void portb_isr(void){
if(SDA_CTRL & ISF){
SDA_CTRL |= ISF;
if (!(I2C0_S & I2C_S_BUSY)){
SDA_CTRL = (~IRQC_MASK & SDA_CTRL) | IRQC_NONE;
// We're done right here
} else {
if (++irqcount >= 2) {
SDA_CTRL = (~IRQC_MASK & SDA_CTRL) | IRQC_NONE;
}
}
}
if(MIN_LIMIT_CTRL & ISF){
if(parameters.homing & ENABLE_MIN){
stop_motion();
st.state = STATE_ERROR;
parameters.error_low = IMC_ERR_MECHANICAL;
}
MIN_LIMIT_CTRL |= ISF;
}
if(MAX_LIMIT_CTRL & ISF){
if(parameters.homing & ENABLE_MAX){
stop_motion();
st.state = STATE_ERROR;
parameters.error_low = IMC_ERR_MECHANICAL;
}
MAX_LIMIT_CTRL |= ISF;
}
if(SYNC_CTRL & ISF){
switch(st.state){
case STATE_SYNC:
{
uint32_t timer_value;
timer_value = SYNC_TIMEOUT - PIT_CVAL2; // Figure out how far we've gotten
PIT_TCTRL2 &= ~TEN; // Stop counting down
parameters.sync_error = timer_value;
}
execute_move();
break;
case STATE_IDLE:
if(queue_length() > 0){
execute_move();
break;
}
// Otherwise fall through and set an error condition
case STATE_EXECUTE:
// This should never happen - if we're in execute, we should hold the line low and not enable this interrupt...
st.state = STATE_ERROR;
parameters.error_low = IMC_ERR_TIMEOUT; // Maybe not best error code, but...
default:
; // Just handle this...
}
SYNC_CTRL = (SYNC_CTRL & ~IRQC_MASK) | IRQC_NONE;
SYNC_CTRL |= ISF;
}
}
void execute_pinch(int fd, uint32_t device_flags, int touch1_x1,
int touch1_y1, int touch1_x2, int touch1_y2, int touch2_x1,
int touch2_y1, int touch2_x2, int touch2_y2, int num_steps,
int duration_msec)
{
int delta1[] = {(touch1_x2-touch1_x1)/num_steps, (touch1_y2-touch1_y1)/num_steps};
int delta2[] = {(touch2_x2-touch2_x1)/num_steps, (touch2_y2-touch2_y1)/num_steps};
int sleeptime = duration_msec / num_steps;
int i;
print_action(ACTION_START, "pinch",
"\"touch1_x1\": %d, \"touch1_y1\": %d, \"touch1_x2\": %d, "
"\"touch1_y2\": %d, \"touch2_x1\": %d, \"touch2_y1\": %d, "
"\"touch2_x2\": %d, \"touch2_y2\": %d, \"num_steps\": %d, "
"\"duration_msec\": %d",
touch1_x1, touch1_y1, touch1_x2, touch1_y2,
touch2_x1, touch2_y1, touch2_x2, touch2_y2,
num_steps, duration_msec);
// press
change_mt_slot(fd, device_flags, 0);
add_mt_tracking_id(fd, device_flags, global_tracking_id++);
execute_press(fd, device_flags, touch1_x1, touch1_y1);
change_mt_slot(fd, device_flags, 1);
add_mt_tracking_id(fd, device_flags, global_tracking_id++);
execute_press(fd, device_flags, touch2_x1, touch2_y1);
// drag
for (i=0; i<num_steps; i++) {
execute_sleep(sleeptime);
change_mt_slot(fd, device_flags, 0);
execute_move(fd, device_flags, touch1_x1+delta1[0]*i, touch1_y1+delta1[1]*i);
change_mt_slot(fd, device_flags, 1);
execute_move(fd, device_flags, touch2_x1+delta2[0]*i, touch2_y1+delta2[1]*i);
//write_event(fd, EV_SYN, SYN_REPORT, 0);
}
// release
change_mt_slot(fd, device_flags, 0);
execute_release(fd, device_flags);
change_mt_slot(fd, device_flags, 1);
execute_release(fd, device_flags);
remove_mt_tracking_id(fd, device_flags, 0);
remove_mt_tracking_id(fd, device_flags, 1);
// wait
execute_sleep(100);
print_action(ACTION_END, "pinch", NULL);
}
int ask_for_move(board_t board) {
int move;
char validstr[5];
char *validpos = validstr;
print_board(board);
for(move=0; move<4; move++) {
if(execute_move(move, board) != board)
*validpos++ = "UDLR"[move];
}
*validpos = 0;
if(validpos == validstr)
return -1;
while(1) {
char movestr[64];
const char *allmoves = "UDLR";
printf("Move [%s]? ", validstr);
if(!fgets(movestr, sizeof(movestr)-1, stdin))
return -1;
if(!strchr(validstr, toupper(movestr[0]))) {
printf("Invalid move.\n");
continue;
}
return strchr(allmoves, toupper(movestr[0])) - allmoves;
}
}
void execute_drag(int fd, uint32_t device_flags, int start_x,
int start_y, int end_x, int end_y, int num_steps,
int duration_msec)
{
int delta[] = {(end_x-start_x)/num_steps, (end_y-start_y)/num_steps};
int sleeptime = duration_msec / num_steps;
int i;
print_action(ACTION_START, "drag", "\"start_x\": %d, \"start_y\": %d, "
"\"end_x\": %d, \"end_y\": %d, \"num_steps\": %d, "
"\"duration_msec\": %d", start_x, start_y, end_x, end_y,
num_steps, duration_msec);
// press
execute_press(fd, device_flags, start_x, start_y);
// drag
for (i=0; i<num_steps; i++) {
execute_sleep(sleeptime);
execute_move(fd, device_flags, start_x+delta[0]*i, start_y+delta[1]*i);
}
// release
execute_release(fd, device_flags);
// wait
execute_sleep(100);
print_action(ACTION_END, "drag", NULL);
}
void execute_pinch(int fd, int version, unsigned int device_flags, int touch1_x1,
int touch1_y1, int touch1_x2, int touch1_y2, int touch2_x1,
int touch2_y1, int touch2_x2, int touch2_y2, int num_steps,
int duration_msec)
{
int delta1[] = {(touch1_x2-touch1_x1)/num_steps, (touch1_y2-touch1_y1)/num_steps};
int delta2[] = {(touch2_x2-touch2_x1)/num_steps, (touch2_y2-touch2_y1)/num_steps};
int sleeptime = duration_msec / num_steps;
int i;
// press
change_mt_slot(fd, version, device_flags, 0);
add_mt_tracking_id(fd, version, device_flags, global_tracking_id++);
execute_press(fd, version, device_flags, touch1_x1, touch1_y1);
change_mt_slot(fd, version, device_flags, 1);
add_mt_tracking_id(fd, version, device_flags, global_tracking_id++);
execute_press(fd, version, device_flags, touch2_x1, touch2_y1);
// drag
for (i=0; i<num_steps; i++) {
execute_sleep(sleeptime);
change_mt_slot(fd, version, device_flags, 0);
execute_move(fd, version, device_flags, touch1_x1+delta1[0]*i, touch1_y1+delta1[1]*i);
change_mt_slot(fd, version, device_flags, 1);
execute_move(fd, version, device_flags, touch2_x1+delta2[0]*i, touch2_y1+delta2[1]*i);
//write_event(fd, EV_SYN, SYN_REPORT, 0);
}
// release
change_mt_slot(fd, version, device_flags, 0);
execute_release(fd, version, device_flags);
change_mt_slot(fd, version, device_flags, 1);
execute_release(fd, version, device_flags);
remove_mt_tracking_id(fd, version, device_flags, 0);
remove_mt_tracking_id(fd, version, device_flags, 1);
// wait
execute_sleep(100);
}
int main(void)
{
struct chessboard *c = get_new_board();
int tmp, sx, sy, dx, dy;
while (1) {
print_chessboard(c);
/* Calcluate white's suggested move */
tmp = calculate_move(c, 0, MOVE_DEPTH);
sx = tmp & 0xff;
sy = (tmp & 0xff00) >> 8;
dx = (tmp & 0xff0000) >> 16;
dy = (tmp & 0xff000000) >> 24;
printf("Computer suggests (%d,%d) -> (%d,%d)\n", sx, sy, dx, dy);
no_clear:
printf("Enter move: ");
tmp = scanf("%d %d %d %d", &sx, &sy, &dx, &dy);
if (tmp != 4)
goto no_clear;
if (sx == -1)
return 0;
tmp = execute_move(c, sx, sy, dx, dy);
if (tmp) {
printf("Error: %s\n", get_error_string(tmp));
goto no_clear;
} else {
printf("Move succeeded!\n");
}
/* Calcluate black's move */
tmp = calculate_move(c, 1, MOVE_DEPTH);
sx = tmp & 0xff;
sy = (tmp & 0xff00) >> 8;
dx = (tmp & 0xff0000) >> 16;
dy = (tmp & 0xff000000) >> 24;
printf("Black moves (%d,%d) -> (%d,%d)\n", sx, sy, dx, dy);
tmp = execute_move(c, sx, sy, dx, dy);
if (tmp)
fatal("Computer tried to make an illegal move: %s\n", get_error_string(tmp));
}
return 0;
}
void execute_legal_move_by_ID(move_storage * list, size_t index)
{
assert(list != NULL);
execute_move(
list[index].origin.file, list[index].origin.rank,
list[index].target.file, list[index].target.rank
);
return;
}
static float _score_toplevel_move(eval_state &state, board_t board, int move) {
//int maxrank = get_max_rank(board);
board_t newboard = execute_move(move, board);
if(board == newboard)
return 0;
state.cprob_thresh = CPROB_THRESH_BASE;
return score_tilechoose_node(state, newboard, 1.0f) + 1e-6;
}
void play_game(get_move_func_t get_move) {
board_t board = initial_board();
int moveno = 0;
int scorepenalty = 0; // "penalty" for obtaining free 4 tiles
while(1) {
int move;
board_t newboard;
for(move = 0; move < 4; move++) {
if(execute_move(move, board) != board)
break;
}
if(move == 4)
break; // no legal moves
printf("\nMove #%d, current score=%.0f\n", ++moveno, score_board(board) - scorepenalty);
move = get_move(board);
if(move < 0)
break;
newboard = execute_move(move, board);
if(newboard == board) {
printf("Illegal move!\n");
moveno--;
continue;
}
int tile = draw_tile();
if(tile == 2)
scorepenalty += 4;
board = insert_tile_rand(newboard, tile);
}
print_board(board);
printf("\nGame over. Your score is %.0f. The highest rank you achieved was %d.\n", score_board(board) - scorepenalty, get_max_rank(board));
}
void execute_drag(int fd, uint32_t device_flags, int start_x,
int start_y, int end_x, int end_y, int num_steps,
int duration_msec)
{
int delta[] = {(end_x-start_x)/num_steps, (end_y-start_y)/num_steps};
double desired_interval_msec, avg_event_dispatch_time_msec;
struct timespec start_time, current_time, time_before_last_move;
int i;
clock_gettime(CLOCK_MONOTONIC, &start_time);
double start_nsecs = (double) (start_time.tv_sec * (1000*1000)) + start_time.tv_nsec;
print_action(ACTION_START, "drag", "\"start_x\": %d, \"start_y\": %d, "
"\"end_x\": %d, \"end_y\": %d, \"num_steps\": %d, "
"\"duration_msec\": %d", start_x, start_y, end_x, end_y,
num_steps, duration_msec);
// press
clock_gettime(CLOCK_MONOTONIC, &time_before_last_move);
execute_press(fd, device_flags, start_x, start_y);
// drag
desired_interval_msec = duration_msec / num_steps;
for (i=0; i<num_steps; i++) {
clock_gettime(CLOCK_MONOTONIC, ¤t_time);
avg_event_dispatch_time_msec = ((avg_event_dispatch_time_msec * i) +
timediff_msec(&time_before_last_move,
¤t_time)) / i;
if (desired_interval_msec > 0 &&
avg_event_dispatch_time_msec < desired_interval_msec) {
execute_sleep(desired_interval_msec - avg_event_dispatch_time_msec);
}
memcpy(&time_before_last_move, ¤t_time, sizeof(struct timespec));
execute_move(fd, device_flags, start_x+delta[0]*i, start_y+delta[1]*i);
}
// release
execute_release(fd, device_flags);
// wait
execute_sleep(100);
print_action(ACTION_END, "drag", NULL);
}
void execute_drag(int fd, int version, unsigned int device_flags, int start_x,
int start_y, int end_x, int end_y, int num_steps,
int duration_msec)
{
int delta[] = {(end_x-start_x)/num_steps, (end_y-start_y)/num_steps};
int sleeptime = duration_msec / num_steps;
int i;
// press
execute_press(fd, version, device_flags, start_x, start_y);
// drag
for (i=0; i<num_steps; i++) {
execute_sleep(sleeptime);
execute_move(fd, version, device_flags, start_x+delta[0]*i, start_y+delta[1]*i);
}
// release
execute_release(fd, version, device_flags);
// wait
execute_sleep(100);
}
static float score_move_node(eval_state &state, board_t board, float cprob) {
if(cprob < state.cprob_thresh || state.curdepth >= SEARCH_DEPTH_LIMIT) {
if(state.curdepth > state.maxdepth)
state.maxdepth = state.curdepth;
return score_heur_board(board);
}
if(state.curdepth < CACHE_DEPTH_LIMIT) {
const eval_state::trans_table_t::iterator &i = state.trans_table.find(board);
if(i != state.trans_table.end()) {
state.cachehits++;
return i->second;
}
}
int move;
float best = 0;
state.curdepth++;
for(move=0; move<4; move++) {
board_t newboard = execute_move(move, board);
state.moves_evaled++;
if(board == newboard)
continue;
float res = score_tilechoose_node(state, newboard, cprob);
if(res > best)
best = res;
}
state.curdepth--;
if(state.curdepth < CACHE_DEPTH_LIMIT) {
state.trans_table[board] = best;
}
return best;
}
void portb_isr(void){
if(SDA_CTRL & ISF){
SDA_CTRL |= ISF;
if (!(I2C0_S & I2C_S_BUSY)){
SDA_CTRL = (~IRQC_MASK & SDA_CTRL) | IRQC_NONE;
// We're done right here
} else {
if (++irqcount >= 2) {
SDA_CTRL = (~IRQC_MASK & SDA_CTRL) | IRQC_NONE;
}
}
}
//||\\!! TODO: This safety feature disabled for now because I have a gentler handling in stepper_hook.
if(MIN_LIMIT_CTRL & ISF){
if(parameters.homing & ENABLE_MIN){
//stop_motion();
//st.state = STATE_ERROR;
//parameters.error_low = IMC_ERR_MECHANICAL;
}
MIN_LIMIT_CTRL |= ISF;
}
if(MAX_LIMIT_CTRL & ISF){
if(parameters.homing & ENABLE_MAX){
//stop_motion();
//st.state = STATE_ERROR;
//parameters.error_low = IMC_ERR_MECHANICAL;
}
MAX_LIMIT_CTRL |= ISF;
}
if(SYNC_CTRL & ISF){
//||\\!! temp
//hid_printf("%u-%i sync pin isr. state = %i\n", get_systick_tenus(), (CONTROL_DDR & SYNC_BIT) ? -1 : CONTROL_PORT(DIR) & SYNC_BIT, st.state);
switch(st.state){
case STATE_SYNC:
{
uint32_t timer_value;
timer_value = SYNC_TIMEOUT - PIT_CVAL2; // Figure out how far we've gotten
PIT_TCTRL2 &= ~TEN; // Stop counting down
parameters.sync_error = timer_value;
//||\\!! temp
//hid_printf("%u-%i sync_error = %i\n", get_systick_tenus(), (CONTROL_DDR & SYNC_BIT) ? -1 : CONTROL_PORT(DIR) & SYNC_BIT, timer_value);
}
execute_move();
break;
case STATE_IDLE:
if(queue_length() > 0){
execute_move();
break;
}
break; //||\\!! FIXME - this break added to keep from erroring while debugging the control flow.
// Otherwise fall through and set an error condition
case STATE_EXECUTE:
// This should never happen - if we're in execute, we should hold the line low and not enable this interrupt...
st.state = STATE_ERROR;
parameters.error_low = IMC_ERR_TIMEOUT; // Maybe not best error code, but...
default:
; // Just handle this...
}
SYNC_CTRL = (SYNC_CTRL & ~IRQC_MASK) | IRQC_NONE;
SYNC_CTRL |= ISF;
}
}
//--------- Begin of function Unit::pre_process ---------//
//
void Unit::pre_process()
{
//--- if the unit's hit point drops to 0, it dies now ---//
if( hit_points <= 0 )
{
set_die();
return;
}
//------- process fog of war ----------//
visit_area();
//------ process unit_mode -------//
#ifdef DEBUG
long startTime;
#endif
switch( unit_mode )
{
case UNIT_MODE_TOWN_DEFENDER:
#ifdef DEBUG
startTime = m.get_time();
#endif
process_mode_town_defender();
#ifdef DEBUG
unit_process_town_defender_profile_time += m.get_time() - startTime;
#endif
break;
case UNIT_MODE_CAMP_DEFENDER:
#ifdef DEBUG
startTime = m.get_time();
#endif
process_mode_camp_defender();
#ifdef DEBUG
unit_process_camp_defender_profile_time += m.get_time() - startTime;
#endif
break;
case UNIT_MODE_REBEL:
#ifdef DEBUG
startTime = m.get_time();
#endif
process_mode_rebel();
#ifdef DEBUG
unit_process_rebel_profile_time += m.get_time() - startTime;
#endif
break;
}
//--- if the current order has been reset and there is a pushed order, pop the order ---//
if( cur_order.mode==0 && has_pushed_order() )
pop_order();
//-------- process unit order now -------//
switch( cur_order.mode )
{
case UNIT_MOVE: // nothing to do with move mode, as UnitB already takes care of it
#ifdef DEBUG
startTime = m.get_time();
#endif
execute_move();
#ifdef DEBUG
unit_execute_move_profile_time += m.get_time() - startTime;
#endif
break;
case UNIT_ATTACK:
#ifdef DEBUG
startTime = m.get_time();
#endif
execute_attack();
#ifdef DEBUG
unit_execute_attack_profile_time += m.get_time() - startTime;
#endif
break;
case UNIT_BUILD_FIRM:
#ifdef DEBUG
startTime = m.get_time();
#endif
execute_build_firm();
#ifdef DEBUG
unit_execute_build_firm_profile_time += m.get_time() - startTime;
#endif
break;
case UNIT_SETTLE_TOWN:
#ifdef DEBUG
startTime = m.get_time();
#endif
execute_settle_town();
#ifdef DEBUG
unit_execute_settle_town_profile_time += m.get_time() - startTime;
#endif
break;
case UNIT_ASSIGN:
#ifdef DEBUG
startTime = m.get_time();
#endif
execute_assign();
#ifdef DEBUG
unit_execute_assign_profile_time += m.get_time() - startTime;
#endif
break;
case UNIT_GO_CAST_POWER:
#ifdef DEBUG
startTime = m.get_time();
#endif
execute_go_cast_power();
#ifdef DEBUG
unit_cast_power_profile_time += m.get_time() - startTime;
#endif
break;
case UNIT_TRANSFORM_FORTRESS:
#ifdef DEBUG
startTime = m.get_time();
#endif
execute_transform_fortress();
#ifdef DEBUG
unit_transform_fortress_profile_time += m.get_time() - startTime;
#endif
break;
}
}
void loop() {
recieve_commands();
if (!docking && !auto_cover) {
execute_move();
interaction();
}
if (move_time == 0) {
if (stream) // @t
stream_data();
if (exp_auto) // @a
feb_experiment_scanning();//katie_auto();
if (auto_on ) // @u
katie_auto();
// if (auto_cover){ /// send state message at a regular interval during script
// int diff = millis() - picture_timer;
// if (diff > 3000) {
// send_state("picture timer");
// picture_timer = millis();
// }
// }
if (exp_stream ) // @e
// arduino_hub_stream(); // experiment_dec_2013
if (debug_stream ) // @g
stream_debug_sensors();
}
BUTTONS_STATE = COIFetchSingleSensor(BUTTONS);
if (PLAY_BUTTON(BUTTONS_STATE) == HIGH) {
delay(200);
COIChangeMode(CMD_MODE_PASSIVE);
play_toggle = true;
send_response("SAFE MODE ON", 1);
}
if ((CHARGING_SOURCE_STATE == 1 || CHARGING_SOURCE_STATE == 2) && play_toggle == true ) {
charge_toggle = true;
play_toggle = false;
send_response("CHARGING SOURCE DETECTED", 1);
}
if ((CHARGING_SOURCE_STATE == 0) && (OI_MODE_STATE == OI_PASSIVE) && (charge_toggle == true) && (play_toggle == false)){
COIChangeMode(CMD_MODE_FULL);
charge_toggle = false;
send_response("FULL MODE ON", 1);
}
update_battery_sensors();
charger();
if (!digitalRead(INPUT_20) && !auto_cover ) { // check to see if not in script so command does not interfere
//update_create_fast_sensors(); // so that collision detection works
BUMPS_WHEEL_DROPS_STATE = COIFetchSingleSensor(BUMPS_WHEELS);
//charger(); // detects charger (once this works move make nest it deeper in framework)
}
if ((BUMPS_WHEEL_DROPS_STATE > 0 && BUMPS_WHEEL_DROPS_STATE < 4) && bp == false) {
bp = true;
send_state("collision detected");
}
if ((BUMPS_WHEEL_DROPS_STATE == 0) && bp == true) {
bp = false;
send_state("bumper released");
}
//heading = update_header(heading, COIFetchSingleSensor(ANGLE_SINCE_LAST); // Mostly for testing, for now
delay(20); // serial gets overrun if no delay
}
//move is in the format [x, y] as a 2 dim array
//returns the area owned by us
int do_move(int *move)
{
return execute_move(move, 1, 1);
}
//move is in the format [x, y] as a 2 dim array
int undo_move(int *move)
{
return execute_move(move, 0, 1);
}
int undo_move_coarse(int *move, int algo)
{
return execute_move(move, 0, algo);
}
