/*---------------------------------------------------------------------------*
* Routine: DR_Save
*---------------------------------------------------------------------------*
* Description:
* Save the currently shown image to the flash drive.
* Inputs:
* const T_choice *aChoice -- Choice object selected for this action.
*---------------------------------------------------------------------------*/
static void DR_Save(const T_choice *aChoice)
{
T_uezError error;
T_uezError errorUSB, errorSD;
T_uezFile file;
INT_32 winX, winY;
T_pixelColor *raster;
TUInt32 num;
TUInt16 x, y;
// Draw line around choice while saving
swim_set_fill_transparent(&G_drWin, 1);
swim_set_pen_color(&G_drWin, YELLOW);
swim_put_box(
&G_drWin,
aChoice->iLeft,
aChoice->iTop,
aChoice->iRight,
aChoice->iBottom);
// Try to save to the USB drive
error = errorUSB = UEZFileOpen("0:IMAGE.RAW", FILE_FLAG_WRITE, &file);
// If an error, try to save to the SD Card
if (error != UEZ_ERROR_NONE)
error = errorSD = UEZFileOpen("1:IMAGE.RAW", FILE_FLAG_WRITE, &file);
else
errorSD = UEZ_ERROR_UNKNOWN;
// Any errors?
if (error == UEZ_ERROR_NONE) {
raster = (T_pixelColor *)LOAD_SPACE;
for (y=0; y<DR_IMAGE_HEIGHT; y++) {
for (x=0; x<DR_IMAGE_WIDTH; x++) {
winX = x + DR_IMAGE_LEFT+1;
winY = y + DR_IMAGE_TOP+1;
swim_get_physical_xy(&G_drWin, &winX, &winY);
swim_driver_get_raster(&G_drWin, winX, winY, (COLOR_T *)raster, 1); // get pixel color
raster++;
}
}
// Save image
error = UEZFileWrite(
file,
LOAD_SPACE,
DR_IMAGE_WIDTH*DR_IMAGE_HEIGHT*sizeof(T_pixelColor),
&num);
if ((error != UEZ_ERROR_NONE) &&
(num != DR_IMAGE_WIDTH*DR_IMAGE_HEIGHT*sizeof(T_pixelColor))) {
BeepError();
}
UEZFileClose(file);
} else {
// Had an error, report it
SUICopyFast32(FRAME(1), FRAME(0), FRAME_SIZE);
BeepError();
swim_set_fill_transparent(&G_drWin, 0);
swim_set_fill_color(&G_drWin, BLACK);
swim_set_pen_color(&G_drWin, YELLOW);
swim_put_box(
&G_drWin,
DR_IMAGE_LEFT,
DR_IMAGE_TOP,
DR_IMAGE_RIGHT,
DR_IMAGE_TOP+16);
if (errorUSB == UEZ_ERROR_NOT_FOUND) {
if (errorSD == UEZ_ERROR_NOT_READY) {
swim_put_text_xy(
&G_drWin,
"Could not write image to USB Drive",
DR_IMAGE_LEFT+2,
DR_IMAGE_TOP+2);
} else if (errorSD == UEZ_ERROR_NOT_FOUND) {
swim_put_text_xy(
&G_drWin,
"Could not write to USB Drive or SD Card",
DR_IMAGE_LEFT+2,
DR_IMAGE_TOP+2);
} else {
swim_put_text_xy(
&G_drWin,
"Could not write to USB Drive",
DR_IMAGE_LEFT+2,
DR_IMAGE_TOP+2);
}
} else if (errorUSB == UEZ_ERROR_NOT_READY) {
if (errorSD == UEZ_ERROR_NOT_READY) {
swim_put_text_xy(
&G_drWin,
"No USB Drive or SDCard found!",
DR_IMAGE_LEFT+2,
DR_IMAGE_TOP+2);
} else if (errorSD == UEZ_ERROR_NOT_FOUND) {
swim_put_text_xy(
&G_drWin,
"Could not write to SD Card!",
DR_IMAGE_LEFT+2,
DR_IMAGE_TOP+2);
} else {
swim_put_text_xy(
&G_drWin,
"Could not write to SD Card!",
DR_IMAGE_LEFT+2,
DR_IMAGE_TOP+2);
}
} else {
swim_put_text_xy(
&G_drWin,
"Write error!",
DR_IMAGE_LEFT+2,
DR_IMAGE_TOP+2);
}
swim_set_fill_transparent(&G_drWin, 1);
UEZTaskDelay(2000);
SUICopyFast32(FRAME(0), FRAME(1), FRAME_SIZE);
}
swim_set_fill_transparent(&G_drWin, 1);
swim_set_pen_color(&G_drWin, BLACK);
swim_put_box(
&G_drWin,
aChoice->iLeft,
aChoice->iTop,
aChoice->iRight,
aChoice->iBottom);
}
void ErrorOK(const char *qtf) {
BeepError();
Prompt(Ctrl::GetAppName(), CtrlImg::error(), qtf, t_("OK"));
}
/*---------------------------------------------------------------------------*
* Routine: DR_Load
*---------------------------------------------------------------------------*
* Description:
* Load an image from the flash drive and show.
* Inputs:
* const T_choice *aChoice -- Choice object selected for this action.
*---------------------------------------------------------------------------*/
static void DR_Load(const T_choice *aChoice)
{
T_uezError error;
T_uezError errorUSB, errorSD;
T_uezFile file;
INT_32 winX, winY;
TUInt32 num;
TUInt16 x, y;
// Draw line around choice while loading
swim_set_fill_transparent(&G_drWin, 1);
swim_set_pen_color(&G_drWin, YELLOW);
swim_put_box(
&G_drWin,
aChoice->iLeft,
aChoice->iTop,
aChoice->iRight,
aChoice->iBottom);
// Try to load from the USB drive
error = errorUSB = UEZFileOpen("0:IMAGE.RAW", FILE_FLAG_READ_ONLY, &file);
// If an error, try to load from the SD Card
if (error != UEZ_ERROR_NONE)
error = errorSD = UEZFileOpen("1:IMAGE.RAW", FILE_FLAG_READ_ONLY, &file);
else
errorSD = UEZ_ERROR_UNKNOWN;
// Continue if no errors
if (error == UEZ_ERROR_NONE) {
error = UEZFileRead(
file,
LOAD_SPACE,
DR_IMAGE_WIDTH*DR_IMAGE_HEIGHT*sizeof(T_pixelColor),
&num);
UEZFileClose(file);
if ((error != UEZ_ERROR_NONE) &&
(num != DR_IMAGE_WIDTH*DR_IMAGE_HEIGHT*sizeof(T_pixelColor))) {
BeepError();
} else {
T_pixelColor *raster = (T_pixelColor *)LOAD_SPACE;
for (y=0; y<DR_IMAGE_HEIGHT; y++) {
for (x=0; x<DR_IMAGE_WIDTH; x++) {
winX = x + DR_IMAGE_LEFT+1;
winY = y + DR_IMAGE_TOP+1;
swim_get_physical_xy(&G_drWin, &winX, &winY);
swim_driver_put_pixel(&G_drWin, winX, winY, raster[x]);
}
raster += DR_IMAGE_WIDTH;
}
}
}
if (error) {
// Had an error, report it
SUICopyFast32(FRAME(1), FRAME(0), FRAME_SIZE);
BeepError();
swim_set_fill_transparent(&G_drWin, 0);
swim_set_fill_color(&G_drWin, BLACK);
swim_set_pen_color(&G_drWin, YELLOW);
swim_put_box(
&G_drWin,
DR_IMAGE_LEFT,
DR_IMAGE_TOP,
DR_IMAGE_RIGHT,
DR_IMAGE_TOP+16);
if (errorUSB == UEZ_ERROR_NOT_FOUND) {
if (errorSD == UEZ_ERROR_NOT_READY) {
swim_put_text_xy(
&G_drWin,
"Image file not found on USB Drive!",
DR_IMAGE_LEFT+2,
DR_IMAGE_TOP+2);
} else if (errorSD == UEZ_ERROR_NOT_FOUND) {
swim_put_text_xy(
&G_drWin,
#if UEZ_DEFAULT_LCD_RES_QVGA
// Shorter string on QVGA screens
"Image file not found on USB or SD Card!",
#else
"Image file not found on USB Drive or SD Card!",
#endif
DR_IMAGE_LEFT+2,
DR_IMAGE_TOP+2);
} else {
swim_put_text_xy(
&G_drWin,
"Image file not found on USB Drive!",
DR_IMAGE_LEFT+2,
DR_IMAGE_TOP+2);
}
} else if (errorUSB == UEZ_ERROR_NOT_READY) {
if (errorSD == UEZ_ERROR_NOT_READY) {
swim_put_text_xy(
&G_drWin,
"No USB Drive or SD Card found!",
DR_IMAGE_LEFT+2,
DR_IMAGE_TOP+2);
} else if (errorSD == UEZ_ERROR_NOT_FOUND) {
swim_put_text_xy(
&G_drWin,
"Image file not found on SD Card!",
DR_IMAGE_LEFT+2,
DR_IMAGE_TOP+2);
} else {
swim_put_text_xy(
&G_drWin,
"No USB Drive or SD Card found!",
DR_IMAGE_LEFT+2,
DR_IMAGE_TOP+2);
}
} else {
swim_put_text_xy(
&G_drWin,
"Read error!",
DR_IMAGE_LEFT+2,
DR_IMAGE_TOP+2);
}
swim_set_fill_transparent(&G_drWin, 1);
UEZTaskDelay(2000);
SUICopyFast32(FRAME(0), FRAME(1), FRAME_SIZE);
}
swim_set_fill_transparent(&G_drWin, 1);
swim_set_pen_color(&G_drWin, BLACK);
swim_put_box(
&G_drWin,
aChoice->iLeft,
aChoice->iTop,
aChoice->iRight,
aChoice->iBottom);
}
void StateProcess(void)
{
double d;
// Check that robot is in a safe state.
if (!ROBOT_Safe(ROBOT_ID))
{
printf("Robot not safe.\n");
ProgramExit();
}
// Special processing while a trial is running.
if (TrialRunning)
{
if (!RobotActive())
{
// If robot is not active, abort current trial.
ErrorRobotInactive();
TrialAbort();
MissTrial();
}
else
if (FrameData.Full())
{
// Abort current trail if frame data is full.
ErrorFrameDataFull();
TrialAbort();
MissTrial();
}
}
// Some states are processing in the LoopTask.
if (StateLoopTask[State])
{
return;
}
// State processing.
switch (State)
{
case STATE_INITIALIZE:
// Initialization state.
if (TargetTestFlag)
{
break;
}
ExperimentTimer.Reset();
StateNext(STATE_SETUP);
break;
case STATE_SETUP:
// Setup details of next trial, but only when robot stationary and active.
if (RobotNotMoving() && RobotActive())
{
printf("Dynamic learning: before Trialsetup i am here=====!!!!\n");
TrialSetup();
StateNext(STATE_HOME);
}
break;
case STATE_HOME:
// Start trial when robot in home position (and stationary and active).
if (RobotNotMoving() && RobotHome() && RobotActive())
{
StateNext(STATE_START);
break;
}
break;
case STATE_START:
// Start trial.
TrialStart();
StateNext(STATE_DELAY);
break;
case STATE_DELAY:
// Delay period before go signal.
if (StateTimer.ExpiredSeconds(TrialDelay))
{
StateNext(STATE_GO);
break;
}
if (MovementStarted())
{
ErrorMoveTooSoon();
TrialAbort();
MissTrial();
}
break;
case STATE_GO:
// Wait until graphics state matches.
if (State != StateGraphics)
{
break;
}
StateNext(STATE_TARGETWAIT);
break;
case STATE_TARGETWAIT:
// Wait for estimated target display delay.
if (GraphicsTargetTimer.ExpiredSeconds(GRAPHICS_DisplayDelayTarget(TargetPosition)))
{
// Target should be displayed now (within a few milliseconds).
TriggerOn();
MovementReactionTimer.Reset();
BeepGo();
StateNext(STATE_MOVEWAIT);
}
break;
case STATE_MOVEWAIT:
// Process in the robot forces function (LoopTask)
break;
case STATE_MOVING:
// Process in the robot forces function (LoopTask)
break;
case STATE_FINISH:
// Trial has finished so stop trial.
TrialStop();
// Save the data for this trial.
if (!TrialSave())
{
printf("Cannot save Trial %d.\n", Trial);
StateNext(STATE_EXIT);
break;
}
// Catch too-slow trials.
if (MovementDurationTime >= MovementDurationTimeOut)
{
ErrorMoveTimeOut();
BeepError();
InterTrialDelayTimer.Reset();
}
// Go to next trial, if there is one.
if (TrialNext())
{
StateNext(STATE_INTERTRIAL);
}
else
{
StateNext(STATE_EXIT);
}
break;
case STATE_INTERTRIAL:
// Wait for the intertrial delay to expire.
if (!InterTrialDelayTimer.ExpiredSeconds(InterTrialDelay))
{
break;
}
MessageClear();
// Optional rest between blocks of trials.
if (RestTrials != 0)
{
// Rest every X number of trials.
if ((Trial % RestTrials) == 0)
{
StateNext(STATE_REST);
break;
}
}
StateNext(STATE_SETUP);
break;
case STATE_EXIT:
ProgramExit();
break;
case STATE_TIMEOUT:
switch (StateLast) // Which state had the timeout?
{
case STATE_MOVEWAIT:
ErrorMoveWaitTimeOut();
break;
case STATE_MOVING:
ErrorMoveTimeOut();
break;
default:
ErrorMessage(STR_stringf("%s TimeOut", StateText[StateLast]));
break;
}
TrialAbort(); // Abort the current trial.
MissTrial(); // Generate miss trial.
break;
case STATE_ERROR:
if (StateTimer.ExpiredSeconds(ErrorWait))
{
ErrorResume();
}
break;
case STATE_REST:
if (StateTimer.ExpiredSeconds(RestWait))
{
StateNext(STATE_SETUP);
}
break;
}
}
