//! generate data
var* sci_circbuff::gen(var* p_v_ce)
{
var* p_y = new var_vec; // create var_vec;
vec &y = (dynamic_cast<var_vec *>(p_y))->v; // alias to vector
bvec ce;
try {
ce = (dynamic_cast<var_bvec *>(p_v_ce))->v;
}
catch (bad_cast) {
throw sci_exception ("sci_circbuff::gen - ce - bad cast");
}
#if (DEBUG_LEVEL==3)
cout << "***** sci_circbuff::gen *****" << endl;
cout << "ce=" << ce << endl;
go_sleep();
#endif
y = generate(ce);
#if (DEBUG_LEVEL==3)
cout << "y=" << y << endl;
cout << "+++++ sci_circbuff::gen +++++" << endl;
go_sleep();
#endif
return (p_y);
};
var* sci_bin2int::proc( var* p_v_ce, var* p_v_x )
{
var* p_y = new var_ivec; // create var_ivec;
ivec &y = (dynamic_cast<var_ivec *>(p_y))->v; // alias to ivec
var_bvec *p_bvec;
bvec ce;
var_bmat *p_bmat;
bmat x;
#if (DEBUG_LEVEL==3)
cout << "***** sci_bin2int::proc *****" << endl;
#endif
p_bvec = dynamic_cast<var_bvec *>(p_v_ce); // The value of a failed cast to pointer type is the null pointer
if (p_bvec == NULL ) {
throw sci_exception ("sci_bin2int::proc - ce - bad cast");
}
ce = p_bvec->v;
#if (DEBUG_LEVEL==3)
cout << "ce=" << ce << endl;
#endif
p_bmat = dynamic_cast<var_bmat *>(p_v_x); // The value of a failed cast to pointer type is the null pointer
if (p_bmat == NULL ) {
p_bvec = dynamic_cast<var_bvec *>(p_v_x);
if (p_bvec == NULL ) {
throw sci_exception ("sci_bin2int::proc - x - bad cast");
}
}
if (p_bmat) {
x = p_bmat->v;
} else { // convert bvec to bmat - two scenarios
if ( ce.length() > 1 ) { // x is bvec is a column
x.append_col(p_bvec->v);
} else {
x.append_row(p_bvec->v);
}
}
#if (DEBUG_LEVEL==3)
cout << "x=" << x << endl;
go_sleep();
#endif
if ( ce.length() != x.rows() ) {
throw sci_exception ("sci_bin2int::proc - x and ce - don't match");
}
y = process(ce,x); // y is aliased to p_y->v
#if (DEBUG_LEVEL==3)
cout << "y=" << y << endl;
cout << "+++++ sci_bin2int::proc +++++" << endl;
go_sleep();
#endif
return (p_y);
};
//! get parameter
var* sci_fir_up_x::get(int param)
{
var* p_var_ivec = new var_ivec; // create var_vec;
ivec &iv = (dynamic_cast<var_ivec *>(p_var_ivec))->v; // alias to vector
var* p_var_cvec = new var_cvec; // create var_vec;
cvec &cv = (dynamic_cast<var_cvec *>(p_var_cvec))->v; // alias to vector
switch (param)
{
case SCI_SIZE:
iv.set_length(1);
iv[0] = get_size();
#if (DEBUG_LEVEL==3)
cout << "***** sci_fir_up_x::get SCI_SIZE *****" << endl;
cout << "iv=" << iv << endl;
cout << "+++++ sci_fir_up_x::get SCI_SIZE ++++++" << endl;
go_sleep();
#endif
return(p_var_ivec);
case SCI_TAPS:
cv = get_taps();
#if (DEBUG_LEVEL==3)
cout << "***** sci_fir_up_x::get SCI_TAPS *****" << endl;
cout << "cv=" << cv << endl;
cout << "+++++ sci_fir_up_x::get SCI_TAPS ++++++" << endl;
go_sleep();
#endif
return(p_var_cvec);
case SCI_STATE:
cv = get_input();
#if (DEBUG_LEVEL==3)
cout << "***** sci_fir_up_x::get SCI_STATE *****" << endl;
cout << "cv=" << cv << endl;
cout << "+++++ sci_fir_up_x::get SCI_STATE ++++++" << endl;
go_sleep();
#endif
return(p_var_cvec);
case SCI_OUTPUT:
cv.set_length(1);
cv[0] = y0;
#if (DEBUG_LEVEL==3)
cout << "***** sci_fir_up_x::get SCI_OUTPUT *****" << endl;
cout << "cv[0]=" << cv[0] << endl;
cout << "+++++ sci_fir_up_x::get SCI_OUTPUT ++++++" << endl;
go_sleep();
#endif
return(p_var_cvec);
default:
throw sci_exception ("sci_fir_up_x::get - unknown param");
}
};
//! process data
var* sci_circbuff::proc(var* p_v_ce, var* p_v_x)
{
var* p_y = new var_vec; // create var_vec;
vec &y = (dynamic_cast<var_vec *>(p_y))->v; // alias to vector
var_bmat *p_var_bmat;
var_bvec *p_var_bvec;
vec x;
bmat ceio;
try {
x = (dynamic_cast<var_vec *>(p_v_x))->v;
}
catch (bad_cast) {
throw sci_exception ("sci_circbuff::proc - x - bad cast");
}
p_var_bmat = dynamic_cast<var_bmat *> (p_v_ce);
if (p_var_bmat != NULL) {
ceio = (dynamic_cast<var_bmat *>(p_v_ce))->v;
}
else
{ // ceio might be [%T,%T] -> this will be converted into bvec by with 2 rows by sci_coslab layer
p_var_bvec = dynamic_cast<var_bvec *> (p_v_ce);
if (p_var_bvec != NULL) {
if (p_var_bvec->get_rows()== 2)
{ ceio.set_size(1,2);
ceio.set_row(0,(dynamic_cast<var_bvec *>(p_v_ce))->v);
}
else
{
throw sci_exception ("sci_circbuff::proc - ceio - vector <> [2,1] ");
}
}
else {
throw sci_exception ("sci_circbuff::proc - ceio - bad cast");
}
}
#if (DEBUG_LEVEL==3)
cout << "***** sci_circbuff::proc *****" << endl;
cout << "ceio=" << ceio << endl;
cout << "x=" << x << endl;
go_sleep();
#endif
y = process(ceio,x);
#if (DEBUG_LEVEL==3)
cout << "y=" << y << endl;
cout << "+++++ sci_circbuff::proc +++++" << endl;
go_sleep();
#endif
return (p_y);
};
//! set parameter
void sci_fir_up_x::set(int param, var* p_v)
{
cvec cv;
var_cvec *p_var_cvec;
// p_v might be var_vec only
p_var_cvec = dynamic_cast<var_cvec *> (p_v);
if (p_var_cvec == NULL) {
throw sci_exception ("sci_fir_up_x::set - p_v - bad cast");
}
switch (param)
{
case SCI_TAPS:
cv = p_var_cvec->v;
#if (DEBUG_LEVEL==3)
cout << "***** sci_fir_up_x::set SCI_TAPS *****" << endl;
cout << "cv=" << cv << endl;
cout << "+++++ sci_fir_up_x::set SCI_TAPS ++++++" << endl;
go_sleep();
#endif
set_taps( cv );
break;
case SCI_STATE:
cv = p_var_cvec->v;
#if (DEBUG_LEVEL==3)
cout << "***** sci_fir_up_x::set SCI_STATE *****" << endl;
cout << "cv=" << cv << endl;
cout << "+++++ sci_fir_up_x::set SCI_STATE ++++++" << endl;
go_sleep();
#endif
set_state( cv );
break;
case SCI_OUTPUT:
cv = p_var_cvec->v;
#if (DEBUG_LEVEL==3)
cout << "***** sci_fir_up_x::set SCI_OUTPUT *****" << endl;
cout << "cv=" << cv << endl;
cout << "+++++ sci_fir_up_x::set SCI_OUTPUT ++++++" << endl;
go_sleep();
#endif
y0= cv[0];
break;
default:
throw sci_exception ("sci_fir_up_x::set - unknown param");
}
return;
}
//! process data
var* sci_psk_dem::proc( var* p_v_ce, var* p_v_x )
{
var* p_y = new var_ivec; // create var_cvec;
ivec &y = (dynamic_cast<var_ivec *>(p_y))->v; // alias to cvec
var_bvec *p_var_bvec;
bvec ce;
var_cvec *p_var_cvec;
cvec x;
#if (DEBUG_LEVEL==3)
cout << "***** sci_psk_dem::proc *****" << endl;
#endif
p_var_bvec = dynamic_cast<var_bvec *>(p_v_ce); // The value of a failed cast to pointer type is the null pointer
if (p_var_bvec == NULL ) {
throw sci_exception ("sci_psk_mod::proc - ce - bad cast");
}
ce = p_var_bvec->v;
#if (DEBUG_LEVEL==3)
cout << "ce=" << ce << endl;
#endif
p_var_cvec = dynamic_cast<var_cvec *>(p_v_x); // The value of a failed cast to pointer type is the null pointer
if (p_var_cvec == NULL ) {
throw sci_exception ("sci_psk_dem::proc - x - bad cast");
}
x = p_var_cvec->v;
#if (DEBUG_LEVEL==3)
cout << "x=" << x << endl;
go_sleep();
#endif
if ( ce.length() != x.length() ) {
throw sci_exception ("sci_psk_dem::proc - x and ce - don't match");
}
y = process(ce,x); // y is aliased to p_v_y->v and p_y->v
#if (DEBUG_LEVEL==3)
cout << "y=" << y << endl;
cout << "+++++ sci_psk_dem::proc +++++" << endl;
go_sleep();
#endif
return (p_y);
};
//! process data
var* sci_fir_up_x::proc( var* p_v_ce, var* p_v_x)
{
var* p_y = new var_cvec; // create var_vec;
cvec &y = (dynamic_cast<var_cvec *>(p_y))->v; // alias to vector
cvec x;
bmat ce;
try {
x = (dynamic_cast<var_cvec *>(p_v_x))->v;
}
catch (bad_cast) {
throw sci_exception ("sci_fir_up_x::proc - x - bad cast");
}
try {
ce = (dynamic_cast<var_bmat *>(p_v_ce))->v;
}
catch (bad_cast) {
throw sci_exception ("sci_fir_up_x::proc - ce - bad cast");
}
#if (DEBUG_LEVEL==3)
cout << "***** sci_fir_up_x::proc *****" << endl;
cout << "ce=" << ce << endl;
cout << "x=" << x << endl;
go_sleep();
#endif
y=process(ce,x);
#if (DEBUG_LEVEL==3)
cout << "y=" << y << endl;
cout << "+++++ sci_fir_up_x::proc +++++" << endl;
go_sleep();
#endif
return (p_y);
};
void secret_button()
{
static unsigned long but1;
but1 = millis();
Serial.println(F("1"));
while(!digitalRead(ON_PIN)){
delay(20);
if (millis() > but1 + 5000){
go_sleep();
}
}
but1 = millis();
while(millis() < but1 + BUTTON1_DELAY){delay(20);
if(!digitalRead(ON_PIN)){
Serial.println(F("2"));
while(!digitalRead(ON_PIN)){delay(20);}
but1 = millis();
while(millis() < but1 + BUTTON1_DELAY){delay(20);
if(!digitalRead(ON_PIN)){
Serial.println(F("3"));
while(!digitalRead(ON_PIN)){delay(20);}
but1 = millis();
while(millis() < but1 + BUTTON1_DELAY){delay(20);
if(!digitalRead(ON_PIN)){
Serial.println(F("4"));
while(!digitalRead(ON_PIN)){delay(20);}
but1 = millis();
while(millis() < but1 + BUTTON1_DELAY){delay(20);
if(!digitalRead(ON_PIN)){
Serial.println(F("5"));
but1 = millis();
while(!digitalRead(ON_PIN)){delay(20);
Serial.println(F("6"));
if(millis() > but1 + 800){
Serial.println(F("Release now!"));
lcd.clear();
lcd.setCursor(0, 0);
lcd.print(F("Release now!"));
delay(500);
lcd.clear();
lcd.setCursor(0, 0);
lcd.print(F("Press: open box"));
lcd.setCursor(0,1);
lcd.print(F("Hold: reset game"));
delay(1000);
while(digitalRead(ON_PIN)){}
but1 = millis();
while(!digitalRead(ON_PIN)){delay(20);}
if(millis() - but1 > 1000){
lcd.clear();
lcd.print(F("RESET GAME!"));
delay(3000);
target = 1;
EEPROM.write(EEPROM_TARGET_INDEX, 1);
break;
}
else {
open_box();
delay(15000);
close_box();
break;
}
}
}
}
}
}
}
}
}
}
}
}
void loop()
{
//Serial.print(F("Free RAM1:")); Serial.println(freeRam());
// Check secret button
but = !digitalRead(ON_PIN);
if(but){
Serial.println(F("Button pressed"));
secret_button();
}
bool GPS_debug = 0;
unsigned long t = millis();
while (ss.available() > 0 || t + 1100 < millis()){
gps.encode(ss.read());
GPS_debug = 1;
}
if (GPS_debug) {
Serial.println(F("GPS received"));
GPS_debug = 0;
}
sats_fix = gps.satellites.value();
hdop = gps.hdop.value();
position_lat = gps.location.lat();
position_lon = gps.location.lng();
//target = 3; // debug
distance = gps.distanceBetween(position_lat, position_lon, target_lat[target], target_lon[target]);
//distance = 4; // debug
static int sim, ok;
#ifdef SIMULATION
if (but == 1){
sim = 1;
delay (1000);
}
else {
sim = 0;
lcd.setCursor(14, 1);
lcd.print(target);
}
if (distance > 30 && sim == 0){
#else
if (distance > 30) {
#endif
lcd_target(lcd, target, distance, sats_fix);
}
else {
#ifdef BUTTON_FOR_NEXT_STEP
wait finish;
finish.set_time(2500);
finish.set_steps(2);
lcd.setCursor(0, 0);
if(finish.step() == 1){
lcd.print(F("You are at your "));
lcd.setCursor(0, 1);
lcd.print(F("current target."));
}
if (finish.step() == 2){
lcd.setCursor(0, 0);
lcd.print(F("Press the button"));
lcd.setCursor(0, 1);
lcd.print(F("to continue... "));
}
if (but == 1){
// Go to next target
target++;
ok = 1;
}
#else
lcd.clear();
lcd.setCursor(0, 0);
lcd.print(F("You are at your "));
lcd.setCursor(0, 1);
lcd.print(F("current target."));
target++;
delay(5000);
but = 0;
#endif
// Open the box at the end of game
if(target > NUMBER_OF_TARGETS){
lcd.clear();
lcd.setCursor(0, 0);
lcd.print(F("CONRATULATIONS! "));
delay(5000);
open_box();
}
else {
EEPROM.write(EEPROM_TARGET_INDEX, target);
}
}
if(millis() > update_time + 1000){
update_time = millis();
Serial.println(gps.location.lat(), 6);
Serial.print(F("LAT=")); Serial.println(gps.location.lat(), 6);
Serial.print(F("LONG=")); Serial.println(gps.location.lng(), 6);
Serial.print(F("ALT=")); Serial.println(gps.altitude.meters());
Serial.print(F("hdop=")); Serial.println(hdop);
Serial.print(F("sats=")); Serial.println(sats_fix);
if(hdop < 500 && sats_fix > 4){
fix = 1;
distance = gps.distanceBetween(position_lat, position_lon, TARGET_1_LAT, TARGET_1_LON);
}
else{
fix = 0;
strength = sats_fix;
//lcd_gps_signal(lcd, strength);
}
}
if(millis() > sleep_time + SLEEP_TIME_MS){
go_sleep();
}
}
void go_sleep(void)
{
lcd.clear();
lcd.print(F("Going to sleep.."));
delay(2000);
pinMode(ON_PIN, OUTPUT);
digitalWrite(ON_PIN, 0);
}
// the loop routine runs over and over again forever:
void loop() {
byte lclocktick=0;
// int j;
// analogWrite(9, 60);
// TCCR2A = _BV(COM2A1) | _BV(COM2B1) | _BV(WGM21) | _BV(WGM20);
// TCCR2B = _BV(CS22);
// OCR2A = 180;
// OCR2B = 50;
// digitalWrite(led, HIGH); // turn the LED on (HIGH is the voltage level)
if(!(laserstate||lightstate||command_pending))
{
if(sleepcounter==0)
{
attachInterrupt(0, int0, LOW);
WDT_Stop();
set_led(led,&ledstate,0);
set_led(led2,&ledstate2,0);
// delay(100);
go_sleep();
int0f();
WDT_Init();
}
}
else
sleepcounter=SLEEPIDLESECS;
if(clocktick)
{
cli();
lclocktick=clocktick;
clocktick=0;
sei();
set_led(led,&ledstate,0);
wdtcounter+=lclocktick;
sleepcounter--;
if(!(wdtcounter%BATCHECKSECS))
checkbat=1;
if(laserstate)
lasercounter++;
if(lightstate)
lightcounter++;
}
if(command_pending==2)
{
btnpress();
command_pending=0;
}
if(command_pending==1&&millis()-timepressed>LONGBUTTONPRESS)
int0r();
// toggle_led(led2,&ledstate2);
if(laserstate&&(lasercounter>LASER_MAX_ON))
{
set_laser(0);
laserstate=0;
}
if(lightstate&&(lightcounter>LIGHT_MAX_ON))
{
set_lights(0);
lightstate=0;
}
if(checkbat)
{
check_bat();
checkbat=0;
}
if(volts<VBATTHRESH)
{
if(lclocktick)
toggle_led(led2,&ledstate2);
}
else
set_led(led2,&ledstate2,0);
if(volts<VBATTHRESH_CRIT)
{
if(!(wdtcounter%BATCHECKCRITSECS))
{
// for(j=0;j<3;j++)
// {
set_lights(0);
delay(100);
set_lights(lightstate);
delay(100);
// }
}
}
//delay(100);
// digitalWrite(led, LOW); // turn the LED off by making the voltage LOW
// delay(500); // wait for a second
}
