osStatus Thread::terminate() {
return osThreadTerminate(_tid);
}
void osDeleteTask(OsTask *task)
{
//Delete the specified task
osThreadTerminate((osThreadId) task);
}
/*----------------------------------------------------------------------------
Thread 1 'command': command processor
*---------------------------------------------------------------------------*/
void command (void const *argument) {
int i;
printf (menu); /* display command menu */
while (1) { /* endless loop */
printf ("\r\nCommand: "); /* display prompt */
#ifdef __USE_FFLUSH
fflush (stdout);
#endif
getline (cmdline, sizeof (cmdline)); /* get command line input */
for (i = 0; cmdline[i] != 0; i++) { /* convert to uppercase */
cmdline[i] = (char) toupper((int)cmdline[i]);
}
for (i = 0; cmdline[i] == ' '; i++); /* skip blanks */
switch (cmdline[i]) { /* proceed to command function */
case 'D': /* Display Time Command */
printf ("Start Time: %02d:%02d:%02d "
"End Time: %02d:%02d:%02d\r\n",
stime.hour, stime.min, stime.sec,
etime.hour, etime.min, etime.sec);
printf (" type ESC to abort\r");
#ifdef __USE_FFLUSH
fflush (stdout);
#endif
tid_getesc = osThreadCreate(osThread(get_escape), NULL);
/* ESC check in display loop */
escape = false; /* clear escape flag */
display_time = true; /* set display time flag */
osSignalClear(tid_command, 0x0003);
/* clear pending signals */
while (!escape) { /* while no ESC enteRED */
printf ("Clock Time: %02d:%02d:%02d\r", /* display time */
ctime.hour, ctime.min, ctime.sec);
#ifdef __USE_FFLUSH
fflush (stdout);
#endif
osSignalWait(0, osWaitForever); /* wait for time change or ESC */
}
osThreadTerminate(tid_getesc); /* terminate 'get_escape' */
display_time = false; /* clear display time flag */
printf ("\r\n\r\n");
break;
case 'T': /* Set Time Command */
if (readtime (&cmdline[i+1])) { /* read time input and */
ctime.hour = rtime.hour; /* store in 'ctime' */
ctime.min = rtime.min;
ctime.sec = rtime.sec;
}
break;
case 'E': /* Set End Time Command */
if (readtime (&cmdline[i+1])) { /* read time input and */
etime.hour = rtime.hour; /* store in 'end' */
etime.min = rtime.min;
etime.sec = rtime.sec;
}
break;
case 'S': /* Set Start Time Command */
if (readtime (&cmdline[i+1])) { /* read time input and */
stime.hour = rtime.hour; /* store in 'start' */
stime.min = rtime.min;
stime.sec = rtime.sec;
}
break;
default: /* Error Handling */
printf (menu); /* display command menu */
break;
}
}
}
void mode_change_thread(void const * argument){
wirelessTransmit_TX(motor_init);
keypad_column_init();
osDelay(100);
/*read column*/
int8_t key_column = readKeyColumn();
keypad_row_init();
/*read row*/
int8_t key_row = readKeyRow();
mode = read_keypad(key_column, key_row);
while(1){
mode = read_keypad(key_column, key_row);
while(mode == 'e'){
wirelessTransmit_TX(motor_init);
keypad_column_init();
osDelay(100);
/*read column*/
int8_t key_column = readKeyColumn();
keypad_row_init();
/*read row*/
int8_t key_row = readKeyRow();
mode = read_keypad(key_column, key_row);
}
if (mode == 'A'){
printf (">>>>>>>>Entering Mode_1 Real Time Tilting<<<<<<<<\n");
char mode1[7] = "Mode 1";
LCD_clear_display();
LCD_DISPLAY_UPDATE_POS(0x80, mode1);
wirelessTransmit_TX(mode_A);
tilt_thread = osThreadCreate(osThread(tilt_detection_thread),NULL);
tilt_transmit_thread = osThreadCreate(osThread(transmitTiltAngles),NULL);
uint8_t readreg=read_Status_Register(WIRELESS_STATUS_VERSION);
mode_selection = 1;
}else if (mode == 'B'){
printf (">>>>>>>>Entering Mode_2 Movement Sequence Input<<<<<<<<\n");
wirelessTransmit_TX(mode_B);
// printf ("A: positive sign(must be entered). B: negative sign. C: terminate input\n");
// printf ("IMPORTANT: To input <30,-60,10> <-45,65,8>...<20,-30,5> You shall enter the key as following:\n");
// printf ("A30B60A10B45A65A08...A20B30A05C\n");
keypad_thread = osThreadCreate(osThread(keypad), NULL);
mode_selection = 2;
}else if (mode == 'C'){
printf (">>>>>>>>Entering Mode_3 Record and Play Option<<<<<<<<\n");
wirelessTransmit_TX(mode_C);
mode_selection = 3;
}
osSignalWait(SIGNAL_MODE_CHANGE, osWaitForever);
if(mode_selection == 1 ){
osThreadTerminate(tilt_transmit_thread);
osThreadTerminate(tilt_thread);
}
else if(mode_selection == 2){
osThreadTerminate(keypad_thread);
}
else{
}
mode_selection=0;
}
}
void AppPong()
{
switch(appPongState)
{
case Normal:
// Increment ball's position
new_ball_X += ballVelocityX;
new_ball_Y += ballVelocityY;
// Check if the ball is colliding with the left paddle
if (new_ball_X < (new_paddle0_X + paddleW) )
{
// Check if ball is within paddle's height
if ((new_ball_Y > new_paddle0_Y) && (new_ball_Y < new_paddle0_Y + paddleH))
{
new_ball_X += ball_rad; // Move ball over one to the right
ballVelocityX = -ballVelocityX; // Change velocity
Beep();
}
}
// Check if the ball hit the right paddle
if (new_ball_X + ball_rad > new_paddle1_X)
{
// Check if ball is within paddle's height
if ((new_ball_Y > new_paddle1_Y) && (new_ball_Y < new_paddle1_Y + paddleH))
{
new_ball_X -= ball_rad; // Move ball over one to the left
ballVelocityX = -ballVelocityX; // change velocity
Beep();
}
}
// Check if the ball hit the top or bottom
if ((new_ball_Y <= borderWidth) || (new_ball_Y >= (GLCD_HEIGHT - ball_rad - 1)))
{
// Change up/down velocity direction
ballVelocityY = -ballVelocityY;
Beep();
}
if(AUTOMATIC_CONTROL)
{
//Automatic Control
new_paddle0_Y = new_ball_Y-paddleH/2; // Invincible paddle0
}
else
{
//Controlled by potentiometer
ADC_StartConversion();
new_paddle0_Y = map(ADC_GetValue(),0,4096,0,GLCD_HEIGHT);
}
// Automatic control
new_paddle1_Y = new_ball_Y-paddleH/2; // Invincible paddle1
// Check if paddle0 is not out of the frame
if(new_paddle0_Y < borderWidth) { // Top Frame
new_paddle0_Y = borderWidth;
}
if(new_paddle0_Y + paddleH > GLCD_HEIGHT - borderWidth) { // Bottom Frame
new_paddle0_Y = GLCD_HEIGHT - borderWidth - paddleH;
}
// Check if paddle1 is not out of the frame
if(new_paddle1_Y < borderWidth) { // Top Frame
new_paddle1_Y = borderWidth;
}
if(new_paddle1_Y + paddleH > GLCD_HEIGHT - borderWidth) { // Bottom Frame
new_paddle1_Y = GLCD_HEIGHT - borderWidth - paddleH;
}
joyMsk = Joystick_GetState(); // Show joystick arrows
if (joy ^ joyMsk)
{
joy = joyMsk;
if(joy & JOYSTICK_LEFT)
{
if(ballVelocityX > 0)
{
ballVelocityX--;
}
else
{
ballVelocityX++;
}
if(ballVelocityY > 0)
{
ballVelocityY--;
}
else
{
ballVelocityY++;
}
}
if(joy & JOYSTICK_RIGHT)
{
if(ballVelocityX > 0)
{
ballVelocityX++;
}
else
{
ballVelocityX--;
}
if(ballVelocityY > 0)
{
ballVelocityY++;
}
else
{
ballVelocityY--;
}
}
if(joy & JOYSTICK_CENTER)
{
}
if(joy & JOYSTICK_UP)
{
GLCD_SetForegroundColor(BackgroundColor);
GLCD_DrawRectangle(old_ball_X, old_ball_Y, ball_rad, ball_rad);
GLCD_SetForegroundColor(BallForegroundColor);
ball_rad++;
}
if(joy & JOYSTICK_DOWN)
{
GLCD_SetForegroundColor(BackgroundColor);
GLCD_DrawRectangle(old_ball_X, old_ball_Y, ball_rad, ball_rad);
GLCD_SetForegroundColor(BallForegroundColor);
ball_rad--;
}
}
if(new_ball_X > GLCD_WIDTH)
{
score0++;
appPongState = Lose;
}
if(new_ball_X < 0)
{
score1++;
appPongState = Lose;
}
// Draw the Pong Field
//STATIC OBJECTS
// Draw an outline of the screen:
GLCD_SetForegroundColor(ForegroundColor);
GLCD_DrawRectangle(0, 0, GLCD_WIDTH - 1, GLCD_HEIGHT - 1);
// Draw the center line
GLCD_DrawRectangle(GLCD_WIDTH/2 - 1, 0, borderWidth, GLCD_HEIGHT);
//MOVING OBJECTS
GLCD_SetForegroundColor(BackgroundColor);
// Erase the Paddles:
GLCD_DrawRectangle(old_paddle0_X, old_paddle0_Y, paddleW, paddleH);
GLCD_DrawRectangle(old_paddle1_X, old_paddle1_Y, paddleW, paddleH);
// Erase the ball:
GLCD_DrawRectangle(old_ball_X, old_ball_Y, ball_rad, ball_rad);
old_paddle0_X = new_paddle0_X;
old_paddle0_Y = new_paddle0_Y;
old_paddle1_X = new_paddle1_X;
old_paddle1_Y = new_paddle1_Y;
old_ball_X = new_ball_X;
old_ball_Y = new_ball_Y;
// Draw the Paddles:
GLCD_SetForegroundColor(LeftPaddleForegroundColor);
GLCD_DrawRectangle(new_paddle0_X, new_paddle0_Y, paddleW, paddleH);
GLCD_SetForegroundColor(RightPaddleForegroundColor);
GLCD_DrawRectangle(new_paddle1_X, new_paddle1_Y, paddleW, paddleH);
// Draw the ball:
GLCD_SetForegroundColor(BallForegroundColor);
GLCD_DrawRectangle(new_ball_X, new_ball_Y, ball_rad, ball_rad);
sprintf (str_score0, "%1u", score0); //takes the numeric value and convert it to a char with the %1u format (1 unit unsigned)
sprintf (str_score1, "%1u", score1);
str_score0[sizeof(str_score0)-1] = '\0'; //indicate end of string
str_score1[sizeof(str_score1)-1] = '\0';
GLCD_SetForegroundColor(LeftPaddleForegroundColor);
GLCD_DrawString(5, 5, str_score0);
GLCD_SetForegroundColor(RightPaddleForegroundColor);
GLCD_DrawString((GLCD_WIDTH/2)+5, 5, str_score1);
break;
case Lose:
if(score0 >= SCORE_MAX_PONG || score1 >= SCORE_MAX_PONG)
{
appPongState = GameOver;
break;
}
InitializeAppPong();
break;
case GameOver:
GLCD_SetFont (&GLCD_Font_16x24);
if(score0 > score1)
{
GLCD_SetForegroundColor(GLCD_COLOR_BLUE);
GLCD_DrawString((((GLCD_WIDTH/2)-(16*6))/2), GLCD_HEIGHT/2, "WIN !");
GLCD_SetForegroundColor(GLCD_COLOR_GREEN);
GLCD_DrawString((((GLCD_WIDTH/2)-(16*6))/2) + (GLCD_WIDTH/2), GLCD_HEIGHT/2, "LOSE !");
}
else
{
GLCD_SetForegroundColor(GLCD_COLOR_GREEN);
GLCD_DrawString((((GLCD_WIDTH/2)-(16*6))/2) + (GLCD_WIDTH/2), GLCD_HEIGHT/2, "WIN !");
GLCD_SetForegroundColor(GLCD_COLOR_BLUE);
GLCD_DrawString((((GLCD_WIDTH/2)-(16*6))/2), GLCD_HEIGHT/2, "LOSE !");
}
score0 = 0;
score1 = 0;
osDelay(2000);
menuChoice = InitMenu;
osThreadTerminate (idThreadBeep);
break;
}
}
void AppShooter()
{
while (!stopShooter) {
joyMsk = Joystick_GetState();
btnMsk = Buttons_GetState();
if (timerTick_01 > 2)
{
if (ballTimer != 0) { ballTimer--; }
if ( ((btnMsk & 1) != 0) && (ballTimer == 0) )
{
ballTimer = 8;
newBall = true;
}
if (joyMsk != 0)
{
osMutexWait(planeVar_mutex_id, osWaitForever);
// RIGHT
if ((plane_x < GLCD_WIDTH - 10) && ((joyMsk & 2) != 0))
{
plane_x += 10;
}
// LEFT
if ((plane_x > 0) && ((joyMsk & 1) != 0))
{
plane_x -= 10;
}
// UP
if ((plane_y > 20) && ((joyMsk & 8) != 0))
{
plane_y -= 10;
}
// DOWN
if ((plane_y < GLCD_HEIGHT - 10) && ((joyMsk & 16) != 0))
{
plane_y += 10;
}
osMutexRelease(planeVar_mutex_id);
}
timerTick_01 = 0;
S_MoveBall(newBall);
newBall = false;
}
if ( timerTick_02 > 12 )
{
S_MoveObjects ();
timerTick_02 = 0;
}
}
osThreadTerminate (idThreadPlane);
osDelay(500);
if (playerScore > machineScore) {
GLCD_SetForegroundColor (GLCD_COLOR_GREEN);
GLCD_DrawString ((GLCD_WIDTH-16*9)/2, GLCD_HEIGHT/2-16, "YOU WIN !");
} else {
GLCD_SetForegroundColor (GLCD_COLOR_RED);
GLCD_DrawString ((GLCD_WIDTH-16*11)/2, GLCD_HEIGHT/2-16, "YOU LOSE !");
}
osDelay(2000);
}
void ThreadAPI_Exit(int res)
{
osThreadTerminate(listTaskRTOSHandle[(res)].threadId);
}