void solve()
{
findAnswer = false;
if(spiderDepth > pipe[spiderPipe].bottom || spiderDepth < pipe[spiderPipe].top)
{
return;
}
topLevel = pipe[0].top;
memset(visited, false, sizeof(visited));
flowTime = 0;
fillWater(0);
}
int main(void) {
//Variable Declarations
initSolenoid(); /* initialize solenoid valve */
TIM_TIMERCFG_Type timerCfg;
initTimeStruct();
RTC_TIME_Type* watertime = malloc(sizeof(RTC_TIME_Type));
uint8 fed = 0;
uint8 watered = 0;
watertime->HOUR = 5;
watertime->MIN = 0;
//Initialize timer0 for delays
TIM_ConfigStructInit(TIM_TIMER_MODE, &timerCfg); /* initialize timer config struct */
TIM_Init(LPC_TIM0, TIM_TIMER_MODE, &timerCfg); /* initialize timer0 */
//Initialize Real Time Clock
RTC_Init(LPC_RTC);
RTC_Cmd(LPC_RTC, ENABLE);
RTC_ResetClockTickCounter(LPC_RTC);
// Initialize Peripherals
INIT_SDRAM(); /* initialize SDRAM */
servoInit(); /* initialize FSR servo motor for panning camera */
initStepper(); /* initialize stepper motor for dispensing food */
initFSR(); /* initialize force sensitive resistor circuit for food and water full signals */
initWiFi(AUTO_CONNECT); /* initialize WiFi module -- must be attached*/
audio_initialize();
audio_reset();
//audio_test();
audio_setupMP3();
int i = 0, retval;
uint32 length; /* length variable for photo */
printf("Entering while loop\n\r");
//audio_storeVoice();
// Enter an infinite loop
while(1) {
if(STATE == DISPENSING_FOOD){
printf("Entering food dispense state\n\r");
/* Execute commands to dispense food */
//spinUntilFull();
spinStepper(300);
reverseSpin(250);
STATE = CONNECTED;
}
if(STATE == DISPENSING_WATER){
printf("Entering water dispense state\n\r");
/* Execute commands to dispense water */
fillWater();
STATE = CONNECTED;
}
if(STATE == CAPTURING){
printf("Entering camera taking state\n\r");
/* Initialize camera and set it up to take a picture */
if(cameraInit())
printf("Camera not initialized!\n\r");
retval = stopFrame();
length = getBufferLength();
printf("length: %i\n\r", length);
/* Send length to Android application */
int temp_len = length;
while(temp_len){
uart1PutChar(temp_len % 10);
temp_len = temp_len / 10;
}
/* Send photo and finish set up */
getAndSendPhoto(length);
resumeFrame();
STATE = CONNECTED;
}
if(STATE == TALKING1){
audio_playVoice(1);
STATE = CONNECTED;
}
if(STATE == TALKING2){
audio_playVoice(2);
STATE = CONNECTED;
}
if(STATE == TALKING3){
audio_playVoice(3);
STATE = CONNECTED;
}
if(STATE == PAN_LEFT){
/* Execute commands to pan servo left */
panServo(LEFT);
STATE = CONNECTED;
}
if(STATE == PAN_RIGHT){
/* Execute commands to pan servo right */
panServo(RIGHT);
STATE = CONNECTED;
}
if(STATE == SCHEDULING){
/* Execute commands to schedule a feeding time */
STATE = CONNECTED;
}
/* Scheduling */
RTC_GetFullTime(LPC_RTC, time);
//Fill water bowl at predetermined time
if (time->HOUR == watertime->HOUR + 1 && watered == 1)
watered = 0;
if (watertime->HOUR == time->HOUR && watertime->MIN < time->MIN && watered == 0)
{
fillWater();
watered = 1;
}
//Feed dog on schedule if any cannot feed dog two consecutive hours
for(i = 0; i < scheduled_feeds; i++)
{
if (time->HOUR == feedtime[i]->HOUR + 1 && fed == 1)
fed = 0;
if (feedtime[i]->HOUR == time->HOUR && feedtime[i]->MIN < time->MIN && fed == 0)
{
spinUntilFull();
fed = 1;
}
}
}
return 0;
}
int fillWater(int pipeIndex)
{
int currentPipeNumber = 1;
int waterLevel = pipe[pipeIndex].bottom;
visited[pipeIndex] = true;
if(topLevel < pipe[pipeIndex].top)
{
topLevel = pipe[pipeIndex].top;
}
#ifdef DEBUG
printf("Index: %d Top: %d Bottom %d\n", pipeIndex + 1, topLevel, waterLevel);
#endif
while(true)
{
for(int i=0; i<linkNumber; ++i)
{
if(link[i].depth == waterLevel)
{
for(int j=0; j<pipeNumber; ++j)
{
if(visited[j])
{
int k;
for(k=0; k<pipeNumber; ++k)
{
if((pipe[j].right == link[i].left && pipe[k].left == link[i].right) || (pipe[k].right == link[i].left && pipe[j].left == link[i].right))
{
if(!visited[k])
{
#ifdef DEBUG
printf("LINK %d ", i + 1);
#endif
currentPipeNumber += fillWater(k);
if(findAnswer)
{
return currentPipeNumber;
}
}
else if(i == pipeIndex || j == pipeIndex)
{
return currentPipeNumber;
}
break;
}
}
if(k < pipeNumber)
{
break;
}
}
}
break;
}
}
if(waterLevel <= topLevel || spiderDepth <= topLevel)
{
findAnswer = false;
return currentPipeNumber;
}
if(visited[spiderPipe] && waterLevel == spiderDepth)
{
findAnswer = true;
return currentPipeNumber;
}
waterLevel--;
flowTime += currentPipeNumber;
#ifdef DEBUG
printf("Index: %d Water: %d Time: %d Number: %d\n", pipeIndex + 1, waterLevel, flowTime, currentPipeNumber);
#endif
}
return currentPipeNumber;
}
