void moveToLocation(int newPosition)
{
if(newPosition != currentPosition){
startMotor();
Delay10KTCYx(7);
while(!readIRSensor());
stopMotor();
//Track the current location of the plant
currentPosition++;
if(currentPosition == 3){
currentPosition = 0;
}
//recursive call to move the the next position if this is not the required state
if(newPosition != currentPosition){
moveToLocation(newPosition);
}
}
}
void high_isr(void)
{
//Timer for servo
if(INTCONbits.TMR0IF)
{
PORTBbits.RB3 = 1;
if(servoState == 0){
Delay1TCY();
Delay1TCY();
//Delay10TCYx(6);
}else{
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay1TCY();
Delay10TCYx(5);
Delay100TCYx(4);
}
PORTBbits.RB3 = 0;
INTCONbits.TMR0IF = 0; // Clear interrupt flag for timer 0
WriteTimer0(64911);
}
//code for servo state = 1 and regular timer
if(PIR1bits.TMR1IF && servoState == 1){
valveCounter++;
if(valveCounter == valveTotalTick){
closeValve();
valveCounter = 0;
}
PIR1bits.TMR1IF = 0; // Clear interrupt flag for timer 0
}
else if(PIR1bits.TMR1IF && plantTimerCount == totalTimerCount){
//Waters all the plants
moveToLocation(plantBeingWatered);
openValve();
if(plantBeingWatered == totalplants){
plantTimerCount = 0;
plantBeingWatered = -1;
}
plantBeingWatered++;
PIR1bits.TMR1IF = 0; // Clear interrupt flag for timer 0
}
//Timer for timed water sequence
else if(PIR1bits.TMR1IF)
{
plantTimerCount++;
PIR1bits.TMR1IF = 0; // Clear interrupt flag for timer 0
}
// interupt for button to water plant 0
if(INTCONbits.INT0IF){
moveToLocation(0);
openValve();
INTCONbits.INT0IF = 0;
}
// interupt for button to water plant 1
if(INTCON3bits.INT1IF){
moveToLocation(1);
openValve();
INTCON3bits.INT1IF = 0;
}
// interupt for button to water plant 2
if(INTCON3bits.INT2IF){
moveToLocation(2);
openValve();
INTCON3bits.INT2IF = 0;
}
}
void trainTask() {
int trainNum, reply = 0, src;
Receive(&src, (char *)&trainNum, sizeof(int));
Reply(src, (char *)&reply, sizeof(int));
track_node track[TRACK_MAX];
initTrack(track);
int velocity[15];
initVelocities(trainNum, velocity);
//find your location
int location;
struct TrainMessage msg;
int dest,i,j, sensorsPassed;
int oldSensor, sensor, oldTime, time;
while(true) {
Receive(&src, (char *)&msg, sizeof(struct TrainMessage));
switch(msg.type) {
case TRAINGOTO:
resetSensorBuffer();
dest = 0;
while(dest < TRACK_MAX && strcmp(track[dest].name, msg.dest) != 0) dest++;
location = moveToLocation(trainNum, location, dest, track, msg.doReverse, msg.speed, velocity);
Reply(src, (char *)&reply, sizeof(int));
break;
case TRAININIT:
Reply(src, (char *)&reply, sizeof(int));
Putc2(1, (char)2, (char)trainNum);
location = waitOnAnySensor();
Putc2(1, (char)0, (char)trainNum);
break;
case TRAINCONFIGVELOCITY:
Putc2(1, (char)2, (char)trainNum);
location = waitOnAnySensor();
Putc2(1, (char)0, (char)trainNum);
//move to sensor B15
location = moveToLocation(trainNum, location, 30, track, false, 10, velocity);
setSwitchState(14, 'C');
setSwitchState(13, 'S');
setSwitchState(10, 'S');
setSwitchState(9, 'C');
setSwitchState(8, 'C');
setSwitchState(17, 'S');
setSwitchState(16, 'S');
setSwitchState(15, 'C');
for(i=8; i<15; i++) {
Putc2(1, (char)i, (char)trainNum);
oldSensor = waitOnAnySensor();
oldTime = Time();
sensorsPassed = 0;
for(j=0; j<15; j++) {
sensor = waitOnAnySensor();
time = Time();
int distance = 1000*BFS(oldSensor, sensor, track, NULL, false);
int newVelocity = distance/(time - oldTime);
if(velocity[i] - newVelocity < velocity[i]/200 && sensorsPassed >= 10) break;
velocity[i] *= 95;
velocity[i] += 5*newVelocity;
velocity[i] /= 100;
++sensorsPassed;
}
printf("Configured speed %d to %dmm/s\r", i, velocity[i]/10);
}
Putc2(1, (char)0, (char)trainNum);
Reply(src, (char *)&reply, sizeof(int));
break;
}
}
}
void MoralityServer::getCommand(int PlayerID, MoralThread *theThread, QByteArray packetcommand)
{
qDebug() << "GETTING COMMAND FROM THE THREAD" <<endl;
qDebug() << "COMMAND: " << packetcommand << endl;
// RESPOND TO THE CLIENT REQUEST HERE!
// Response to the client would be more difficult and would have to have repeating keys for which we can use regular expressions to split
// LOCATION::ID1-1,ID2-4,ID3-19 // {socket descriptor that your computer would turn into player 0, 1, 2, ... n players
// WINNING ::ID // Which socket descriptor won
// SCORE ::ID1-900,ID2-100000 // etc.
QString incomingcommand(packetcommand);
if (!incomingcommand.contains("//") || !incomingcommand.contains("::"))
return; // DONT DO ANYTHING WITH EMPTY LINES
QStringList BytesCommand = incomingcommand.split("//",QString::SkipEmptyParts);
qint16 bytesize(BytesCommand[0].toInt());
// if (BytesCommand[1].size() != bytesize) // no it's not really bytes
// qDebug() << "incorrect packet size!"; // but do nothing... really how big are our packets? 20 bytes?
QStringList CKeyVal = BytesCommand[1].split("::");
QString commandString;
if (CKeyVal[0] == "LOCATION")
{
commandString="LOCATION::";
qDebug() << CKeyVal[1] << endl;
int newlocation = CKeyVal[1].toInt();
qDebug() << newlocation << endl;
moveToLocation(PlayerID, newlocation);
commandString.append(getLocations());
}
else if (CKeyVal[0] == "WINNING")
{
commandString="WINNING::";
commandString.append(QString::number(PlayerID)); // just broadcast this to all players
}
else if (CKeyVal[0] == "SCORE")
{
// After winning is received on the server, clients will send a SCORE VALUE...
// when received from all clients, will emit back in unison
// commandString="SCORE::";
// commandString.append() NOT SURE ABOUT THIS YET SCORE OR ALIGNMENT
// IT COULD BE DISPLAYED SOMEHOW
}
else if (CKeyVal[0] == "DAMAGE")
{
emit sendCommand(packetcommand); // the same one that came from the client since already in the right format
return;
}
else if (incomingcommand.contains("SOCKETID"))
{
commandString="SOCKETID::";
commandString.append(QString::number(theThread->getSocketDescriptor()));
QString command;
command = QString::number(commandString.size()); // packet size
command.append(tr("//"));
command.append(commandString);
QByteArray newPacketCommand;
newPacketCommand.append(command);
for (int i =0; i < Morals.size(); i++)
{
if (Morals[i]->getSocketDescriptor() == theThread->getSocketDescriptor())
{
Morals[i]->commandToSocket(newPacketCommand);
return;
}
}
}
else
{
return;
}
QString command;
command = QString::number(commandString.size()); // packet size
command.append(tr("//"));
command.append(commandString);
QByteArray newPacketCommand;
newPacketCommand.append(command);
for (int i =0; i < Morals.size(); i++)
{
Morals[i]->commandToSocket(newPacketCommand);
}
qDebug() << "THE PACKET: " << newPacketCommand <<endl;
}
