bool Transition::triggers(const ACLMessage& msg, const ACLMessage& initiatingMsg, const RoleMapping& roleMapping) const
{
// Set the standard validation flags
validation::Flags flags = (validation::Flags) (validation::PERFORMATIVE | validation::SENDER | validation::RECEIVERS | validation::CONVERSATION_ID | validation::PROTOCOL);
if( validateMessage(msg, initiatingMsg, roleMapping, flags) )
{
return true;
} else {
LOG_DEBUG("Message validation failed: message does not apply to transition");
}
return false;
}
//parses the queue of bits and translates them into messages
//returns "true" if a valid message was found
bool RF_reciever::convertBitToMessage(byte currentBit)
{
//increment noise counter (used by heartbeat function)
noiseCount++;
if(currentBit==LONG_GAP)
{
debugPrint(F("\nGap"));
resetMessage();
return false;
}
else
{
debugPrint(String(currentBit));
}
//process 'ones', 'zeros' should have been done by resetMessage() function
if(currentBit==ONE_BIT) // so process it but only if bit==1
{
if(bitNumber<=3) //preamble
{
bitSet(preamble,3-bitNumber);
}
else if(bitNumber>3 and bitNumber<=11) //ID
{
//check preamble
if(bitNumber==4 and preamble!=5)
{
debugPrint(F("\nBadPre")); //bad preamble so exit
resetMessage();
return false;
}
bitSet(id,11-bitNumber); //set ID
}
else if(bitNumber==12) //battery
{
batteryOK=true;
}
else if(bitNumber==13) //manual transmit
{
ManualTransmit=true;
}
else if(bitNumber>13 and bitNumber<=15) //channel
{
bitSet(channel,15-bitNumber);
}
else if(bitNumber==16) //negative temperature flag
{
negativeTemperature=true;
}
else if(bitNumber>16 and bitNumber<=27) //temperature10 number
{
bitSet(temperature10,27-bitNumber);
}
else if(bitNumber>27 and bitNumber<=35) //relative humidity number
{
bitSet(relativeHumidity,35-bitNumber);
}
}
if(bitNumber<35)
{
RF_reciever::bitNumber++;
}
else
{
//end of message so timestamp and validate
timeMicros=micros(); //approximate time of this message
RF_reciever::bitNumber=0;
debugPrint(F("\nNew Message!\n"));
if(validateMessage())
{
//have a new valid message!
return true;
}
else
{
//message was invalid, clear message and begin again
resetMessage();
return false;
}
}
return false; //no complete and valid message yet
}
// This is the actual task that is run
static portTASK_FUNCTION( sensorTask, pvParameters )
{
uint8_t rxLen, status; // not using status, and rxLen is always maxReceiveBytesForSpecificNumOfSensorSamples (define in .h)
uint8_t buffer[vtI2CMLen]; // receive message
uint8_t recvMsgType; // message type of the message put on I2C queue by moveTask (defined in I2CtaskMsgtypes)
// Get the parameters
SensorAStruct *sensorT = (SensorAStruct *) pvParameters;
webServerTaskStruct *webServerData = sensorT->webServerData;
// Get the I2C device pointer
vtI2CStruct *i2cDevPtr = sensorT->i2cDev;
MoveTaskStruct *moveTPtr = sensorT->moveT;
uint8_t count = 0;
uint16_t frontBuf[numOfSensorToDebounce] = {0, 0, 0};
uint16_t sideTopBuf[numOfSensorToDebounce] = {0, 0, 0};
uint16_t sideBottomBuf[numOfSensorToDebounce] = {0, 0, 0};
int i = 0;
for( i = 0; i < numOfSensorToDebounce; i++ )
{
frontBuf[i] = 0;
sideTopBuf[i] = 0;
sideBottomBuf[i] = 0;
}
// Like all good tasks, this should never exit
for(;;)
{
// Wait for a message from an I2C operation
if (vtI2CDeQ(i2cDevPtr, vtI2CMLen,buffer,&rxLen,&recvMsgType,&status) != pdTRUE) {
VT_HANDLE_FATAL_ERROR(0);
}
// printf("buffer %x\n", buffer[0]);
//
// uint8_t index = 0;
// for (index = 0; index < rxLen; index++)
// {
// printf("buffer %x\n", buffer[index]);
// }
switch(recvMsgType)
{
case (sensor1):
{
break;
}
case (sensor2):
{
if( rxLen != 0 )
{
// make sure the check sum is ok
//printf("valid = %d\n", validateMessage(buffer, rxLen));
if( validateMessage(buffer, rxLen) )
{
switch( getMessageId(buffer, rxLen) ) // recognize the msgID
{
case RoverWaitingForCommand:
{
/*
* We need to disable the timer so that the arm doesn't
* retrieve multiple sensor values when the rover is stationary.
* It is important to enable the timer back again so that the
* Arm receives distance values the rover has travelled from the
* last poll.
*/
/*
* Retrieve the sensor distances
*/
uint16_t frontDistanceInches = getFrontSensorDistanceInInches(buffer, rxLen);
uint16_t topRightDistanceInches = getTopRightSensorDistanceInInches(buffer, rxLen);
uint16_t bottomRightDistanceInches = getBottomRightSensorDistanceInInches(buffer, rxLen);
uint8_t canFront = updateSensorBuf(frontBuf, frontDistanceInches);
uint8_t canSideT = updateSensorBuf(sideTopBuf, topRightDistanceInches);
uint8_t canSideB = updateSensorBuf(sideBottomBuf, bottomRightDistanceInches);
uint8_t rightFeet = getRightFeet(buffer, rxLen);
uint8_t rightInches = getRightInches(buffer, rxLen);
uint8_t leftFeet = getLeftFeet(buffer, rxLen);
uint8_t leftInches = getLeftInches(buffer, rxLen);
// printf("rightF = %d, rightI = %d, leftF = %d, leftI = %d\n", rightFeet, rightInches, leftFeet
// , leftInches);
if ( canFront != 1 || canSideT != 1 || canSideB != 1){
break;
}
sendWheelDistancesOnly(sensorT->mapT, leftFeet, leftInches, rightFeet, rightInches, 0);
printf("Front %d\n", frontDistanceInches);
printf("TR %d\n", topRightDistanceInches);
printf("BR %d\n", bottomRightDistanceInches);
SendWebServerSensorData(webServerData,frontDistanceInches,
topRightDistanceInches,bottomRightDistanceInches, 0);
performLogic(buffer , rxLen, moveTPtr, sensorT);
break;
}
case RoverBusy:
{
/*
* Simply pass the buffer received from the rover to the MAP Task.
*/
/*
* Since the rover has received the command, we want
* to enable the timer so that we poll rover to receive
* the distance in feet and inches the rover has moved.
*/
break;
};
case RoverHitStartFinshLine:
{
/*
* Simply pass the buffer received from the rover to the MAP Task.
*/
uint8_t cmd [] = {stop_cmd_ToRover};
uint8_t t [] = {0};
uint8_t deg [] = {0};
uint8_t dist [] = {0,0};
SendWebServerCommandBuf(webServerData, fillWebServerBuf(cmd[0], t[0], deg[0], dist[0], dist[1]), portMAX_DELAY);
//SendStopToRover(moveTPtr, portMAX_DELAY);
SendStFinNotification(sensorT->mapT, portMAX_DELAY);
performLogic(buffer , rxLen, moveTPtr, sensorT);
RUN++;
break;
};
case RoverReceiveMoveCommand:
{
/*
* Since the rover has received the command, we want
* to enable the timer so that we poll rover to receive
* the distance in feet and inches the rover has moved.
*/
break;
};
case MessageDrop:
{
// msg wasn't received in time
SendDroppedNotification(moveTPtr, 0);
break;
};
}
}
else
{
// notify the moveTask that a message was droped or went bad
SendDroppedNotification(moveTPtr, 0);
}
}
else
{
// message dropped
SendDroppedNotification(moveTPtr, 0);
}
break;
}
case (cmdSend):
{
break;
}
default:
{
//VT_HANDLE_FATAL_ERROR(0);
break;
}
}
}
}
