreteau 15:c2fc239e85df 33 //unsigned short id_check[NOMBRE_CARTES]= {CHECK_BALISE,CHECK_MOTEUR,CHECK_ACTIONNEURS};
ClementBreteau 15:c2fc239e85df 34 //unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_BALISE,ALIVE_MOTEUR,ALIVE_ACTIONNEURS};
ClementBreteau 15:c2fc239e85df 35
ClementBreteau 14:c8fc06c4887f 36 unsigned short id_check[NOMBRE_CARTES]= {CHECK_MOTEUR};
ClementBreteau 14:c8fc06c4887f 37 unsigned short id_alive[NOMBRE_CARTES]= {ALIVE_MOTEUR};
ClementBreteau 14:c8fc06c4887f 38
ClementBreteau 18:cc5fec34ed9c 39 InterruptIn jack(p25); // entrée analogique en interruption pour le jack
antbig 5:dcd817534b57 40 #endif
antbig 0:ad97421fb1fb 41 unsigned char checkCurrent = 0;
antbig 0:ad97421fb1fb 42 unsigned char countAliveCard = 0;
antbig 0:ad97421fb1fb 43
antbig 2:8d8e2cf798a3 44 unsigned char InversStrat = 1;//Si à 1, indique que l'on part de l'autre cote de la table(inversion des Y)
antbig 1:116040d14164 45
ClementBreteau 14:c8fc06c4887f 46 unsigned char ModeDemo = 0; // Si à 1, indique que l'on est dans le mode demo
ClementBreteau 14:c8fc06c4887f 47
antbig 5:dcd817534b57 48 unsigned char countRobotNear = 0;//Le nombre de robot à proximité
antbig 5:dcd817534b57 49
antbig 12:14729d584500 50 unsigned char ingnorBaliseOnce = 0;
antbig 12:14729d584500 51
ClementBreteau 14:c8fc06c4887f 52
antbig 4:88431b537477 53 /****************************************************************************************/
antbig 4:88431b537477 54 /* FUNCTION NAME: chronometre_ISR */
antbig 4:88431b537477 55 /* DESCRIPTION : Interruption à la fin des 90s du match */
antbig 4:88431b537477 56 /****************************************************************************************/
antbig 0:ad97421fb1fb 57 void chronometre_ISR (void)
antbig 0:ad97421fb1fb 58 {
antbig 0:ad97421fb1fb 59 SendRawId(ASSERVISSEMENT_STOP);//On stope les moteurs
antbig 0:ad97421fb1fb 60 SendRawId(GLOBAL_GAME_END);//Indication fin de match
antbig 0:ad97421fb1fb 61 gameTimer.stop();//Arret du timer
antbig 0:ad97421fb1fb 62
antbig 1:116040d14164 63 #ifdef ROBOT_BIG
antbig 12:14729d584500 64 wait_ms(2000);
antbig 0:ad97421fb1fb 65 doFunnyAction();
antbig 0:ad97421fb1fb 66 #endif
antbig 0:ad97421fb1fb 67
antbig 1:116040d14164 68 while(1);//On bloque la programme dans l'interruption
antbig 0:ad97421fb1fb 69 }
antbig 0:ad97421fb1fb 70
antbig 4:88431b537477 71 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 72 /* FUNCTION NAME: jack_ISR */
antbig 8:0edc7dfb7f7e 73 /* DESCRIPTION : Interruption en changement d'état sur le Jack */
antbig 8:0edc7dfb7f7e 74 /****************************************************************************************/
antbig 8:0edc7dfb7f7e 75 void jack_ISR (void)
antbig 8:0edc7dfb7f7e 76 {
antbig 8:0edc7dfb7f7e 77 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 8:0edc7dfb7f7e 78 led4=1;
antbig 8:0edc7dfb7f7e 79 gameEtat = ETAT_GAME_START;//On débute le match
antbig 8:0edc7dfb7f7e 80 }
antbig 8:0edc7dfb7f7e 81 }
antbig 8:0edc7dfb7f7e 82
antbig 8:0edc7dfb7f7e 83 /****************************************************************************************/
antbig 4:88431b537477 84 /* FUNCTION NAME: automate_process */
antbig 4:88431b537477 85 /* DESCRIPTION : Automate de gestion de la stratégie du robot */
antbig 4:88431b537477 86 /****************************************************************************************/
antbig 0:ad97421fb1fb 87 void automate_process(void)
antbig 0:ad97421fb1fb 88 {
antbig 0:ad97421fb1fb 89 static struct S_Instruction instruction;
antbig 1:116040d14164 90 static unsigned char AX12_enchainement = 0;
antbig 1:116040d14164 91 static unsigned char MV_enchainement = 0;
antbig 0:ad97421fb1fb 92 signed char localData1 = 0;
antbig 0:ad97421fb1fb 93 signed short localData2 = 0;
antbig 0:ad97421fb1fb 94 unsigned short localData3 = 0;
ClementBreteau 14:c8fc06c4887f 95 //signed short localData4 = 0;
antbig 1:116040d14164 96 unsigned char localData5 = 0;
antbig 0:ad97421fb1fb 97
antbig 12:14729d584500 98 if(gameTimer.read_ms() >= 89000) {//Fin du match (On autorise 2s pour déposer des éléments
antbig 0:ad97421fb1fb 99 gameTimer.stop();
antbig 0:ad97421fb1fb 100 gameTimer.reset();
antbig 0:ad97421fb1fb 101 gameEtat = ETAT_END;//Fin du temps
antbig 0:ad97421fb1fb 102 }
antbig 0:ad97421fb1fb 103
antbig 0:ad97421fb1fb 104 if(lastEtat != gameEtat || debugetatTimer.read_ms() >= 1000) {
antbig 0:ad97421fb1fb 105 lastEtat = gameEtat;
antbig 0:ad97421fb1fb 106 debugetatTimer.reset();
antbig 11:ed13a480ddca 107 sendStratEtat((unsigned char)gameEtat, (unsigned char)actual_instruction);
antbig 0:ad97421fb1fb 108 }
antbig 0:ad97421fb1fb 109
antbig 0:ad97421fb1fb 110 switch(gameEtat)
antbig 0:ad97421fb1fb 111 {
antbig 0:ad97421fb1fb 112 case ETAT_CHECK_CARTE_SCREEN:
antbig 0:ad97421fb1fb 113 /*
antbig 0:ad97421fb1fb 114 Verification de l'état de la carte ecran
antbig 0:ad97421fb1fb 115 */
antbig 0:ad97421fb1fb 116 waitingAckFrom = ALIVE_IHM;//On indique que l'on attend un ack de la carte IHM
antbig 0:ad97421fb1fb 117 SendRawId(CHECK_IHM);//On demande à la carte IHM d'insiquer ça présence
antbig 0:ad97421fb1fb 118
antbig 0:ad97421fb1fb 119 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 120 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 121 cartesCheker.start();//On lance le timer pour le timeout
antbig 0:ad97421fb1fb 122 gameEtat = ETAT_CHECK_CARTE_SCREEN_WAIT_ACK;
antbig 0:ad97421fb1fb 123
ClementBreteau 14:c8fc06c4887f 124 //gameEtat = ETAT_GAME_START;
ClementBreteau 14:c8fc06c4887f 125
antbig 0:ad97421fb1fb 126 break;
antbig 0:ad97421fb1fb 127 case ETAT_CHECK_CARTE_SCREEN_WAIT_ACK:
antbig 0:ad97421fb1fb 128 /*
antbig 0:ad97421fb1fb 129 Attente du ALIVE de la carte écran.
antbig 0:ad97421fb1fb 130
antbig 0:ad97421fb1fb 131 Si la carte ne répond pas apres 10ms, on retoune dans l'etat ETAT_CHECK_CARTE_SCREEN
antbig 0:ad97421fb1fb 132 maximum 3 tentatives
antbig 0:ad97421fb1fb 133 Si pas de réponse, clignotement de toutes les leds possible
antbig 0:ad97421fb1fb 134 */
antbig 0:ad97421fb1fb 135 if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
antbig 0:ad97421fb1fb 136 cartesCheker.stop();
antbig 0:ad97421fb1fb 137 screenChecktry = 0;
antbig 0:ad97421fb1fb 138 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 139 } else if(cartesCheker.read_ms () > 100) {
antbig 0:ad97421fb1fb 140 cartesCheker.stop();
antbig 0:ad97421fb1fb 141 if(screenChecktry >=3) {
antbig 0:ad97421fb1fb 142 errorLoop();//Erreur La carte IHM n'est pas en ligne
antbig 0:ad97421fb1fb 143 } else {
antbig 0:ad97421fb1fb 144 gameEtat = ETAT_CHECK_CARTE_SCREEN;
antbig 0:ad97421fb1fb 145 }
antbig 0:ad97421fb1fb 146 }
antbig 0:ad97421fb1fb 147 break;
antbig 0:ad97421fb1fb 148 case ETAT_CHECK_CARTES:
antbig 0:ad97421fb1fb 149 /*
antbig 0:ad97421fb1fb 150 Il faut faire une boucle pour verifier toutes les cartes les une apres les autres
antbig 0:ad97421fb1fb 151 */
antbig 0:ad97421fb1fb 152 waitingAckFrom = id_alive[checkCurrent];//On indique que l'on attend un ack de la carte IHM
antbig 11:ed13a480ddca 153 SendRawId(id_check[checkCurrent]);//On demande à la carte d'indiquer ça présence
antbig 0:ad97421fb1fb 154
antbig 0:ad97421fb1fb 155 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 156 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 157 cartesCheker.start();//On lance le timer pour le timeout
antbig 0:ad97421fb1fb 158 gameEtat = ETAT_CHECK_CARTES_WAIT_ACK;
ClementBreteau 14:c8fc06c4887f 159
ClementBreteau 14:c8fc06c4887f 160
ClementBreteau 14:c8fc06c4887f 161
ClementBreteau 14:c8fc06c4887f 162
antbig 0:ad97421fb1fb 163 break;
antbig 0:ad97421fb1fb 164 case ETAT_CHECK_CARTES_WAIT_ACK:
antbig 0:ad97421fb1fb 165 /*
antbig 0:ad97421fb1fb 166 On attend l'ack de la carte en cours de vérification
antbig 0:ad97421fb1fb 167 */
antbig 0:ad97421fb1fb 168 //printf("cartesCheker = %d waitingAckFrom = %d\n",cartesCheker.read_ms(), waitingAckFrom);
antbig 0:ad97421fb1fb 169 if(waitingAckFrom == 0) {//C'est bon la carte est en ligne
antbig 0:ad97421fb1fb 170 cartesCheker.stop();
antbig 0:ad97421fb1fb 171 screenChecktry = 0;
antbig 0:ad97421fb1fb 172 countAliveCard++;
antbig 11:ed13a480ddca 173 checkCurrent++;
antbig 0:ad97421fb1fb 174 if(checkCurrent >= NOMBRE_CARTES) {
antbig 12:14729d584500 175 //printf("all card check, missing %d cards\n",(NOMBRE_CARTES-countAliveCard));
antbig 0:ad97421fb1fb 176 if(countAliveCard >= NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 177 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 178 SendRawId(ECRAN_ALL_CHECK);//On dit à l'IHM que toutes les cartes sont en ligne
antbig 5:dcd817534b57 179 tactile_printf("Selection couleur et strategie");
antbig 0:ad97421fb1fb 180 } else {
antbig 0:ad97421fb1fb 181 gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
antbig 0:ad97421fb1fb 182 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 183 }
antbig 0:ad97421fb1fb 184 } else {
antbig 0:ad97421fb1fb 185 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 186 }
antbig 0:ad97421fb1fb 187 } else if(cartesCheker.read_ms () > 100) {
antbig 0:ad97421fb1fb 188 cartesCheker.stop();
antbig 0:ad97421fb1fb 189 if(screenChecktry >=3) {
antbig 12:14729d584500 190 //printf("missing card %d\n",id_check[checkCurrent]);
antbig 0:ad97421fb1fb 191 screenChecktry = 0;
antbig 11:ed13a480ddca 192 checkCurrent++;
antbig 12:14729d584500 193
antbig 0:ad97421fb1fb 194 if(checkCurrent >= NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 195 if(countAliveCard == NOMBRE_CARTES) {
antbig 0:ad97421fb1fb 196 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 197 SendRawId(ECRAN_ALL_CHECK);//On dit à l'IHM que toutes les cartes sont en ligne
antbig 0:ad97421fb1fb 198 } else {
antbig 0:ad97421fb1fb 199 gameEtat = ETAT_WAIT_FORCE;//Passage en attente de forçage du lancement
antbig 0:ad97421fb1fb 200 waitingAckFrom = ECRAN_ALL_CHECK;
antbig 0:ad97421fb1fb 201 }
antbig 0:ad97421fb1fb 202 } else {
antbig 0:ad97421fb1fb 203 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 204 }
antbig 0:ad97421fb1fb 205 } else {
antbig 0:ad97421fb1fb 206 gameEtat = ETAT_CHECK_CARTES;
antbig 0:ad97421fb1fb 207 }
antbig 0:ad97421fb1fb 208 }
antbig 0:ad97421fb1fb 209 break;
antbig 0:ad97421fb1fb 210 case ETAT_WAIT_FORCE:
antbig 0:ad97421fb1fb 211 /*
antbig 0:ad97421fb1fb 212 Attente du forçage de la part de la carte IHM
antbig 0:ad97421fb1fb 213 */
antbig 0:ad97421fb1fb 214 if(waitingAckFrom == 0) {
antbig 0:ad97421fb1fb 215 gameEtat = ETAT_CONFIG;
antbig 0:ad97421fb1fb 216 }
antbig 0:ad97421fb1fb 217 break;
antbig 0:ad97421fb1fb 218 case ETAT_CONFIG:
antbig 0:ad97421fb1fb 219 /*
antbig 0:ad97421fb1fb 220 Attente de l'odre de choix de mode,
antbig 0:ad97421fb1fb 221 Il est possible de modifier la couleur et l'id de la stratégie
antbig 0:ad97421fb1fb 222 Il est aussi possible d'envoyer les ordres de debug
antbig 0:ad97421fb1fb 223 */
ClementBreteau 14:c8fc06c4887f 224 modeTelemetre = 0;
antbig 0:ad97421fb1fb 225 break;
antbig 1:116040d14164 226 case ETAT_GAME_INIT:
antbig 0:ad97421fb1fb 227 //On charge la liste des instructions
antbig 0:ad97421fb1fb 228 loadAllInstruction();//Mise en cache de toute les instructions
ClementBreteau 14:c8fc06c4887f 229
antbig 0:ad97421fb1fb 230 gameEtat = ETAT_GAME_WAIT_FOR_JACK;
antbig 0:ad97421fb1fb 231 SendRawId(ECRAN_ACK_START_MATCH);
antbig 0:ad97421fb1fb 232 tactile_printf("Attente du JACK.");
antbig 12:14729d584500 233 setAsservissementEtat(1);//On réactive l'asservissement
antbig 12:14729d584500 234 jack.mode(PullDown); // désactivation de la résistance interne du jack
antbig 8:0edc7dfb7f7e 235 jack.fall(&jack_ISR); // création de l'interrupt attachée au changement d'état (front descendant) sur le jack
antbig 12:14729d584500 236
antbig 12:14729d584500 237 #ifdef ROBOT_BIG //le gros robot n'a pas de recalage bordure pour ce placer au début, on lui envoit donc ça position
antbig 12:14729d584500 238 localData2 = POSITION_DEBUT_T;
antbig 12:14729d584500 239 localData3 = POSITION_DEBUT_Y;
antbig 12:14729d584500 240 if(InversStrat == 1) {
antbig 12:14729d584500 241 localData2 = -localData2;//Inversion theta
antbig 12:14729d584500 242 localData3 = 3000 - POSITION_DEBUT_Y;//Inversion du Y
antbig 12:14729d584500 243 }
antbig 12:14729d584500 244 SetOdometrie(ODOMETRIE_BIG_POSITION, POSITION_DEBUT_X,localData3,localData2);
ClementBreteau 18:cc5fec34ed9c 245 #endif
ClementBreteau 18:cc5fec34ed9c 246 #ifdef ROBOT_SMALL
antbig 9:d0042422d95a 247 SetOdometrie(ODOMETRIE_SMALL_POSITION, POSITION_DEBUT_X,POSITION_DEBUT_Y,POSITION_DEBUT_T);
ClementBreteau 18:cc5fec34ed9c 248 #endif
antbig 0:ad97421fb1fb 249 break;
antbig 0:ad97421fb1fb 250 case ETAT_GAME_WAIT_FOR_JACK:
antbig 12:14729d584500 251 //On attend le jack
antbig 1:116040d14164 252 break;
antbig 1:116040d14164 253 case ETAT_GAME_START:
antbig 1:116040d14164 254 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 14:c8fc06c4887f 255
ClementBreteau 14:c8fc06c4887f 256 if (ModeDemo == 0){
ClementBreteau 14:c8fc06c4887f 257 chronoEnd.attach(&chronometre_ISR,90);//On lance le chrono de 90s
ClementBreteau 14:c8fc06c4887f 258 gameTimer.start();
ClementBreteau 14:c8fc06c4887f 259 }
antbig 1:116040d14164 260 gameTimer.reset();
antbig 12:14729d584500 261 jack.fall(NULL);//On désactive l'interruption du jack
antbig 10:a788d9cf60f2 262 SendRawId(GLOBAL_START);
antbig 12:14729d584500 263 tactile_printf("Start");//Pas vraiment util mais bon
antbig 0:ad97421fb1fb 264 break;
antbig 0:ad97421fb1fb 265 case ETAT_GAME_LOAD_NEXT_INSTRUCTION:
antbig 0:ad97421fb1fb 266 /*
antbig 0:ad97421fb1fb 267 Chargement de l'instruction suivante ou arret du robot si il n'y a plus d'instruction
antbig 0:ad97421fb1fb 268 */
antbig 0:ad97421fb1fb 269 //printf("load next instruction\n");
ClementBreteau 14:c8fc06c4887f 270
antbig 0:ad97421fb1fb 271 if(actual_instruction >= nb_instructions || actual_instruction == 255) {
antbig 0:ad97421fb1fb 272 gameEtat = ETAT_END;
antbig 0:ad97421fb1fb 273 //Il n'y a plus d'instruction, fin du jeu
antbig 0:ad97421fb1fb 274 } else {
antbig 0:ad97421fb1fb 275 instruction = strat_instructions[actual_instruction];
antbig 0:ad97421fb1fb 276 //On effectue le traitement de l'instruction
antbig 0:ad97421fb1fb 277 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;
antbig 0:ad97421fb1fb 278 }
antbig 0:ad97421fb1fb 279 screenChecktry = 0;
antbig 0:ad97421fb1fb 280 break;
antbig 0:ad97421fb1fb 281 case ETAT_GAME_PROCESS_INSTRUCTION:
antbig 0:ad97421fb1fb 282 /*
antbig 0:ad97421fb1fb 283 Traitement de l'instruction, envoie de la trame CAN
antbig 0:ad97421fb1fb 284 */
antbig 0:ad97421fb1fb 285 //debug_Instruction(instruction);
antbig 0:ad97421fb1fb 286 switch(instruction.order)
antbig 0:ad97421fb1fb 287 {
antbig 12:14729d584500 288 case MV_COURBURE://C'est un rayon de courbure
antbig 6:eddfa414fd11 289 waitingAckID = ASSERVISSEMENT_COURBURE;
antbig 6:eddfa414fd11 290 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 291 if(instruction.nextActionType == ENCHAINEMENT) {
antbig 6:eddfa414fd11 292 MV_enchainement++;
antbig 6:eddfa414fd11 293 localData5 = 1;
antbig 6:eddfa414fd11 294 } else {
antbig 6:eddfa414fd11 295 if(MV_enchainement > 0) {
antbig 6:eddfa414fd11 296 localData5 = 2;
antbig 6:eddfa414fd11 297 MV_enchainement = 0;
antbig 6:eddfa414fd11 298 } else {
antbig 6:eddfa414fd11 299 localData5 = 0;
antbig 6:eddfa414fd11 300 }
antbig 0:ad97421fb1fb 301 }
antbig 11:ed13a480ddca 302 localData1 = ((instruction.direction == LEFT)?1:-1);
antbig 12:14729d584500 303 if(InversStrat == 1)
antbig 12:14729d584500 304 {
antbig 12:14729d584500 305 localData1 = -localData1;//Inversion de la direction
antbig 12:14729d584500 306 }
ClementBreteau 18:cc5fec34ed9c 307
antbig 9:d0042422d95a 308 BendRadius(instruction.arg1, instruction.arg3, localData1, localData5);
antbig 0:ad97421fb1fb 309 break;
antbig 12:14729d584500 310 case MV_LINE://Ligne droite
antbig 0:ad97421fb1fb 311 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 312 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 313 if(instruction.nextActionType == ENCHAINEMENT) {
antbig 1:116040d14164 314 MV_enchainement++;
antbig 1:116040d14164 315 localData5 = 1;
antbig 1:116040d14164 316 } else {
antbig 12:14729d584500 317 if(MV_enchainement > 0) {//Utilisé en cas d'enchainement,
antbig 1:116040d14164 318 localData5 = 2;
antbig 1:116040d14164 319 MV_enchainement = 0;
antbig 1:116040d14164 320 } else {
antbig 1:116040d14164 321 localData5 = 0;
antbig 1:116040d14164 322 }
antbig 0:ad97421fb1fb 323 }
ClementBreteau 16:7321fb3bb396 324 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 325 if(InversStrat == 1) {
ClementBreteau 15:c2fc239e85df 326 /*if (instruction.direction == FORWARD) instruction.direction = BACKWARD;
ClementBreteau 15:c2fc239e85df 327 else instruction.direction = FORWARD;*/
ClementBreteau 15:c2fc239e85df 328 instruction.direction = ((instruction.direction == FORWARD)?BACKWARD:FORWARD);
ClementBreteau 15:c2fc239e85df 329 }
ClementBreteau 16:7321fb3bb396 330 #endif
antbig 1:116040d14164 331 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
antbig 1:116040d14164 332 GoStraight(localData2, 0, 0, localData5);
ClementBreteau 14:c8fc06c4887f 333
antbig 0:ad97421fb1fb 334 break;
antbig 12:14729d584500 335 case MV_TURN: //Rotation sur place
antbig 0:ad97421fb1fb 336 if(instruction.direction == RELATIVE) {
antbig 0:ad97421fb1fb 337 localData2 = instruction.arg3;
antbig 12:14729d584500 338 } else {//C'est un rotation absolu, il faut la convertir en relative
antbig 12:14729d584500 339 localData2 = instruction.arg3;
antbig 12:14729d584500 340
antbig 12:14729d584500 341 if(InversStrat == 1) {
antbig 12:14729d584500 342 localData2 = -localData2;
antbig 0:ad97421fb1fb 343 }
antbig 12:14729d584500 344
antbig 12:14729d584500 345 localData2 = (localData2 - theta_robot)%3600;
antbig 12:14729d584500 346 if(localData2 > 1800) {
antbig 12:14729d584500 347 localData2 = localData2-3600;
antbig 12:14729d584500 348 }
antbig 12:14729d584500 349
antbig 0:ad97421fb1fb 350 }
antbig 12:14729d584500 351
antbig 0:ad97421fb1fb 352 Rotate(localData2);
antbig 0:ad97421fb1fb 353 waitingAckID = ASSERVISSEMENT_ROTATION;
antbig 0:ad97421fb1fb 354 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 355 break;
antbig 0:ad97421fb1fb 356 case MV_XYT:
antbig 0:ad97421fb1fb 357 if(instruction.direction == BACKWARD) {
antbig 0:ad97421fb1fb 358 localData1 = -1;
antbig 0:ad97421fb1fb 359 } else {
antbig 0:ad97421fb1fb 360 localData1 = 1;
antbig 0:ad97421fb1fb 361 }
antbig 2:8d8e2cf798a3 362
antbig 2:8d8e2cf798a3 363 if(InversStrat == 1) {
antbig 12:14729d584500 364 localData2 = -instruction.arg3;
antbig 2:8d8e2cf798a3 365 localData3 = 3000 - instruction.arg2;//Inversion du Y
antbig 2:8d8e2cf798a3 366 } else {
antbig 2:8d8e2cf798a3 367 localData3 = instruction.arg2;
antbig 12:14729d584500 368 localData2 = instruction.arg3;
antbig 2:8d8e2cf798a3 369 }
antbig 12:14729d584500 370 GoToPosition(instruction.arg1,localData3,localData2,localData1);
antbig 0:ad97421fb1fb 371 waitingAckID = ASSERVISSEMENT_XYT;
antbig 0:ad97421fb1fb 372 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 0:ad97421fb1fb 373 break;
antbig 0:ad97421fb1fb 374 case MV_RECALAGE:
antbig 0:ad97421fb1fb 375 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 376 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
antbig 11:ed13a480ddca 377 instruction.nextActionType = WAIT;
antbig 12:14729d584500 378 localData2 = (((instruction.direction == FORWARD)?1:-1)*3000);//On indique une distance de 3000 pour etre sur que le robot va ce recaler
antbig 11:ed13a480ddca 379
antbig 11:ed13a480ddca 380 if(instruction.precision == RECALAGE_Y) {
antbig 11:ed13a480ddca 381 localData5 = 2;
antbig 11:ed13a480ddca 382 if(InversStrat == 1) {
antbig 11:ed13a480ddca 383 localData3 = 3000 - instruction.arg1;//Inversion du Y
antbig 11:ed13a480ddca 384 } else {
antbig 11:ed13a480ddca 385 localData3 = instruction.arg1;
antbig 11:ed13a480ddca 386 }
antbig 11:ed13a480ddca 387 } else {
antbig 11:ed13a480ddca 388 localData5 = 1;
antbig 11:ed13a480ddca 389 localData3 = instruction.arg1;
antbig 11:ed13a480ddca 390 }
antbig 11:ed13a480ddca 391
antbig 11:ed13a480ddca 392 GoStraight(localData2, localData5, localData3, 0);
antbig 0:ad97421fb1fb 393 break;
antbig 0:ad97421fb1fb 394 case ACTION:
ClementBreteau 18:cc5fec34ed9c 395 int tempo = 0;
ClementBreteau 18:cc5fec34ed9c 396 waitingAckID= SERVO_AX12_ACTION;
ClementBreteau 15:c2fc239e85df 397 waitingAckFrom = ACKNOWLEDGE_AX12;
ClementBreteau 18:cc5fec34ed9c 398 tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
ClementBreteau 18:cc5fec34ed9c 399 if(tempo == 1){
antbig 0:ad97421fb1fb 400 //L'action est spécifique
antbig 11:ed13a480ddca 401 if((waitingAckFrom == 0 && waitingAckID == 0) || instruction.nextActionType == ENCHAINEMENT) {
ClementBreteau 18:cc5fec34ed9c 402
antbig 11:ed13a480ddca 403 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 11:ed13a480ddca 404 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 11:ed13a480ddca 405 } else {
ClementBreteau 15:c2fc239e85df 406 gameEtat = ETAT_GAME_WAIT_ACK;
antbig 11:ed13a480ddca 407 }
ClementBreteau 18:cc5fec34ed9c 408 #ifdef ROBOT_SMALL
ClementBreteau 18:cc5fec34ed9c 409 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 18:cc5fec34ed9c 410 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 18:cc5fec34ed9c 411 #endif
antbig 11:ed13a480ddca 412 return;
ClementBreteau 18:cc5fec34ed9c 413 #ifdef ROBOT_SMALL
ClementBreteau 18:cc5fec34ed9c 414 } else if (tempo == 2) {
ClementBreteau 18:cc5fec34ed9c 415 // on est dans le cas de l'avance selon le telemetre
ClementBreteau 18:cc5fec34ed9c 416 waitingAckID = ASSERVISSEMENT_RECALAGE;
ClementBreteau 18:cc5fec34ed9c 417 waitingAckFrom = ACKNOWLEDGE_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 418
ClementBreteau 18:cc5fec34ed9c 419 localData2 = (((instruction.direction == FORWARD)?1:-1)*instruction.arg1);
ClementBreteau 18:cc5fec34ed9c 420 GoStraight(telemetreDistance, 0, 0, 0);
ClementBreteau 18:cc5fec34ed9c 421 // on reset la distance du telemetre à 0
ClementBreteau 18:cc5fec34ed9c 422 telemetreDistance = 5000;
ClementBreteau 18:cc5fec34ed9c 423 #endif
ClementBreteau 18:cc5fec34ed9c 424 }else{
antbig 0:ad97421fb1fb 425 //C'est un AX12 qu'il faut bouger
ClementBreteau 15:c2fc239e85df 426 //AX12_setGoal(instruction.arg1,instruction.arg3/10,instruction.arg2);
ClementBreteau 15:c2fc239e85df 427 //AX12_enchainement++;
ClementBreteau 14:c8fc06c4887f 428
antbig 0:ad97421fb1fb 429 }
antbig 0:ad97421fb1fb 430 break;
antbig 0:ad97421fb1fb 431 default:
antbig 0:ad97421fb1fb 432 //Instruction inconnue, on l'ignore
antbig 0:ad97421fb1fb 433 break;
antbig 0:ad97421fb1fb 434 }
antbig 0:ad97421fb1fb 435
antbig 0:ad97421fb1fb 436
antbig 0:ad97421fb1fb 437
antbig 0:ad97421fb1fb 438 if(instruction.nextActionType == JUMP || instruction.nextActionType == WAIT) {
antbig 0:ad97421fb1fb 439 gameEtat = ETAT_GAME_WAIT_ACK;//Il faut attendre que la carte est bien reçu l'acknowledge
antbig 0:ad97421fb1fb 440 screenChecktry++;//On incrèment le conteur de tentative de 1
antbig 0:ad97421fb1fb 441 cartesCheker.reset();//On reset le timeOut
antbig 0:ad97421fb1fb 442 cartesCheker.start();
antbig 1:116040d14164 443 if(AX12_enchainement > 0) {
ClementBreteau 15:c2fc239e85df 444 //AX12_processChange();//Il faut lancer le déplacement des AX12
ClementBreteau 15:c2fc239e85df 445 //AX12_enchainement = 0;
antbig 1:116040d14164 446 }
antbig 0:ad97421fb1fb 447 } else {//C'est un enchainement
ClementBreteau 15:c2fc239e85df 448 if(instruction.order == MV_LINE){
ClementBreteau 15:c2fc239e85df 449 gameEtat = ETAT_GAME_WAIT_ACK;
ClementBreteau 15:c2fc239e85df 450
ClementBreteau 15:c2fc239e85df 451 }else{
ClementBreteau 15:c2fc239e85df 452 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 453 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//C'est un enchainement, on charge directement l'instruction suivante
ClementBreteau 15:c2fc239e85df 454 }
antbig 0:ad97421fb1fb 455 }
antbig 0:ad97421fb1fb 456
antbig 0:ad97421fb1fb 457 break;
antbig 0:ad97421fb1fb 458 case ETAT_GAME_WAIT_ACK:
antbig 0:ad97421fb1fb 459 /*
antbig 0:ad97421fb1fb 460 Attente de l'ack de l'instruction
antbig 0:ad97421fb1fb 461 */
ClementBreteau 14:c8fc06c4887f 462 if(waitingAckID == 0 && waitingAckFrom == 0) {//Les ack ont été reset, c'est bon on continu
antbig 0:ad97421fb1fb 463 //if(true) {
antbig 0:ad97421fb1fb 464 cartesCheker.stop();
antbig 0:ad97421fb1fb 465 if(instruction.nextActionType == JUMP) {
antbig 11:ed13a480ddca 466 if(instruction.jumpAction == JUMP_POSITION) {
antbig 11:ed13a480ddca 467 gameEtat = ETAT_GAME_JUMP_POSITION;
antbig 11:ed13a480ddca 468 } else {//Pour eviter les erreurs, on dit que c'est par défaut un jump time
antbig 0:ad97421fb1fb 469 gameEtat = ETAT_GAME_JUMP_TIME;
antbig 0:ad97421fb1fb 470 cartesCheker.reset();//On reset le timeOut
antbig 11:ed13a480ddca 471 cartesCheker.start();
antbig 0:ad97421fb1fb 472 }
antbig 0:ad97421fb1fb 473 } else if(instruction.nextActionType == WAIT) {
antbig 0:ad97421fb1fb 474 gameEtat = ETAT_GAME_WAIT_END_INSTRUCTION;
antbig 0:ad97421fb1fb 475 switch(instruction.order)
antbig 0:ad97421fb1fb 476 {
antbig 0:ad97421fb1fb 477 case MV_COURBURE:
antbig 0:ad97421fb1fb 478 waitingAckID = ASSERVISSEMENT_COURBURE;
antbig 0:ad97421fb1fb 479 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 480 break;
antbig 0:ad97421fb1fb 481 case MV_LINE:
antbig 0:ad97421fb1fb 482 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 483 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 484 break;
antbig 0:ad97421fb1fb 485 case MV_TURN:
antbig 0:ad97421fb1fb 486 waitingAckID = ASSERVISSEMENT_ROTATION;
antbig 0:ad97421fb1fb 487 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 488 break;
antbig 0:ad97421fb1fb 489 case MV_XYT:
antbig 0:ad97421fb1fb 490 waitingAckID = ASSERVISSEMENT_XYT;
antbig 0:ad97421fb1fb 491 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 492 break;
antbig 0:ad97421fb1fb 493 case MV_RECALAGE:
antbig 0:ad97421fb1fb 494 waitingAckID = ASSERVISSEMENT_RECALAGE;
antbig 0:ad97421fb1fb 495 waitingAckFrom = INSTRUCTION_END_MOTEUR;
antbig 0:ad97421fb1fb 496 break;
antbig 0:ad97421fb1fb 497 case ACTION:
ClementBreteau 15:c2fc239e85df 498
ClementBreteau 15:c2fc239e85df 499 if (modeTelemetre == 0){
ClementBreteau 18:cc5fec34ed9c 500 if (telemetreDistance == 0){
ClementBreteau 18:cc5fec34ed9c 501 waitingAckID = SERVO_AX12_ACTION;// instruction.arg1;
ClementBreteau 18:cc5fec34ed9c 502 waitingAckFrom = INSTRUCTION_END_AX12; //SERVO_AX12_DONE;
ClementBreteau 18:cc5fec34ed9c 503 }else if(telemetreDistance == 5000){
ClementBreteau 18:cc5fec34ed9c 504 // on est dans le cas ou l'on fait une ligne suivant la distance du telemetre
ClementBreteau 18:cc5fec34ed9c 505 waitingAckID = ASSERVISSEMENT_RECALAGE;
ClementBreteau 18:cc5fec34ed9c 506 waitingAckFrom = INSTRUCTION_END_MOTEUR;
ClementBreteau 18:cc5fec34ed9c 507 telemetreDistance = 0;
ClementBreteau 18:cc5fec34ed9c 508 }
ClementBreteau 15:c2fc239e85df 509 }else{ // si on attend la reponse du telemetre
ClementBreteau 15:c2fc239e85df 510 //modeTelemetre = 1;
ClementBreteau 15:c2fc239e85df 511 waitingAckID = OBJET_SUR_TABLE;
ClementBreteau 15:c2fc239e85df 512 waitingAckFrom = 0;
ClementBreteau 15:c2fc239e85df 513 }
antbig 0:ad97421fb1fb 514 break;
antbig 0:ad97421fb1fb 515 default:
antbig 0:ad97421fb1fb 516 break;
antbig 0:ad97421fb1fb 517 }
antbig 0:ad97421fb1fb 518 } else {
antbig 0:ad97421fb1fb 519 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 0:ad97421fb1fb 520 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 521 }
antbig 0:ad97421fb1fb 522 } else if(cartesCheker.read_ms () > 50){
antbig 0:ad97421fb1fb 523 cartesCheker.stop();
antbig 0:ad97421fb1fb 524 if(screenChecktry >=2) {//La carte n'a pas reçus l'information, on passe à l'instruction d'erreur
antbig 0:ad97421fb1fb 525 actual_instruction = instruction.nextLineError;
antbig 0:ad97421fb1fb 526 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 0:ad97421fb1fb 527 } else {
antbig 0:ad97421fb1fb 528 gameEtat = ETAT_GAME_PROCESS_INSTRUCTION;//On retourne dans l'etat d'envois de l'instruction
antbig 0:ad97421fb1fb 529 }
antbig 0:ad97421fb1fb 530 }
antbig 0:ad97421fb1fb 531 break;
antbig 0:ad97421fb1fb 532
antbig 0:ad97421fb1fb 533 case ETAT_GAME_JUMP_TIME:
antbig 0:ad97421fb1fb 534 if(cartesCheker.read_ms () >= instruction.JumpTimeOrX) {
antbig 0:ad97421fb1fb 535 cartesCheker.stop();//On arrete le timer
antbig 0:ad97421fb1fb 536 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 537 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 538 }
antbig 0:ad97421fb1fb 539 break;
ClementBreteau 15:c2fc239e85df 540
ClementBreteau 15:c2fc239e85df 541 case ETAT_GAME_JUMP_CONFIG:
ClementBreteau 15:c2fc239e85df 542 signed int depasX = 1, depasY = 1; // servent à indiquer le sens de dépassement des coordonnées
ClementBreteau 15:c2fc239e85df 543 // 1 si l'instruction est plus grande que la position du robot
ClementBreteau 15:c2fc239e85df 544 // -1 si l'instruction est plus petite que la position du robot
ClementBreteau 15:c2fc239e85df 545 // 0 si l'instruction et position du robot sont proche de moins de 1cm
ClementBreteau 15:c2fc239e85df 546 if (abs(x_robot-instruction.JumpTimeOrX)<10){
ClementBreteau 15:c2fc239e85df 547 depasX = 0;
ClementBreteau 15:c2fc239e85df 548 }else if(x_robot > instruction.JumpTimeOrX){
ClementBreteau 15:c2fc239e85df 549 depasX = -1;
ClementBreteau 15:c2fc239e85df 550 }
ClementBreteau 15:c2fc239e85df 551
ClementBreteau 15:c2fc239e85df 552 if(abs(y_robot-instruction.JumpY)<10){
ClementBreteau 15:c2fc239e85df 553 depasY = 0;
ClementBreteau 15:c2fc239e85df 554 }else if(y_robot > instruction.JumpY){
ClementBreteau 15:c2fc239e85df 555 depasY = -1;
ClementBreteau 15:c2fc239e85df 556 }
ClementBreteau 15:c2fc239e85df 557
ClementBreteau 15:c2fc239e85df 558 gameEtat = ETAT_GAME_JUMP_POSITION;
ClementBreteau 15:c2fc239e85df 559 break;
antbig 0:ad97421fb1fb 560 case ETAT_GAME_JUMP_POSITION:
ClementBreteau 15:c2fc239e85df 561 bool Xok = false, Yok = false;
ClementBreteau 15:c2fc239e85df 562
ClementBreteau 15:c2fc239e85df 563 if (depasX == 0){
ClementBreteau 15:c2fc239e85df 564 Xok = true;
ClementBreteau 15:c2fc239e85df 565 }else if ((instruction.JumpTimeOrX - x_robot)*depasX < -5){
ClementBreteau 15:c2fc239e85df 566 Xok = true;
ClementBreteau 15:c2fc239e85df 567 }
ClementBreteau 15:c2fc239e85df 568
ClementBreteau 15:c2fc239e85df 569 if (depasY == 0){
ClementBreteau 15:c2fc239e85df 570 Yok = true;
ClementBreteau 15:c2fc239e85df 571 }else if ((instruction.JumpY - y_robot)*depasY < -5){
ClementBreteau 15:c2fc239e85df 572 Yok = true;
ClementBreteau 15:c2fc239e85df 573 }
ClementBreteau 15:c2fc239e85df 574
ClementBreteau 15:c2fc239e85df 575 // on teste si les deux coordonnées ont été dépassées, si oui on lance l'instruction suivante
ClementBreteau 15:c2fc239e85df 576 if (Xok && Yok){
ClementBreteau 15:c2fc239e85df 577 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
ClementBreteau 15:c2fc239e85df 578 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
ClementBreteau 15:c2fc239e85df 579 }
ClementBreteau 15:c2fc239e85df 580
antbig 0:ad97421fb1fb 581 break;
antbig 0:ad97421fb1fb 582 case ETAT_GAME_WAIT_END_INSTRUCTION:
antbig 0:ad97421fb1fb 583 if(waitingAckID == 0 && waitingAckFrom ==0) {//On attend que la carte nous indique que l'instruction est terminée
antbig 0:ad97421fb1fb 584 actual_instruction = instruction.nextLineOK;//On indique que l'on va charger l'instruction suivante
antbig 0:ad97421fb1fb 585 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;//On charge l'instruction suivante
antbig 0:ad97421fb1fb 586 }
antbig 0:ad97421fb1fb 587 break;
antbig 0:ad97421fb1fb 588
antbig 0:ad97421fb1fb 589
antbig 5:dcd817534b57 590 case ETAT_WARNING_TIMEOUT://Attente de la trame fin de danger ou du timeout de 2s
antbig 12:14729d584500 591 if(timeoutWarning.read_ms() >= BALISE_TIMEOUT)//ça fait plus de 2s, il faut changer de stratégie
antbig 5:dcd817534b57 592 {
antbig 5:dcd817534b57 593 gameEtat = ETAT_WARNING_SWITCH_STRATEGIE;
antbig 5:dcd817534b57 594 }
antbig 5:dcd817534b57 595 break;
antbig 5:dcd817534b57 596 case ETAT_WARING_END_BALISE_WAIT://Attente d'une seconde apres la fin d'un End Balise pour etre sur que c'est bon
antbig 12:14729d584500 597 if(timeoutWarningWaitEnd.read_ms() >= 1000) {//c'est bon, on repart
antbig 12:14729d584500 598 //actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 599 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
antbig 12:14729d584500 600 }
antbig 5:dcd817534b57 601 break;
antbig 5:dcd817534b57 602 case ETAT_WARNING_END_LAST_INSTRUCTION://trouver le meilleur moyen de reprendre l'instruction en cours
antbig 12:14729d584500 603 #ifdef ROBOT_BIG
ClementBreteau 15:c2fc239e85df 604 actual_instruction = instruction.nextLineError;// 2 //Modification directe... c'est pas bien mais ça marchait pour le match 5
antbig 12:14729d584500 605 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 606 #else
antbig 12:14729d584500 607 actual_instruction = instruction.nextLineError;
antbig 12:14729d584500 608 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 20:de595e4ff01d 609 #endif
ClementBreteau 20:de595e4ff01d 610 gameEtat = ETAT_END;
ClementBreteau 21:590cdacb6a35 611
antbig 5:dcd817534b57 612 break;
antbig 5:dcd817534b57 613 case ETAT_WARNING_SWITCH_STRATEGIE://Si à la fin du timeout il y a toujours un robot, passer à l'instruction d'erreur
antbig 5:dcd817534b57 614 actual_instruction = instruction.nextLineError;
antbig 5:dcd817534b57 615 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
antbig 12:14729d584500 616 ingnorBaliseOnce = 1;
antbig 5:dcd817534b57 617 break;
ClementBreteau 20:de595e4ff01d 618
ClementBreteau 20:de595e4ff01d 619
ClementBreteau 20:de595e4ff01d 620
ClementBreteau 14:c8fc06c4887f 621 case ETAT_END:
ClementBreteau 14:c8fc06c4887f 622 if (ModeDemo){
ClementBreteau 14:c8fc06c4887f 623 gameEtat = ETAT_CHECK_CARTE_SCREEN;
ClementBreteau 14:c8fc06c4887f 624 ModeDemo = 1;
ClementBreteau 14:c8fc06c4887f 625 } else {
ClementBreteau 14:c8fc06c4887f 626 gameEtat = ETAT_END_LOOP;
ClementBreteau 14:c8fc06c4887f 627 }
antbig 0:ad97421fb1fb 628 break;
antbig 0:ad97421fb1fb 629 case ETAT_END_LOOP:
antbig 0:ad97421fb1fb 630 //Rien, on tourne en rond
ClementBreteau 18:cc5fec34ed9c 631
antbig 0:ad97421fb1fb 632 break;
antbig 0:ad97421fb1fb 633 default:
ClementBreteau 20:de595e4ff01d 634
antbig 0:ad97421fb1fb 635 break;
ClementBreteau 20:de595e4ff01d 636 }
ClementBreteau 20:de595e4ff01d 637 }
ClementBreteau 20:de595e4ff01d 638
antbig 4:88431b537477 639 /****************************************************************************************/
antbig 4:88431b537477 640 /* FUNCTION NAME: canProcessRx */
antbig 4:88431b537477 641 /* DESCRIPTION : Fonction de traitement des messages CAN */
antbig 4:88431b537477 642 /****************************************************************************************/
antbig 0:ad97421fb1fb 643 void canProcessRx(void)
ClementBreteau 20:de595e4ff01d 644 {
antbig 0:ad97421fb1fb 645 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
antbig 4:88431b537477 646 CANMessage msgTx=CANMessage();
antbig 0:ad97421fb1fb 647 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
antbig 0:ad97421fb1fb 648 if(FIFO_occupation<0)
antbig 0:ad97421fb1fb 649 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
antbig 0:ad97421fb1fb 650 if(FIFO_max_occupation<FIFO_occupation)
antbig 0:ad97421fb1fb 651 FIFO_max_occupation=FIFO_occupation;
antbig 0:ad97421fb1fb 652 if(FIFO_occupation!=0) {
antbig 0:ad97421fb1fb 653
antbig 0:ad97421fb1fb 654 switch(msgRxBuffer[FIFO_lecture].id) {
antbig 4:88431b537477 655 case DEBUG_FAKE_JAKE://Permet de lancer le match à distance
antbig 1:116040d14164 656 if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
antbig 1:116040d14164 657 gameEtat = ETAT_GAME_START;
antbig 1:116040d14164 658 }
antbig 1:116040d14164 659 break;
antbig 1:116040d14164 660
antbig 0:ad97421fb1fb 661 case ALIVE_BALISE:
antbig 0:ad97421fb1fb 662 case ALIVE_MOTEUR:
antbig 0:ad97421fb1fb 663 case ALIVE_IHM:
antbig 11:ed13a480ddca 664 case ALIVE_ACTIONNEURS:
antbig 11:ed13a480ddca 665 case ALIVE_POMPES:
antbig 12:14729d584500 666 case ALIVE_AX12:
antbig 0:ad97421fb1fb 667 case ECRAN_ALL_CHECK:
antbig 0:ad97421fb1fb 668 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id) {
antbig 0:ad97421fb1fb 669 waitingAckFrom = 0;//C'est la bonne carte qui indique qu'elle est en ligne
antbig 0:ad97421fb1fb 670 }
ClementBreteau 15:c2fc239e85df 671 break;
antbig 0:ad97421fb1fb 672
antbig 0:ad97421fb1fb 673 case ACKNOWLEDGE_BALISE:
antbig 0:ad97421fb1fb 674 case ACKNOWLEDGE_MOTEUR:
antbig 0:ad97421fb1fb 675 case ACKNOWLEDGE_IHM:
ClementBreteau 14:c8fc06c4887f 676 case ACKNOWLEDGE_TELEMETRE:
ClementBreteau 15:c2fc239e85df 677 case ACKNOWLEDGE_AX12:
antbig 0:ad97421fb1fb 678 case INSTRUCTION_END_BALISE:
antbig 0:ad97421fb1fb 679 case INSTRUCTION_END_MOTEUR:
antbig 0:ad97421fb1fb 680 case INSTRUCTION_END_IHM:
ClementBreteau 15:c2fc239e85df 681 case INSTRUCTION_END_AX12:
ClementBreteau 18:cc5fec34ed9c 682
antbig 11:ed13a480ddca 683 if(waitingAckFrom == msgRxBuffer[FIFO_lecture].id && ((unsigned short)msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8) == waitingAckID)) {
antbig 0:ad97421fb1fb 684 waitingAckFrom = 0;
antbig 0:ad97421fb1fb 685 waitingAckID = 0;
antbig 0:ad97421fb1fb 686 }
antbig 0:ad97421fb1fb 687 break;
antbig 1:116040d14164 688 #ifdef ROBOT_BIG
antbig 0:ad97421fb1fb 689 case ODOMETRIE_BIG_POSITION:
antbig 0:ad97421fb1fb 690 #else
antbig 0:ad97421fb1fb 691 case ODOMETRIE_SMALL_POSITION:
antbig 0:ad97421fb1fb 692 #endif
antbig 0:ad97421fb1fb 693 x_robot=msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8);
antbig 0:ad97421fb1fb 694 y_robot=msgRxBuffer[FIFO_lecture].data[2]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[3])<<8);
antbig 0:ad97421fb1fb 695 theta_robot=msgRxBuffer[FIFO_lecture].data[4]|((signed short)(msgRxBuffer[FIFO_lecture].data[5])<<8);
antbig 0:ad97421fb1fb 696 break;
antbig 0:ad97421fb1fb 697
antbig 0:ad97421fb1fb 698 case ECRAN_START_MATCH:
antbig 0:ad97421fb1fb 699 if(gameEtat == ETAT_CONFIG) {
antbig 1:116040d14164 700 gameEtat = ETAT_GAME_INIT;
antbig 0:ad97421fb1fb 701 }
antbig 0:ad97421fb1fb 702 break;
antbig 0:ad97421fb1fb 703 case SERVO_AX12_SETGOAL:
antbig 9:d0042422d95a 704 //SendAck(0x114, SERVO_AX12_SETGOAL);
ClementBreteau 14:c8fc06c4887f 705 //if(AX12_isLocal(msgRxBuffer[FIFO_lecture].data[0]))
ClementBreteau 14:c8fc06c4887f 706 //AX12_setGoal(msgRxBuffer[FIFO_lecture].data[0], msgRxBuffer[FIFO_lecture].data[1]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[2])<<8), msgRxBuffer[FIFO_lecture].data[3]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[4])<<8));
antbig 5:dcd817534b57 707
antbig 0:ad97421fb1fb 708 break;
ClementBreteau 14:c8fc06c4887f 709
antbig 0:ad97421fb1fb 710 case SERVO_AX12_PROCESS:
ClementBreteau 14:c8fc06c4887f 711 SendAck(0x114, SERVO_AX12_PROCESS);
ClementBreteau 14:c8fc06c4887f 712 //AX12_processChange(1);
antbig 0:ad97421fb1fb 713 break;
ClementBreteau 14:c8fc06c4887f 714
antbig 1:116040d14164 715 case SERVO_AX12_DONE:
ClementBreteau 15:c2fc239e85df 716 SendRawId(POMPE_PWM);
ClementBreteau 14:c8fc06c4887f 717 /*//SendAck(0x114, SERVO_AX12_DONE);
antbig 1:116040d14164 718 AX12_notifyCANEnd(((unsigned short)(msgRxBuffer[FIFO_lecture].data[0])));
ClementBreteau 14:c8fc06c4887f 719
ClementBreteau 15:c2fc239e85df 720 gameEtat = ETAT_GAME_LOAD_NEXT_INSTRUCTION;
ClementBreteau 14:c8fc06c4887f 721 waitingAckFrom = 0;
ClementBreteau 14:c8fc06c4887f 722 waitingAckID = 0;*/
ClementBreteau 14:c8fc06c4887f 723
antbig 1:116040d14164 724 break;
antbig 2:8d8e2cf798a3 725 case ECRAN_CHOICE_COLOR://Choix de la couleur
antbig 4:88431b537477 726 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 2:8d8e2cf798a3 727 if(msgRxBuffer[FIFO_lecture].data[0] == 0)
antbig 2:8d8e2cf798a3 728 InversStrat = 0;//Pas d'inversion de la couleur
antbig 2:8d8e2cf798a3 729 else
antbig 2:8d8e2cf798a3 730 InversStrat = 1;//Inversion de la couleur
antbig 4:88431b537477 731
antbig 4:88431b537477 732 msgTx.id=ECRAN_ACK_COLOR; // tx ack de la couleur
antbig 4:88431b537477 733 msgTx.len=1;
antbig 4:88431b537477 734 msgTx.format=CANStandard;
antbig 4:88431b537477 735 msgTx.type=CANData;
antbig 4:88431b537477 736 // couleur sur 1 octet
antbig 4:88431b537477 737 msgTx.data[0]=msgRxBuffer[FIFO_lecture].data[0];
antbig 4:88431b537477 738 can1.write(msgTx);
antbig 9:d0042422d95a 739
antbig 2:8d8e2cf798a3 740 }
antbig 2:8d8e2cf798a3 741 break;
ClementBreteau 14:c8fc06c4887f 742
antbig 2:8d8e2cf798a3 743 case ECRAN_CHOICE_STRAT://Choix du fichier de stratégie à utiliser
antbig 4:88431b537477 744 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 4:88431b537477 745 msgTx.id=ECRAN_ACK_STRAT; // tx ack de la couleur
antbig 4:88431b537477 746 msgTx.len=1;
antbig 4:88431b537477 747 msgTx.format=CANStandard;
antbig 4:88431b537477 748 msgTx.type=CANData;
antbig 4:88431b537477 749 if(SelectStrategy(msgRxBuffer[FIFO_lecture].data[0])) {
antbig 4:88431b537477 750 // id de la stratégie sur 1 octet
ClementBreteau 16:7321fb3bb396 751 if (msgRxBuffer[FIFO_lecture].data[0] < 0x10){ // Si la strat est une strat de match, on desactive le mode demo
ClementBreteau 14:c8fc06c4887f 752 ModeDemo = 0;
ClementBreteau 16:7321fb3bb396 753 } else { // sinon, on active le mode demo, utile pour la fin de la demo
ClementBreteau 14:c8fc06c4887f 754 ModeDemo = 1;
ClementBreteau 14:c8fc06c4887f 755 }
ClementBreteau 14:c8fc06c4887f 756
antbig 4:88431b537477 757 msgTx.data[0]=msgRxBuffer[FIFO_lecture].data[0];
antbig 4:88431b537477 758 } else {
antbig 4:88431b537477 759 //erreur sur 1 octet
antbig 4:88431b537477 760 msgTx.data[0]=0;
antbig 4:88431b537477 761 }
antbig 4:88431b537477 762 can1.write(msgTx);
antbig 9:d0042422d95a 763 wait_ms(10);
antbig 12:14729d584500 764 setAsservissementEtat(0);//Désactivation de l'asservissement pour repositionner le robot dans le zone de départ
antbig 12:14729d584500 765 tactile_printf("Strat %d, Asser desactive",msgTx.data[0]);
antbig 2:8d8e2cf798a3 766 }
antbig 2:8d8e2cf798a3 767 break;
ClementBreteau 16:7321fb3bb396 768 case BALISE_DANGER :
ClementBreteau 16:7321fb3bb396 769 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
ClementBreteau 16:7321fb3bb396 770 break;
ClementBreteau 16:7321fb3bb396 771
antbig 5:dcd817534b57 772 case BALISE_STOP:
antbig 5:dcd817534b57 773 SendAck(ACKNOWLEDGE_BALISE, BALISE_STOP);
ClementBreteau 18:cc5fec34ed9c 774 //if (instruction[actual_instruction].order != MV_TURN){ //J'ai rajouté cette ligne mais il faut tester avec et sans pour voir le comportement du robot,
ClementBreteau 16:7321fb3bb396 775 if(needToStop() != 0 && ingnorBaliseOnce ==0) {
ClementBreteau 16:7321fb3bb396 776 if(gameEtat > ETAT_GAME_START && gameEtat != ETAT_WARNING_TIMEOUT)
ClementBreteau 16:7321fb3bb396 777 {
ClementBreteau 16:7321fb3bb396 778 SendRawId(ASSERVISSEMENT_STOP);
ClementBreteau 21:590cdacb6a35 779 while(1); // ligne à décommenter si on est en homologation
ClementBreteau 16:7321fb3bb396 780 gameEtat = ETAT_WARNING_TIMEOUT;
ClementBreteau 16:7321fb3bb396 781 if(gameEtat != ETAT_WARING_END_BALISE_WAIT) {
ClementBreteau 16:7321fb3bb396 782 timeoutWarning.reset();
ClementBreteau 16:7321fb3bb396 783 timeoutWarning.start();//Reset du timer utiliser par le timeout
ClementBreteau 16:7321fb3bb396 784 }
antbig 12:14729d584500 785 }
antbig 12:14729d584500 786 }
ClementBreteau 18:cc5fec34ed9c 787 //}
antbig 12:14729d584500 788 ingnorBaliseOnce = 0;
antbig 5:dcd817534b57 789 break;
ClementBreteau 16:7321fb3bb396 790
antbig 5:dcd817534b57 791 case BALISE_END_DANGER:
ClementBreteau 16:7321fb3bb396 792 SendAck(ACKNOWLEDGE_BALISE, BALISE_END_DANGER);
antbig 5:dcd817534b57 793 if(gameEtat == ETAT_WARNING_TIMEOUT) {
antbig 5:dcd817534b57 794 timeoutWarningWaitEnd.reset();
antbig 5:dcd817534b57 795 timeoutWarningWaitEnd.start();
antbig 5:dcd817534b57 796 gameEtat = ETAT_WARING_END_BALISE_WAIT;
antbig 5:dcd817534b57 797 }
antbig 5:dcd817534b57 798 break;
antbig 12:14729d584500 799
antbig 12:14729d584500 800 case ECRAN_CHOICE_START_ACTION:
antbig 12:14729d584500 801 if(gameEtat == ETAT_CONFIG) {//C'est bon on a le droit de modifier les config
antbig 12:14729d584500 802 if(msgRxBuffer[FIFO_lecture].data[0] == 1) {
antbig 12:14729d584500 803 runRobotTest();
antbig 12:14729d584500 804 } else {
antbig 12:14729d584500 805 initRobotActionneur();
antbig 12:14729d584500 806 }
antbig 12:14729d584500 807 wait_ms(500);
antbig 12:14729d584500 808 SendRawId(ECRAN_ACK_CHOICE_START_ACTION);
antbig 12:14729d584500 809 }
antbig 12:14729d584500 810 break;
ClementBreteau 14:c8fc06c4887f 811
ClementBreteau 14:c8fc06c4887f 812 case OBJET_SUR_TABLE:
ClementBreteau 15:c2fc239e85df 813 if (msgRxBuffer[FIFO_lecture].data[1] == 0xff){
ClementBreteau 15:c2fc239e85df 814
ClementBreteau 15:c2fc239e85df 815 gameEtat = ETAT_WARNING_END_LAST_INSTRUCTION;
ClementBreteau 15:c2fc239e85df 816 }
ClementBreteau 15:c2fc239e85df 817 else{
ClementBreteau 15:c2fc239e85df 818
ClementBreteau 15:c2fc239e85df 819 waitingAckFrom = 0;
ClementBreteau 15:c2fc239e85df 820 waitingAckID = 0;
ClementBreteau 15:c2fc239e85df 821
ClementBreteau 15:c2fc239e85df 822 strat_instructions[actual_instruction+1].arg1 = returnX(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 823 strat_instructions[actual_instruction+1].arg2 = returnY(strat_instructions[actual_instruction].arg2);
ClementBreteau 15:c2fc239e85df 824 }
ClementBreteau 15:c2fc239e85df 825 modeTelemetre = 0;
ClementBreteau 14:c8fc06c4887f 826 break;
antbig 0:ad97421fb1fb 827 }
antbig 0:ad97421fb1fb 828
antbig 0:ad97421fb1fb 829 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
antbig 0:ad97421fb1fb 830 }
antbig 0:ad97421fb1fb 831 }