int main(void)
{
pinIO();
serialSetupUSB();
timerSetup();
motorSetup();
encSetup();
//infinete loop in which we count
while(1)
{
//currentVelocity = velocityGet();
moveForward(16);
delay(10);
moveBackward(16);
} //remain here forever, never end the main function.
return 0; //we should never really return
}
void initIRQ(void){
SET_IRQ_VECTOR(ML13_interrupt, 0x3FF2);
__asm(" CLI");
REG8(ML13_IRQ_Control)= 0x01;
timerSetup();
puts("IRQ has been initiated");
}
void main(void)
{
char pinStatus = 0, TXon = 0, boxOpen = 0;
long int runTime = 0; //
/* device setup */
set32MHzXOSC();
timerSetup(TICKS_FREQ025, T1_PRE);
timer4Setup(T4_PRE);
// CSPT = 0xFF;
// PICTL |= BIT7;
P0DIR |= 0x8C; //P0 BIT2,3,7 are output, BIT1,4,5,6 are input
if (P0 & BOX) P0 = RED_LED;
else P0 = GREEN_LED;
/* interrupt setup */
setT1int(); //TIMER1 interrupts
setT4int(); //TIMER4 interrupts
//void setP0int(); //Port 0 interrupts
while(P0 & BOX); //wait for box to close before reading setup parameters
T1_ovf_cnt = 0; //restart transmitting period after closing the box
pinStatus = readPin();
setupTX(pinStatus);
IEN0 |= BIT7; //enable global interrupts.
T1CTL |= BIT0; //start timer1 in free running mode
if (pinStatus == 0x02) runTime = 322; //total run time is approx. 3 hours
else runTime = 18; //total run time is approx. 10 minutes
while(T1_ovf_cnt < runTime) //stop program after XXX hours
{
while(!(P0 & BOX) && T1_ovf_cnt < runTime) //Box is closed
{
if (!TXon)
{
if (pinStatus == 0x22) freqSweep(FREQ2395, FREQ2507, 4);
else startTX();
TXon = 1;
}
}
stopTX();
TXon = 0;
// if (P0 & BOX) boxOpen = 1;
// else
// {
// while(P0 & BOX); //wait for box to close before reading setup parameters
// }
while (P0 & BOX) boxOpen = 1;
if (boxOpen == 1) T1_ovf_cnt = 0; //restart transmitting period after closing the box
pinStatus = readPin();
setupTX(pinStatus);
if (pinStatus == 0x02) runTime = 645; //total run time is approx. 6 hours
else runTime = 18; //total run time is approx. 10 minutes
boxOpen = 0;
}
stopTX();
}
int main() { // line 25
setup();
timerSetup();
while(1) {
standby();
}
return 0;
}
void main(void)
{
unsigned char stage_no = 1, stage_cnt = 0, T1_IF;
set32MHzXOSC();
timerSetup(T1_TICKS, T1_PRE);
/* selected output pin */
//P1SEL |= BIT7; //use P1_7 as peripheral function
P1DIR |= (BIT1); //P1_1 direction to output
P1 &= ~(BIT1| BIT0); //clear output
clearIRQ();
while(1)
{
T1CTL |= BIT0; //start TIMER1 in free operation mode
/* 10 seconds wait*/
for(int i=0;i<5;i++)
{
T1_IF = T1STAT & BIT5; //isolate TIMER1 IF
while(!T1_IF) //wait for overflow IF
{
T1_IF = T1STAT & BIT5;
}
clearIRQ();
}
T1CTL &= ~(BIT1 | BIT0); //stop TIMER1
T1CNTL = 0x00; //clear TIMER1
clearIRQ();
for(stage_cnt=0;stage_cnt<2*stage_no;stage_cnt++)
{
T1CTL |= BIT0; //start TIMER1 in free operation mode
/* set output */
P1 ^= (BIT1 | BIT0);
T1_IF = T1STAT & BIT5; //isolate TIMER1 IF
while(!(T1STAT & BIT5)); //wait for overflow IF
T1CTL &= ~(BIT1 | BIT0); //stop TIMER1
T1CNTL = 0x00; //clear TIMER1
clearIRQ();
}
if(stage_no == 5) stage_no = 1;
else stage_no++;
T1CTL &= ~(BIT1 | BIT0); //stop TIMER1
T1CNTL = 0x00; //clear TIMER1
clearIRQ();
}
}
int main(){
SystemInit();
setup();
adcSetup();
Init_Display();
timerSetup();
tempMeasure();
updateDegrees();
setupInterupts(5);
lightMeasure();
pwmSetup();
setupInterupts(1000);
PrintMenu();
*PWM_CDTYUPD = 1800;
int input;
while(nInterupts < 500){}
while(1){
if(nInterupts >= 500){
tempMeasure();
nInterupts = 0;
}
updateDegrees();
Print(floatToChar, 33,1); //Skriv ut temperatur
if(value > maxLimit){
Print("ALARM", 32, 3);
Print("TOO HOT ", 32,4);
}
else if(value < lowLimit){
Print(" ALARM", 32, 3);
Print("TOO COLD", 32,4);
}
else if(value >lowLimit || value<maxLimit){
Print(" ", 32, 3);
Print(" ", 32, 4);
}
if(tempCount >= fastMode){
updateDegrees();
delay(60);
if(tempFlag == 1){
tempCalc();
tempCount = 0;
tempFlag = 0;
}
}
input = readKeypad();
if(buttonPressed == 1){
buttonPressed = 0;
menuCases(&input);
}
}
}
void main(void)
{
WDTCTL = WDTPW | WDTHOLD; //stop watchdog timer
LEDSetup();
buttonSetup();
timerSetup();
_BIS_SR(GIE); //global interrupts enabled
while(1)
{
}
}
/*Initialize class with user values.*/
StepperControl::StepperControl(int motorsCountE, int *enablePinE, int *invertEnableE, int *stepPinE, int *dirPinE, int *invertDirE, double *speedE, long *signalLengthE, long clockFrequencyE){
clockFrequency = clockFrequencyE;
motorsCount = motorsCountE;
repeatInLoop = idleFunc;
enablePin = (int*)calloc(motorsCount, sizeof(int));
invertEnable = (int*)calloc(motorsCount, sizeof(int));
stepPin = (int*)calloc(motorsCount, sizeof(int));
dirPin = (int*)calloc(motorsCount, sizeof(int));
invertDir = (int*)calloc(motorsCount, sizeof(int));
speed = (double*)calloc(motorsCount, sizeof(double));
signalLength = (long*)calloc(motorsCount, sizeof(long));
//Time required for 1 full cycle, based on signalLength and speedE.
movementTime = (long*)calloc(motorsCount, sizeof(long));
lowTime = (long*)calloc(motorsCount, sizeof(long));
highTime = (long*)calloc(motorsCount, sizeof(long));
stepStatus = (int*)calloc(motorsCount, sizeof(int));
nextStateChange = (unsigned long*)calloc(motorsCount, sizeof(unsigned long));
currentState = (uint8_t*)calloc(motorsCount, sizeof(uint8_t));
nextStep = (unsigned long*)calloc(motorsCount, sizeof(unsigned long));
individualStepsCounter = (unsigned long*)calloc(motorsCount, sizeof(unsigned long));
enabledMotors = (uint8_t*)calloc(motorsCount, sizeof(uint8_t));
memcpy(enablePin, enablePinE, motorsCount*sizeof(int));
memcpy(invertEnable, invertEnableE, motorsCount*sizeof(int));
memcpy(stepPin, stepPinE, motorsCount*sizeof(int));
memcpy(dirPin, dirPinE, motorsCount*sizeof(int));
memcpy(invertDir, invertDirE, motorsCount*sizeof(int));
memcpy(signalLength, signalLengthE, motorsCount*sizeof(long));
setSpeed(speedE);
timerSetup();
for(int i = 0; i < motorsCount; i++){
stepStatus[i] = 0;
pinMode(enablePin[i], OUTPUT);
digitalWrite(enablePin[i], 1);
pinMode(stepPin[i], OUTPUT);
digitalWrite(stepPin[i], 0);
pinMode(dirPin[i], OUTPUT);
digitalWrite(dirPin[i], 0);
}
//Adding the function responsible for the movement to the interrupts.
if(motorsCount > 0) StepperControl::attachInterrupt(interruptExec);
}
/**
* This helper function calculates the hour, min, sec
* then sets the global variable, time, accordingly.
* It then prints the result by calling printTime();
* @param c The char value choosing what action to take
* it can be to just check / stop time.
* or it can be to add / subtract time.
*/
void changeTime(char c){
//adding an hour
if(c == 'h'){
time += 3600;
}
//subtracting an hour
if(c == 'H'){
time -= 3600;
}
//adding a minute
if(c == 'm'){
time += 60;
}
//subtracting a minute
if(c == 'M'){
time -= 60;
}
//adding a second
if(c == 's'){
time += 1;
}
//subtracting a second
if(c == 'S'){
time -= 1;
}
//clearing the timer
if(c == 'c'){
time = 0;
}
//starting/stopping the timer
if(c == 'r'){
if(running == TRUE){
running = FALSE;
alarm(0);
}
else{
running = TRUE;
timerSetup();
}
}
printTime(FALSE);
}
void main(void)
{
long int runTime = 0;
char boxOpen = 0;
/* device setup */
set32MHzXOSC();
timerSetup(TICKS_FREQ025, T1_PRE);
timer4Setup(T4_PRE);
// CSPT = 0xFF;
// PICTL |= BIT7;
P0DIR |= 0x8C; //P0 BIT2,3,7 are output, BIT1,4,5,6 are input
// if (P0 & BOX) P0 = RED_LED;
// else P0 = GREEN_LED;
/* interrupt setup */
setT1int(); //TIMER1 interrupts
setT4int(); //TIMER4 interrupts
// setP0int(); //Port 0 interrupts
// while(P0 & BOX); //wait for box to close before reading setup parameters
T1_ovf_cnt = 0; //restart transmitting period after closing the box
TXFreq = FREQ2400;
IEN0 |= BIT7; //enable global interrupts.
T1CTL |= BIT0; //start timer1 in free running mode
runTime = 9;
rfTXConfig(FREQ2455, OUTPUT_POWER);
startTX();
while(T1_ovf_cnt < runTime) //stop program after 'runTime' no. of T1 overflow.
{
while ((P0 & BOX) && (T1_ovf_cnt < runTime));
stopTX();
while (P0 & BOX) boxOpen = 1;
if (boxOpen == 1) T1_ovf_cnt = 0; //restart transmitting period after closing the box
runTime = 9; //total run time is approx. 10 minutes
boxOpen = 0;
}
stopTX();
}
/** The main thing.
* @param argc count of command-line tokens.
* @param argv array of command-line tokens.
* @return 0 on success, 1-255 on failure.
*/
int main(int argc, char* argv[]){
if(argc != 2){
printf("usage: mytimer <seconds>\n");
return EXIT_FAILURE;
}
if(sscanf(argv[1], "%lf",&time) != 1){
printf("\"%s\" is not a number.\n", argv[1]);
return EXIT_FAILURE;
}
if(time <= 0){
printf("Invalid time(%lf). Must be >= 0.\n",time);
return EXIT_FAILURE;
}
running = TRUE;
char c = 'z';
set_input_mode();
//setup the signal stuff
timerSetup();
while(1){
read (STDIN_FILENO, &c, 1);
if(c == 'q'){
fprintf(stdout,"\n");
fflush(stdout);
return EXIT_SUCCESS;
}
if(c == 'h' || c == 'H' || c == 'm' ||
c == 'M' || c == 's' || c == 'S' ||
c == 'c' || c == 'r'){
changeTime(c);
c = 'z';
}
}
return EXIT_SUCCESS;
}
int main(void)
{
// _TRISD = 0;
pinIO();
serialSetup();
pwmSetup();
setupA2D();
timerSetup();
//infinete loop in which we count
while(1)
{
} //remain here forever, never end the main function.
return 0; //we should never really return
}
int main(void)
{
pinIO();
encSetup();
serialSetupUSB();
serialSetupP2P();
timerSetup();
pwmSetup();
setupA2D();
//infinete loop in which we count
while(1)
{
//LED1LATCH = 1;
} //remain here forever, never end the main function.
return 0; //we should never really return
}
pwmStatus pwmSetup(int id, int timer, float periodMs) {
timerStatus err;
//on vérifie si l'ID de la pwm est correcte
if (id != PWM_1 && id != PWM_2 && id != PWM_3 && id != PWM_4) {
return PWM_ID_ERROR;
}
//on vérifie si l'ID du timer est correcte
if (timer != TIMER_2 && timer != TIMER_3) {
return PWM_TID_ERROR;
}
//création du timer associé
err = timerSetup(timer, periodMs);
//on vérifie si la période est correcte
if (err == TIMER_PERIOD_ERROR) {
return PWM_PERIOD_ERROR;
}
*OCxRS[id - 1] = 0; // remise à zéro du rapport cyclique
//activation de la PWM
if (timer == TIMER_2) {
*OCxCON[id - 1] = 0b0110;
} else {
*OCxCON[id - 1] = 0b1110;
}
//lancement du timer
timerStart(timer);
return PWM_SUCCESS;
}
int main(void)
{
pinIO();
serialSetupUSB();
serialSetupP2P();
timerSetup();
//pwmSetup();
setupA2D();
motorSetup();
encSetup();
int motor1;
//int motor1speed = 200;
int motor2speed = 200;
char targetVelocity1 = 0;
char currentVelocity;
float pop;
char error = 0;
//infinete loop in which we count
while(1)
{
//currentVelocity = velocityGet();
motor1 = motorSet(39);
motor1 = 200;
//targetVelocity1 = 30;
//error = targetVelocity1 - currentVelocity;
//int test
/* if (currentVelocity > targetVelocity1)
{
if(motor1speed > 0)
{
motor1speed -=2;
} else {
motor1speed = 0;
}
} else if (currentVelocity < targetVelocity1)
{
if(motor1speed < 798)
{
motor1speed +=2;
} else {
motor1speed = 798;
}
//motor1speed = 798*(float)(1-(float)(currentVelocity / targetVelocity1));
}*/
motor1Forward(motor1);
motor2Forward(motor2speed);
} //remain here forever, never end the main function.
return 0; //we should never really return
}
PtpClock *
ptpdStartup(int argc, char **argv, Integer16 * ret, RunTimeOpts * rtOpts)
{
PtpClock * ptpClock;
TimeInternal tmpTime;
int i = 0;
/*
* Set the default mode for all newly created files - previously
* this was not the case for log files. This adds consistency
* and allows to use FILE* vs. fds everywhere
*/
umask(~DEFAULT_FILE_PERMS);
/* get some entropy in... */
getTime(&tmpTime);
srand(tmpTime.seconds ^ tmpTime.nanoseconds);
/**
* If a required setting, such as interface name, or a setting
* requiring a range check is to be set via getopts_long,
* the respective currentConfig dictionary entry should be set,
* instead of just setting the rtOpts field.
*
* Config parameter evaluation priority order:
* 1. Any dictionary keys set in the getopt_long loop
* 2. CLI long section:key type options
* 3. Any built-in config templates
* 4. Any templates loaded from template file
* 5. Config file (parsed last), merged with 2. and 3 - will be overwritten by CLI options
* 6. Defaults and any rtOpts fields set in the getopt_long loop
**/
/**
* Load defaults. Any options set here and further inside loadCommandLineOptions()
* by setting rtOpts fields, will be considered the defaults
* for config file and section:key long options.
*/
loadDefaultSettings(rtOpts);
/* initialise the config dictionary */
rtOpts->candidateConfig = dictionary_new(0);
rtOpts->cliConfig = dictionary_new(0);
/* parse all long section:key options and clean up argv for getopt */
loadCommandLineKeys(rtOpts->cliConfig,argc,argv);
/* parse the normal short and long options, exit on error */
if (!loadCommandLineOptions(rtOpts, rtOpts->cliConfig, argc, argv, ret)) {
goto fail;
}
/* Display startup info and argv if not called with -? or -H */
NOTIFY("%s version %s starting\n",USER_DESCRIPTION, USER_VERSION);
dump_command_line_parameters(argc, argv);
/*
* we try to catch as many error conditions as possible, but before we call daemon().
* the exception is the lock file, as we get a new pid when we call daemon(),
* so this is checked twice: once to read, second to read/write
*/
if(geteuid() != 0)
{
printf("Error: "PTPD_PROGNAME" daemon can only be run as root\n");
*ret = 1;
goto fail;
}
/* Have we got a config file? */
if(strlen(rtOpts->configFile) > 0) {
/* config file settings overwrite all others, except for empty strings */
INFO("Loading configuration file: %s\n",rtOpts->configFile);
if(loadConfigFile(&rtOpts->candidateConfig, rtOpts)) {
dictionary_merge(rtOpts->cliConfig, rtOpts->candidateConfig, 1, 1, "from command line");
} else {
*ret = 1;
dictionary_merge(rtOpts->cliConfig, rtOpts->candidateConfig, 1, 1, "from command line");
goto configcheck;
}
} else {
dictionary_merge(rtOpts->cliConfig, rtOpts->candidateConfig, 1, 1, "from command line");
}
/**
* This is where the final checking of the candidate settings container happens.
* A dictionary is returned with only the known options, explicitly set to defaults
* if not present. NULL is returned on any config error - parameters missing, out of range,
* etc. The getopt loop in loadCommandLineOptions() only sets keys verified here.
*/
if( ( rtOpts->currentConfig = parseConfig(CFGOP_PARSE, NULL, rtOpts->candidateConfig,rtOpts)) == NULL ) {
*ret = 1;
dictionary_del(&rtOpts->candidateConfig);
goto configcheck;
}
/* we've been told to print the lock file and exit cleanly */
if(rtOpts->printLockFile) {
printf("%s\n", rtOpts->lockFile);
*ret = 0;
goto fail;
}
/* we don't need the candidate config any more */
dictionary_del(&rtOpts->candidateConfig);
/* Check network before going into background */
if(!testInterface(rtOpts->primaryIfaceName, rtOpts)) {
ERROR("Error: Cannot use %s interface\n",rtOpts->primaryIfaceName);
*ret = 1;
goto configcheck;
}
if(rtOpts->backupIfaceEnabled && !testInterface(rtOpts->backupIfaceName, rtOpts)) {
ERROR("Error: Cannot use %s interface as backup\n",rtOpts->backupIfaceName);
*ret = 1;
goto configcheck;
}
configcheck:
/*
* We've been told to check config only - clean exit before checking locks
*/
if(rtOpts->checkConfigOnly) {
if(*ret != 0) {
printf("Configuration has errors\n");
*ret = 1;
}
else
printf("Configuration OK\n");
goto fail;
}
/* Previous errors - exit */
if(*ret !=0)
goto fail;
/* First lock check, just to be user-friendly to the operator */
if(!rtOpts->ignore_daemon_lock) {
if(!writeLockFile(rtOpts)){
/* check and create Lock */
ERROR("Error: file lock failed (use -L or global:ignore_lock to ignore lock file)\n");
*ret = 3;
goto fail;
}
/* check for potential conflicts when automatic lock files are used */
if(!checkOtherLocks(rtOpts)) {
*ret = 3;
goto fail;
}
}
/* Manage log files: stats, log, status and quality file */
restartLogging(rtOpts);
/* Allocate memory after we're done with other checks but before going into daemon */
ptpClock = (PtpClock *) calloc(1, sizeof(PtpClock));
if (!ptpClock) {
PERROR("Error: Failed to allocate memory for protocol engine data");
*ret = 2;
goto fail;
} else {
DBG("allocated %d bytes for protocol engine data\n",
(int)sizeof(PtpClock));
ptpClock->foreign = (ForeignMasterRecord *)
calloc(rtOpts->max_foreign_records,
sizeof(ForeignMasterRecord));
if (!ptpClock->foreign) {
PERROR("failed to allocate memory for foreign "
"master data");
*ret = 2;
free(ptpClock);
goto fail;
} else {
DBG("allocated %d bytes for foreign master data\n",
(int)(rtOpts->max_foreign_records *
sizeof(ForeignMasterRecord)));
}
}
if(rtOpts->statisticsLog.logEnabled)
ptpClock->resetStatisticsLog = TRUE;
/* Init to 0 net buffer */
memset(ptpClock->msgIbuf, 0, PACKET_SIZE);
memset(ptpClock->msgObuf, 0, PACKET_SIZE);
/* Init outgoing management message */
ptpClock->outgoingManageTmp.tlv = NULL;
/* DAEMON */
#ifdef PTPD_NO_DAEMON
if(!rtOpts->nonDaemon){
rtOpts->nonDaemon=TRUE;
}
#endif
if(!rtOpts->nonDaemon){
/*
* fork to daemon - nochdir non-zero to preserve the working directory:
* allows relative paths to be used for log files, config files etc.
* Always redirect stdout/err to /dev/null
*/
if (daemon(1,0) == -1) {
PERROR("Failed to start as daemon");
*ret = 3;
goto fail;
}
INFO(" Info: Now running as a daemon\n");
/*
* Wait for the parent process to terminate, but not forever.
* On some systems this happened after we tried re-acquiring
* the lock, so the lock would fail. Hence, we wait.
*/
for (i = 0; i < 1000000; i++) {
/* Once we've been reaped by init, parent PID will be 1 */
if(getppid() == 1)
break;
usleep(1);
}
}
/* Second lock check, to replace the contents with our own new PID and re-acquire the advisory lock */
if(!rtOpts->nonDaemon && !rtOpts->ignore_daemon_lock){
/* check and create Lock */
if(!writeLockFile(rtOpts)){
ERROR("Error: file lock failed (use -L or global:ignore_lock to ignore lock file)\n");
*ret = 3;
goto fail;
}
}
#if (defined(linux) && defined(HAVE_SCHED_H)) || defined(HAVE_SYS_CPUSET_H) || defined(__QNXNTO__)
/* Try binding to a single CPU core if configured to do so */
if(rtOpts->cpuNumber > -1) {
if(setCpuAffinity(rtOpts->cpuNumber) < 0) {
ERROR("Could not bind to CPU core %d\n", rtOpts->cpuNumber);
} else {
INFO("Successfully bound "PTPD_PROGNAME" to CPU core %d\n", rtOpts->cpuNumber);
}
}
#endif
/* set up timers */
if(!timerSetup(ptpClock->timers)) {
PERROR("failed to set up event timers");
*ret = 2;
free(ptpClock);
goto fail;
}
/* establish signal handlers */
signal(SIGINT, catchSignals);
signal(SIGTERM, catchSignals);
signal(SIGHUP, catchSignals);
signal(SIGUSR1, catchSignals);
signal(SIGUSR2, catchSignals);
#if defined PTPD_SNMP
/* Start SNMP subsystem */
if (rtOpts->snmp_enabled)
snmpInit(rtOpts, ptpClock);
#endif
NOTICE(USER_DESCRIPTION" started successfully on %s using \"%s\" preset (PID %d)\n",
rtOpts->ifaceName,
(getPtpPreset(rtOpts->selectedPreset,rtOpts)).presetName,
getpid());
ptpClock->resetStatisticsLog = TRUE;
#ifdef PTPD_STATISTICS
outlierFilterSetup(&ptpClock->oFilterMS);
outlierFilterSetup(&ptpClock->oFilterSM);
ptpClock->oFilterMS.init(&ptpClock->oFilterMS,&rtOpts->oFilterMSConfig, "delayMS");
ptpClock->oFilterSM.init(&ptpClock->oFilterSM,&rtOpts->oFilterSMConfig, "delaySM");
if(rtOpts->filterMSOpts.enabled) {
ptpClock->filterMS = createDoubleMovingStatFilter(&rtOpts->filterMSOpts,"delayMS");
}
if(rtOpts->filterSMOpts.enabled) {
ptpClock->filterSM = createDoubleMovingStatFilter(&rtOpts->filterSMOpts, "delaySM");
}
#endif
#ifdef PTPD_PCAP
ptpClock->netPath.pcapEventSock = -1;
ptpClock->netPath.pcapGeneralSock = -1;
#endif /* PTPD_PCAP */
ptpClock->netPath.generalSock = -1;
ptpClock->netPath.eventSock = -1;
*ret = 0;
return ptpClock;
fail:
dictionary_del(&rtOpts->cliConfig);
dictionary_del(&rtOpts->candidateConfig);
dictionary_del(&rtOpts->currentConfig);
return 0;
}
/**
* @fn int main(void)
* @brief Fonction main du programme.
*/
int main(void) {
// Déclaration des variables locales.
match oldMatchStatus = OVER; // Etat précédent duu match (pour les actions d'entrée)
actionType choix; //<! Pointeur vers l'action en cours.
positionInteger positionInitiale; //<! Position initiale du robot sur la table
team equipe; //<! Equipe actuelle.
// propIsObstacleType test;
pllConfig(); // Configuration de la PLL de l'horloge interne pour tourner à 40MIPS
assignSPIO(); // Assignation des pins du dSPIC.
servoInit(4, TIMER_2, 10); // initialise 1 servo, utilisant le timer2 à 10ms
timerSetup(TIMER_5, 50);
TMR5 = 0;
initAX12(); // Init de l'AX12
// Initialisation du CAN
CanInitialisation(CN_LOGIQUE);
propulsionInitCan();
CanDeclarationProduction(CN_LOGIQUE*0x10, &matchStatus, sizeof(matchStatus));
CanDeclarationProduction(CN_LOGIQUE*0x10, &mesureSharp, sizeof(mesureSharp));
ACTIVATE_CAN_INTERRUPTS = 1;
//msTimerInit(); // Initialisation du timer des millisecondes, n'est utilisé que pour waitXms (TODO: enlever en mêm temps que waitXms)
while(1) {
if (getMatchTimerFlag()) {
matchStatus = OVER;
}
// Machine d'état de la logique
switch (matchStatus) {
case INIT: // Etat initial, phase précédant le match
if (matchStatus != oldMatchStatus) {
oldMatchStatus = matchStatus;
CanEnvoiProduction(&matchStatus);
matchTimerInit(); // Initialisation du timer de match
initServoClap();
initADC();
// RentrerAimant();
initBLE();
if (EnvoiSharpActif == 1){
timerStart(TIMER_5);
IEC1bits.T5IE = 1;
}
}
if (!GOUPILLE_OTEE) {
matchStatus = PRE_MATCH;
}
break;
case PRE_MATCH: // Le robot attend le début du match. On peut encore choisir la couleur
/* if (detectionObstacleSharp().isObstacleDetected && cool){
// FermerPince();
}
else{
// OuvrirPince();
}*/
if (radioGetRxBufferSpace() > 0){
radioGetChar();
}
if (matchStatus != oldMatchStatus) {
oldMatchStatus = matchStatus;
CanEnvoiProduction(&matchStatus);
}
if (BOUTON_EQUIPE == JAUNE) {
equipe = JAUNE;
positionInitiale = positionInitialeJaune;
//ordreActions = actionsJaune;
nbActions = NB_ACTIONS_JAUNE;
} else {
equipe = VERT;
positionInitiale = positionInitialeVert;
//ordreActions = actionsVert;
nbActions = NB_ACTIONS_VERT;
}
// TRANSITIONS
if (GOUPILLE_OTEE) { // si la goupille est retirée, le match commence
StartMatchTimer(); // on lance le timer de match (90s))
propulsionEnable(); // on active la propulsion
// msTimerStart();
while(propulsionGetStatus() != STANDING); // on attend que l'ordre soit exécuté
propulsionSetPosition(positionInitiale); // On initialise la position de la propulsion
while(!compareXYAlpha(propulsionGetPosition(), positionInitiale)); // on attend que l'ordre soit exécuté
choix = choixAction(); // Sélection de la prochaine action => c'est dans cette fonction qu'il faut mettre de l'IA
matchStatus = ONGOING;
}
break;
case ONGOING: // Le match est lancé
if (matchStatus != oldMatchStatus) {
oldMatchStatus = matchStatus;
CanEnvoiProduction(&matchStatus);
}
infoAction = choix.ptr2Fct(choix.dest,choix.methode);
if (canReceivedOrderFlag) {
canReceivedOrderFlag = 0;
if (canReceivedCommand == LOGI_SHARP_MESURE) {
EnvoiSharpActif = canReceivedData[0];
}
}
// On met à jour la position de l'autre robot
//propulsionAddObstacle(getAllyPos());
switch(infoAction.statut) {
case ACTION_PAS_COMMENCEE:
case ACTION_EN_COURS:
// on attend la fin de l'action
break;
case ACTION_FINIE:
case ACTION_REMISE:
choix = choixAction(); // Sélection de la prochaine action => c'est dans cette fonction qu'il faut mettre de l'IA
break;
case ACTION_ERREUR:
matchStatus = ERROR;
default:
break;
}
break;
case OVER:
if (matchStatus != oldMatchStatus) {
oldMatchStatus = matchStatus;
CanEnvoiProduction(&matchStatus);
propulsionDisable();
}
if (!GOUPILLE_OTEE) {
matchStatus = INIT;
}
break;
case ERROR:
if (matchStatus != oldMatchStatus) {
oldMatchStatus = matchStatus;
CanEnvoiProduction(&matchStatus);
}
choix = gestionErreur(choix);
matchStatus = ONGOING;
break;
default:
matchStatus = ERROR;
break;
}
}
return 0;
}
void MainWindow::init()
{
qDebug() << "[MainWindow]" << "[init] Beginning.";
shown = false;
progress = 0;
if (fullscreen == true) {
setWindowFlags(Qt::FramelessWindowHint);
qDebug() << "[MainWindow]" << "[Constructor] Setting Qt::FramelessWindowHint";
}
QWebSettings::globalSettings()->setAttribute(QWebSettings::OfflineStorageDatabaseEnabled, true);
QWebSettings::globalSettings()->setOfflineStoragePath(QDesktopServices::storageLocation(QDesktopServices::DataLocation));
QWebSettings::globalSettings()->setAttribute(QWebSettings::PrintElementBackgrounds, true);
QWebSettings::globalSettings()->setAttribute(QWebSettings::DeveloperExtrasEnabled, true);
qDebug() << "[MainWindow]" << "[init] QWebSettings updated.";
webView = new QWebView();
page = new SalorPage(this);
page->main = this;
page->setForwardUnsupportedContent(true);
qDebug() << "[MainWindow]" << "[init] SalorPage instantiated and assigned.";
webView->setPage(page);
//networmanager
//SalorNetwork* net = new SalorNetwork(this, networkManager);
webView->page()->setNetworkAccessManager(networkManager);
qDebug() << "[MainWindow]" << "[init] NetworkAccessManager for SalorPage set.";
//cookiejar
SalorCookieJar * jar = new SalorCookieJar(this);
jar->customerScreenId = customerScreenId;
jar->setup();
webView->page()->networkAccessManager()->setCookieJar(jar);
qDebug() << "[MainWindow]" << "[init] SalorCookieJar instantiated and set.";
//salorjsapi
js = new SalorJsApi(this, networkManager);
js->webView = webView;
qDebug() << "[MainWindow]" << "[init] SalorJsApi instantiated and injected with networkManager and webView.";
//diskcache
QNetworkDiskCache *diskCache = new QNetworkDiskCache(this);
diskCache->setCacheDirectory(PathCache);
webView->page()->networkAccessManager()->setCache(diskCache);
//optionsdialog
optionsDialog = new OptionsDialog(this, networkManager);
optionsDialog->customerScreenId = customerScreenId;
// when go button on options dialog is pressed
connect(
optionsDialog, SIGNAL(navigateToUrl(QString)),
this, SLOT(navigateToUrl(QString))
);
// when clear cache button on options dialog is pressed
connect(
optionsDialog, SIGNAL(clearCache()),
webView->page()->networkAccessManager()->cache(), SLOT(clear())
);
connect(
optionsDialog, SIGNAL(setPrinterCounter(int)),
this, SLOT(setPrinterCounter(int))
);
connect(
optionsDialog, SIGNAL(setPrinterNames()),
this, SLOT(setPrinterNames())
);
qDebug() << "[MainWindow]" << "[init] OptionsDialog instantiated and signals connected.";
// salorNotificator
salorNotificator = new SalorNotificator(this, networkManager);
qDebug() << "[MainWindow]" << "[Constructor] SalorNotificator instantiated.";
salorNotificator->customerScreenId = customerScreenId;
connect( salorNotificator,
SIGNAL(onTcpPrintNotified()),
this,
SLOT(onTcpPrintNotified())
);
// when customer screen event is sent
connect(
salorNotificator, SIGNAL(navigateToUrl(QString)),
this, SLOT(navigateToUrl(QString))
);
qDebug() << "[MainWindow]" << "[Constructor] onTcpPrintNotified connected.";
//statusbar
statusBar = new QStatusBar(this);
//statusBar->setMaximumHeight(20);
setStatusBar(statusBar);
progressBar = new QProgressBar();
progressBar->setMinimum(0);
progressBar->setMaximum(100);
progressBar->setMaximumWidth(70);
urlLabel = new QLabel("Location");
printCounterLabel = new QLabel();
closeButton = new QPushButton();
closeButton->setText("X");
statusBar->addPermanentWidget(urlLabel);
statusBar->addPermanentWidget(progressBar);
statusBar->addPermanentWidget(printCounterLabel);
statusBar->addPermanentWidget(closeButton);
qDebug() << "[MainWindow]" << "[init] Status bar created, widgets added.";
setCentralWidget(webView);
webView->show();
webView->load(to_url);
connectSlots();
counterSetup();
timerSetup();
setPrinterNames();
qDebug() << "[MainWindow]" << "[init] Ending.";
}
