/*----------------------------------------------------------------------------
Thread 3 'lights': executes if current time is between start & end time
*---------------------------------------------------------------------------*/
void lights (void const *argument) { /* traffic light operation */
SetLights (RED, 1); /* RED & STOP lights on */
SetLights (STOP, 1);
SetLights (YELLOW, 0);
SetLights (GREEN, 0);
SetLights (WALK, 0);
while (1) { /* endless loop */
osDelay(500); /* wait for timeout: 500ms */
if (!signalon ()) { /* if traffic signal time over */
tid_blinking = osThreadCreate(osThread(blinking), NULL);
/* start blinking */
return; /* STOP lights */
}
SetLights (YELLOW, 1);
osDelay(500); /* wait for timeout: 500ms */
SetLights (RED, 0); /* GREEN light for cars */
SetLights (YELLOW, 0);
SetLights (GREEN, 1);
osSignalClear(tid_lights, 0x0010);
osDelay(500); /* wait for timeout: 500ms */
osSignalWait(0x0010, 7500); /* wait for event with timeout */
SetLights (YELLOW, 1); /* timeout value: 7.5s */
SetLights (GREEN, 0);
osDelay(500); /* wait for timeout: 500ms */
SetLights (RED, 1); /* RED light for cars */
SetLights (YELLOW, 0);
osDelay(500); /* wait for timeout: 500ms */
SetLights (STOP, 0); /* GREEN light for WALKers */
SetLights (WALK, 1);
osDelay(2500); /* wait for timeout: 2.5s */
SetLights (STOP, 1); /* RED light for WALKers */
SetLights (WALK, 0);
}
}
/*
* Larm - ansvarig för att aktivera olika larmindikationer (kamera, led, siren).
*/
void larm(int currentTime){
//Larmstate signalerar om larmet ska slås på
if(larmState) {
if((currentTime - outportTime[15]) > outportLength[15]) {
outportTime[15] = currentTime;
sendPulse(100000,100000 , 15); //Skicka puls till kamera
}
signalon(DE2_PIO_JP1_OUT3_5_BASE, 3); //Slå på signal till LED
}
else {
signaloff(DE2_PIO_JP1_OUT3_5_BASE, 2); //Slå av kamera
signaloff(DE2_PIO_JP1_OUT3_5_BASE, 3); //Slå av LED
signaloff(DE2_PIO_JP1_OUT3_5_BASE, 4); //Slå av Siren
}
//Larmstate ska bara slå på siren om switch 1 är på
if(larmState && buttonState[1]) {
if((currentTime - outportTime[17]) > outportLength[17]) {
outportTime[17] = currentTime;
sendPulse(10000,10000 , 17); //Skicka puls till siren
}
}
else if(larmState && !buttonState[1]) {
signaloff(DE2_PIO_JP1_OUT3_5_BASE, 4);
}
}
/*
* sendPulse - Används för att skicka puls till samtliga utportar. Argument anger hur
* länge pulsen ska vara hög respektive låg samt vilken port signalen skickas till.
*/
void sendPulse(int highLength, int lowLength, int port) {
int adress;
int addressPort;
if(port <=4){
addressPort = port;
adress = DE2_PIO_JP1_OUT1_5_BASE;
}
else if(port > 4 && port < 13){
addressPort = port - 5;
adress = DE2_PIO_JP1_OUT2_8_BASE;
}
else {
addressPort = port - 13;
adress = DE2_PIO_JP1_OUT3_5_BASE;
}
if(outportState[port]) {
outportLength[port] = highLength;
signalon(adress, addressPort);
}
else {
outportLength[port] = lowLength;
signaloff(adress, addressPort);
}
outportState[port] = !outportState[port];
}
/*----------------------------------------------------------------------------
Thread 2 'blinking': runs if current time is outside start & end time
*---------------------------------------------------------------------------*/
void blinking (void const *argument) { /* blink YELLOW light */
SetLights (RED, 0); /* all lights off */
SetLights (YELLOW, 0);
SetLights (GREEN, 0);
SetLights (STOP, 0);
SetLights (WALK, 0);
while (1) { /* endless loop */
SetLights (YELLOW, 1); /* YELLOW light on */
osDelay(300); /* wait for timeout: 300ms */
SetLights (YELLOW, 0); /* YELLOW light off */
osDelay(300); /* wait for timeout: 300ms */
if (signalon ()) { /* if blinking time over */
tid_lights = osThreadCreate(osThread(lights), NULL);
/* start lights */
return; /* and STOP blinking */
}
}
}
/*
* pingDetect_obstacles - funktion ansvarig för att undvika hinder. När låga värden
* på pingsensorerna upptäcks så läggs en ny sekvens körinstruktioner in.
*/
void pingDetect_obstacles(int inportLength, int inportLength2, int inportLength4) {
if((inportLength < 150)) {
signalon(DE2_PIO_REDLED18_BASE, 10);
int delayLength = 1000*(rand() % 25 + 50);
//clearDriveList();
listDelay = 0;
struct driveNode* firstNode = malloc(sizeof (*driveList));
driveList = firstNode;
(*driveList).driveState = turn_left;
(*driveList).driveTime = delayLength;
(*driveList).next = malloc(sizeof (*driveList));
driveList = driveList->next;
(*driveList).driveState = stop;
(*driveList).driveTime = 600000;
(*driveList).next = malloc(sizeof (*driveList));
driveList = driveList->next;
(*driveList).driveState = drive_forward;
(*driveList).driveTime = -1;
(*driveList).next = NULL;
driveList = firstNode;
}
else if((inportLength2 < 150)) {
signalon(DE2_PIO_REDLED18_BASE, 13);
int delayLength = 1000*(rand() % 25 + 50);
//clearDriveList();
listDelay = 0;
struct driveNode* firstNode = malloc(sizeof (*driveList));
driveList = firstNode;
(*driveList).driveState = turn_right;
(*driveList).driveTime = delayLength;
(*driveList).next = malloc(sizeof (*driveList));
driveList = driveList->next;
(*driveList).driveState = stop;
(*driveList).driveTime = 600000;
(*driveList).next = malloc(sizeof (*driveList));
driveList = driveList->next;
(*driveList).driveState = drive_forward;
(*driveList).driveTime = -1;
(*driveList).next = NULL;
driveList = firstNode;
}
if((inportLength4 < 200)) {
signalon(DE2_PIO_REDLED18_BASE, 10);
int delayLength = 1000*(rand() % 25 + 50);
//clearDriveList();
listDelay = 0;
struct driveNode* firstNode = malloc(sizeof (*driveList));
driveList = firstNode;
(*driveList).driveState = drive_backward;
(*driveList).driveTime = 50000;
(*driveList).next = malloc(sizeof (*driveList));
driveList = driveList->next;
(*driveList).driveState = turn_right;
(*driveList).driveTime = delayLength;
(*driveList).next = malloc(sizeof (*driveList));
driveList = driveList->next;
(*driveList).driveState = stop;
(*driveList).driveTime = 600000;
(*driveList).next = malloc(sizeof (*driveList));
driveList = driveList->next;
(*driveList).driveState = drive_forward;
(*driveList).driveTime = -1;
(*driveList).next = NULL;
driveList = firstNode;
}
else {
signaloff(DE2_PIO_REDLED18_BASE, 10);
signaloff(DE2_PIO_REDLED18_BASE, 13);
signaloff(DE2_PIO_REDLED18_BASE, 15);
}
}
