static void *
sparky_main(void *unused)
{
track_t *track;
stop_t *stop;
int last_state = 0;
set_lights(false, false);
if ((track = track_new("tesla.wav")) == NULL) {
perror("tesla.wav");
exit(1);
}
if (track) track_set_volume(track, 100);
stop = stop_new();
while (1) {
stop_reset(stop);
if (track) track_play_asynchronously(track, stop);
while (! stop_is_stopped(stop)) {
int ms = random_number_in_range(25, 100);
int state;
while ((state = random_number_in_range(0, 3)) == last_state) {}
last_state = state;
set_lights(state & 1, state & 2);
ms_sleep(ms);
}
}
return NULL;
}
int main(){
printf("\nInitialization starting...\n");
if(!elev_init()){
printf("\nFailed to initialize elevator...\n");
return 0;
}
printf("\nInitialization complete\n");
int state = BOOT;
int event = STOP;
int order_table[N_FLOORS][N_BUTTONS];
clear_order_table(order_table);
while(1){
//printf("\nCurrent state: %d, Current event: %d", state, event);
state = handle_event(state, event, order_table);
get_orders(order_table, state);
set_lights(order_table);
int temp_event = get_direction(order_table, state);
if(get_emergency(state)){
event = EMERGENCY_BUTTON;
}else if(get_obstruction(order_table, state)){
event = OBSTRUCTION;
}else if(temp_event != -1){
event = temp_event;
}
}
return 0;
} // End main
void btnpress()
{
// val=digitalRead(btn);
if(timediff<LONGBUTTONPRESS)
{
lightstate=++lightstate%4;
set_lights(lightstate);
if(!lightstate)
lightcounter=0;
}
else
{
// toggle_led(led,&ledstate);
if(laserstate==0)
laserstate=1;
else
laserstate=0;
// laserstate=!laserstate;
set_laser(laserstate);
}
// digitalWrite(led,HIGH);
}
static
void display (void)
{
static GLfloat angle;
angle += delta;
pm_framestart();
GLCHK(glMatrixMode(GL_MODELVIEW));
GLCHK(glLoadIdentity());
if (d_exponent != 0) {
exponent += d_exponent;
if (exponent >= 128)
exponent = 128;
if (exponent < 1)
exponent = 1;
lights_changed = 1;
}
if (d_cutoff != 0) {
cutoff += d_cutoff;
if (cutoff > 90)
cutoff = 90;
if (cutoff < 2)
cutoff = 2;
lights_changed = 1;
}
set_lights();
static const float len = 6;
float se = sinf(elevation * M_PI / 180);
float ce = cosf(elevation * M_PI / 180);
float sb = sinf(bearing * M_PI / 180);
float cb = cosf(bearing * M_PI / 180);
float x = ce * cb * len;
float y = ce * sb * len;
float z = se * len;
GLCHK(glEnable(GL_SCISSOR_TEST));
glLoadIdentity();
gluLookAt(0, 0, len, 0,0,.5, 0,1,0);
GLCHK(glScissor(0,0, width/2, height/2));
GLCHK(glViewport(0,0, width/2, height/2));
GLCHK(glClearColor(.2,.2,.3,1));
GLCHK(glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT));
drawscene(angle);
glLoadIdentity();
gluLookAt(-len, 0, .5, 0,0,.5, 0,0,1);
GLCHK(glScissor(width/2,0, width/2, height/2));
GLCHK(glViewport(width/2,0, width/2, height/2));
GLCHK(glClearColor(.3,.2,.2,1));
GLCHK(glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT));
drawscene(angle);
glLoadIdentity();
gluLookAt(x,y,z, 0,0,.5, 0,0,1);
GLCHK(glScissor(width/2,height/2, width/2, height/2));
GLCHK(glViewport(width/2,height/2, width/2, height/2));
GLCHK(glClearColor(.2,.2,.2,1));
GLCHK(glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT));
drawscene(angle);
glLoadIdentity();
gluLookAt(0, -len, .5, 0,0,.5, 0,0,1);
GLCHK(glScissor(0,height/2, width/2, height/2));
GLCHK(glViewport(0,height/2, width/2, height/2));
GLCHK(glClearColor(.2,.3,.2,1));
GLCHK(glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT));
drawscene(angle);
GLCHK(glScissor(0, 0, width, height));
GLCHK(glViewport(0, 0, width, height));
pm_frameend();
if (shot) {
shot = 0;
screenshot("viewports");
}
glutSwapBuffers();
glutPostRedisplay();
}
// the loop routine runs over and over again forever:
void loop() {
byte lclocktick=0;
// int j;
// analogWrite(9, 60);
// TCCR2A = _BV(COM2A1) | _BV(COM2B1) | _BV(WGM21) | _BV(WGM20);
// TCCR2B = _BV(CS22);
// OCR2A = 180;
// OCR2B = 50;
// digitalWrite(led, HIGH); // turn the LED on (HIGH is the voltage level)
if(!(laserstate||lightstate||command_pending))
{
if(sleepcounter==0)
{
attachInterrupt(0, int0, LOW);
WDT_Stop();
set_led(led,&ledstate,0);
set_led(led2,&ledstate2,0);
// delay(100);
go_sleep();
int0f();
WDT_Init();
}
}
else
sleepcounter=SLEEPIDLESECS;
if(clocktick)
{
cli();
lclocktick=clocktick;
clocktick=0;
sei();
set_led(led,&ledstate,0);
wdtcounter+=lclocktick;
sleepcounter--;
if(!(wdtcounter%BATCHECKSECS))
checkbat=1;
if(laserstate)
lasercounter++;
if(lightstate)
lightcounter++;
}
if(command_pending==2)
{
btnpress();
command_pending=0;
}
if(command_pending==1&&millis()-timepressed>LONGBUTTONPRESS)
int0r();
// toggle_led(led2,&ledstate2);
if(laserstate&&(lasercounter>LASER_MAX_ON))
{
set_laser(0);
laserstate=0;
}
if(lightstate&&(lightcounter>LIGHT_MAX_ON))
{
set_lights(0);
lightstate=0;
}
if(checkbat)
{
check_bat();
checkbat=0;
}
if(volts<VBATTHRESH)
{
if(lclocktick)
toggle_led(led2,&ledstate2);
}
else
set_led(led2,&ledstate2,0);
if(volts<VBATTHRESH_CRIT)
{
if(!(wdtcounter%BATCHECKCRITSECS))
{
// for(j=0;j<3;j++)
// {
set_lights(0);
delay(100);
set_lights(lightstate);
delay(100);
// }
}
}
//delay(100);
// digitalWrite(led, LOW); // turn the LED off by making the voltage LOW
// delay(500); // wait for a second
}
