void thread_body (void const *args) {
while(1) {
if (can_msg_is_missing(CAN_MISSING_CMD_BODY_ID))
stop_body();
else {
//if a message has been received, set lights
if (can_cmd_body.flag == CAN_FLAG_RECEIVED) {
light_r = can_cmd_body.payload.msg.light_r;
light_l = can_cmd_body.payload.msg.light_l;
light_c = can_cmd_body.payload.msg.light_c;
can_cmd_body.flag = CAN_FLAG_EMPTY;
}
}
//send sensors' values
can_sts_body.payload.msg.eye_l = read_distance(&back_l);
can_sts_body.payload.msg.eye_r = read_distance(&back_r);
can_sts_body.payload.msg.hit_front = hit_front.read();
can_sts_body.payload.msg.hit_rear = hit_rear.read();
can_sts_body.payload.msg.hit_left = hit_left.read();
can_sts_body.payload.msg.hit_right = hit_right.read();
can_sts_body.payload.msg.light_sens = photo.read();
#ifdef DEBUG
printf("HIT: %d %d %d %d\n\r", hit_front.read(), hit_rear.read(), hit_left.read(), hit_right.read());
printf("EYE: %d %d\n\r", can_sts_body.payload.msg.eye_l,
can_sts_body.payload.msg.eye_r);
#endif
// Thread::wait(BODY_THREAD_PERIOD);
osThreadEndPeriod();
}
}
void
listen_sonar(void)
{
for(;;)
{
s_forward= read_distance();
Task_Next();
s_right = read_distance();
Task_Next();
s_left = read_distance();
Task_Next();
}
}
// Main function
void main(void) {
reset_peripheral(); initClock(); initTimer(); initDisplay(); initPin();
initGPIO(); initADC(); initConsole(); int i = 0;
//init_password();
send_data();
initCircBuf (&speed_buffer, BUF_SIZE); init_set_speed_data(&speed_set_data);
int screen = 0; int screen_prev = 0; float speed = 0; float buffed_speed = 0;
int fake_speed = 0; float acc = 0; float max_acc = 0; //float fuel_eco = 0;
float distance = 0;
bool fix = 0; uint8_t satillite = 0; float quality = 0; clock time;
int aim_pos = 0; unsigned long adc = 0; //int error_stepper = 0;
IntMasterEnable();
while(1){
//reading data
read_data = split_data(UART_char_data_old, read_data); // decode data
speed = read_speed(); //read data into variables
adc = run_adc()/7;
//calculations
aim_pos = speed_feedback(buffed_speed, encoder_1/40, speed_set_data.speed);
if (speed_set_data.enable == 1){
step_motor_control(encoder_1/40, aim_pos);
}
//sending fake data
fake_speed = (int)adc;//= random_at_most(100/1.852);
send_info(fake_speed);//knots
//storing data
store_speed(speed);
buffed_speed = analysis_speed();
acc = read_acceleration(buffed_speed);
max_acc = max_acc_func(acc, max_acc);
time = read_time();
satillite = read_satillite();
fix = read_fix();
quality = read_quality();
debounce_button(); // debounce buttons
screen = read_button_screen(screen, fix);
distance = read_distance();
select_read(); //need a mosfet for turning power off
// select adds a an on and off switch yo
if (screen == 1){
if(screen_prev != 1 && screen == 1){
speed_set_data.speed = buffed_speed;
}
speed_set_data.speed = set_speed(speed_set_data.speed); // set the speed to cruise at
}
if (screen == 2){ //0 to 100
acceleration_test(speed);
}
// refresh chainging
if (fix == 1 && speed_set_data.old == speed_set_data.speed && refresh_rate < 4){
UARTSend((unsigned char *)PMTK_SET_NMEA_UPDATE_5HZ, 18, 0);
refresh_rate += 1;
}
if (i >= 50){
display(screen, buffed_speed, acc, max_acc, speed_set_data.speed, satillite,
encoder_1/40, time, distance, quality, UART_char_data_old, aim_pos, adc, acc_times);
i = 0;
}
screen_prev = screen;
i++;
}
}
void CPseudoGigant::Load(LPCSTR section)
{
inherited::Load (section);
anim().AddReplacedAnim(&m_bDamaged, eAnimRun, eAnimRunDamaged);
anim().AddReplacedAnim(&m_bDamaged, eAnimWalkFwd, eAnimWalkDamaged);
//anim().AddReplacedAnim(&m_bRunTurnLeft, eAnimRun, eAnimRunTurnLeft);
//anim().AddReplacedAnim(&m_bRunTurnRight, eAnimRun, eAnimRunTurnRight);
anim().accel_load (section);
//anim().accel_chain_add (eAnimWalkFwd, eAnimRun);
//anim().accel_chain_add (eAnimWalkFwd, eAnimRunTurnLeft);
//anim().accel_chain_add (eAnimWalkFwd, eAnimRunTurnRight);
//anim().accel_chain_add (eAnimWalkDamaged, eAnimRunDamaged);
step_effector.time = pSettings->r_float(section, "step_effector_time");
step_effector.amplitude = pSettings->r_float(section, "step_effector_amplitude");
step_effector.period_number = pSettings->r_float(section, "step_effector_period_number");
SVelocityParam &velocity_none = move().get_velocity(MonsterMovement::eVelocityParameterIdle);
SVelocityParam &velocity_turn = move().get_velocity(MonsterMovement::eVelocityParameterStand);
SVelocityParam &velocity_walk = move().get_velocity(MonsterMovement::eVelocityParameterWalkNormal);
// SVelocityParam &velocity_run = move().get_velocity(MonsterMovement::eVelocityParameterRunNormal);
SVelocityParam &velocity_walk_dmg = move().get_velocity(MonsterMovement::eVelocityParameterWalkDamaged);
// SVelocityParam &velocity_run_dmg = move().get_velocity(MonsterMovement::eVelocityParameterRunDamaged);
SVelocityParam &velocity_steal = move().get_velocity(MonsterMovement::eVelocityParameterSteal);
anim().AddAnim(eAnimStandIdle, "stand_idle_", -1, &velocity_none, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
anim().AddAnim(eAnimStandTurnLeft, "stand_turn_ls_", -1, &velocity_turn, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
anim().AddAnim(eAnimStandTurnRight, "stand_turn_rs_", -1, &velocity_turn, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
anim().AddAnim(eAnimLieIdle, "stand_sleep_", -1, &velocity_none, PS_LIE, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
anim().AddAnim(eAnimSitIdle, "sit_idle_", -1, &velocity_none, PS_SIT, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
anim().AddAnim(eAnimSleep, "stand_sleep_", -1, &velocity_none, PS_LIE, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
anim().AddAnim(eAnimWalkFwd, "stand_walk_fwd_", -1, &velocity_walk, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
anim().AddAnim(eAnimWalkDamaged, "stand_walk_fwd_dmg_", -1, &velocity_walk_dmg, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
anim().AddAnim(eAnimRun, "stand_walk_fwd_", -1, &velocity_walk, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
anim().AddAnim(eAnimRunDamaged, "stand_walk_fwd_dmg_", -1, &velocity_walk_dmg, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
anim().AddAnim(eAnimEat, "stand_eat_", -1, &velocity_none, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
anim().AddAnim(eAnimAttack, "stand_attack_", -1, &velocity_none, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
anim().AddAnim(eAnimLookAround, "stand_idle_", -1, &velocity_none, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
anim().AddAnim(eAnimSteal, "stand_steal_", -1, &velocity_steal, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
anim().AddAnim(eAnimDie, "stand_idle_", -1, &velocity_none, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
anim().AddAnim(eAnimStandLieDown, "stand_lie_down_", -1, &velocity_none, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
anim().AddAnim(eAnimLieToSleep, "lie_to_sleep_", -1, &velocity_none, PS_LIE, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimStandIdle, "stand_idle_", -1, &velocity_none, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimStandTurnLeft, "stand_turn_ls_", -1, &velocity_turn, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimStandTurnRight, "stand_turn_rs_", -1, &velocity_turn, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimLieIdle, "stand_sleep_", -1, &velocity_none, PS_LIE, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimSitIdle, "sit_idle_", -1, &velocity_none, PS_SIT, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimSleep, "stand_sleep_", -1, &velocity_none, PS_LIE, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimWalkFwd, "stand_walk_fwd_", -1, &velocity_walk, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimWalkDamaged, "stand_walk_fwd_dmg_", -1, &velocity_walk_dmg, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimRun, "stand_run_fwd_", -1, &velocity_run, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimRunDamaged, "stand_run_dmg_", -1, &velocity_run_dmg, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimEat, "stand_eat_", -1, &velocity_none, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimAttack, "stand_attack_", -1, &velocity_turn, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimLookAround, "stand_idle_", -1, &velocity_none, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimSteal, "stand_steal_", -1, &velocity_steal, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimDie, "stand_idle_", -1, &velocity_none, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimStandLieDown, "stand_lie_down_", -1, &velocity_none, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimLieToSleep, "lie_to_sleep_", -1, &velocity_none, PS_LIE, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
//anim().AddAnim(eAnimThreaten, "stand_kick_", -1, &velocity_none, PS_STAND, "fx_stand_f", "fx_stand_b", "fx_stand_l", "fx_stand_r");
// anim().AddAnim(eAnimRunTurnLeft, "stand_run_left_", -1, &velocity_run, PS_STAND);
// anim().AddAnim(eAnimRunTurnRight, "stand_run_right_", -1, &velocity_run, PS_STAND);
anim().LinkAction(ACT_STAND_IDLE, eAnimStandIdle);
anim().LinkAction(ACT_SIT_IDLE, eAnimSitIdle);
anim().LinkAction(ACT_LIE_IDLE, eAnimLieIdle);
anim().LinkAction(ACT_WALK_FWD, eAnimWalkFwd);
anim().LinkAction(ACT_WALK_BKWD, eAnimWalkFwd);
anim().LinkAction(ACT_RUN, eAnimRun);
anim().LinkAction(ACT_EAT, eAnimEat);
anim().LinkAction(ACT_SLEEP, eAnimSleep);
anim().LinkAction(ACT_REST, eAnimSleep);
anim().LinkAction(ACT_DRAG, eAnimWalkFwd);
anim().LinkAction(ACT_ATTACK, eAnimAttack);
anim().LinkAction(ACT_STEAL, eAnimSteal);
anim().LinkAction(ACT_LOOK_AROUND, eAnimStandIdle);
// define transitions
anim().AddTransition(eAnimStandLieDown, eAnimSleep, eAnimLieToSleep, false);
anim().AddTransition(PS_STAND, eAnimSleep, eAnimStandLieDown, true);
anim().AddTransition(PS_STAND, PS_LIE, eAnimStandLieDown, false);
#ifdef DEBUG
anim().accel_chain_test ();
#endif
// Load psi postprocess --------------------------------------------------------
LPCSTR ppi_section = pSettings->r_string(section, "threaten_effector");
m_threaten_effector.ppi.duality.h = pSettings->r_float(ppi_section,"duality_h");
m_threaten_effector.ppi.duality.v = pSettings->r_float(ppi_section,"duality_v");
m_threaten_effector.ppi.gray = pSettings->r_float(ppi_section,"gray");
m_threaten_effector.ppi.blur = pSettings->r_float(ppi_section,"blur");
m_threaten_effector.ppi.noise.intensity = pSettings->r_float(ppi_section,"noise_intensity");
m_threaten_effector.ppi.noise.grain = pSettings->r_float(ppi_section,"noise_grain");
m_threaten_effector.ppi.noise.fps = pSettings->r_float(ppi_section,"noise_fps");
VERIFY(!fis_zero(m_threaten_effector.ppi.noise.fps));
sscanf(pSettings->r_string(ppi_section,"color_base"), "%f,%f,%f", &m_threaten_effector.ppi.color_base.r, &m_threaten_effector.ppi.color_base.g, &m_threaten_effector.ppi.color_base.b);
sscanf(pSettings->r_string(ppi_section,"color_gray"), "%f,%f,%f", &m_threaten_effector.ppi.color_gray.r, &m_threaten_effector.ppi.color_gray.g, &m_threaten_effector.ppi.color_gray.b);
sscanf(pSettings->r_string(ppi_section,"color_add"), "%f,%f,%f", &m_threaten_effector.ppi.color_add.r, &m_threaten_effector.ppi.color_add.g, &m_threaten_effector.ppi.color_add.b);
m_threaten_effector.time = pSettings->r_float(ppi_section,"time");
m_threaten_effector.time_attack = pSettings->r_float(ppi_section,"time_attack");
m_threaten_effector.time_release = pSettings->r_float(ppi_section,"time_release");
m_threaten_effector.ce_time = pSettings->r_float(ppi_section,"ce_time");
m_threaten_effector.ce_amplitude = pSettings->r_float(ppi_section,"ce_amplitude");
m_threaten_effector.ce_period_number = pSettings->r_float(ppi_section,"ce_period_number");
m_threaten_effector.ce_power = pSettings->r_float(ppi_section,"ce_power");
// --------------------------------------------------------------------------------
::Sound->create(m_sound_threaten_hit,pSettings->r_string(section,"sound_threaten_hit"), st_Effect,SOUND_TYPE_WORLD);
::Sound->create(m_sound_start_threaten,pSettings->r_string(section,"sound_threaten_start"), st_Effect,SOUND_TYPE_MONSTER_ATTACKING);
m_kick_damage = pSettings->r_float(section,"HugeKick_Damage");
m_kick_particles = pSettings->r_string(section,"HugeKick_Particles");
read_distance (section,"HugeKick_MinMaxDist", m_threaten_dist_min, m_threaten_dist_max);
read_delay (section,"HugeKick_MinMaxDelay", m_threaten_delay_min, m_threaten_delay_max);
m_time_kick_actor_slow_down = pSettings->r_u32(section,"HugeKick_Time_SlowDown");
PostLoad (section);
}
