void train_code(){
char tr_speeds [NUM_TRAINS];
// initialization
int i;
for (i = 0; i < NUM_TRAINS; i++){
tr_speeds[i] = 0;
}
char stop[3];
char rcv_buff[3];
stop[0] = stop[1] = stop[2] = rcv_buff[0] = rcv_buff[1] = rcv_buff[2] = 0;
char reply_buff = 0;
int prompt_tid;
while(1){
// Need to receive 2 bytes for the train command
Receive(&prompt_tid, &rcv_buff, 2*sizeof(char));
if (rcv_buff[0] == 15){ // Reversing
stop[1] = rcv_buff[1]; // train number
Putc(COM1, 0); Putc(COM1, stop[1]); // Stop
Reply(prompt_tid, &reply_buff, sizeof(char));
Delay(200);
Putstr(COM1, rcv_buff); // Reverse
rcv_buff[0] = tr_speeds[rcv_buff[1]-1]; // stored speed of the train
Putstr(COM1, rcv_buff); // Set speed
}
else if(rcv_buff[0] == 0){
tr_speeds[rcv_buff[1]-1] = 0;
Putc(COM1, 0); Putc(COM1, rcv_buff[1]);
Reply(prompt_tid, &reply_buff, sizeof(char));
}
else { // Setting speed
tr_speeds[rcv_buff[1]-1] = rcv_buff[0];
Putstr(COM1, rcv_buff);
Reply(prompt_tid, &reply_buff, sizeof(char));
}
}
Exit();
kprintf("Unexpected return from Exit() at train_code\n\r");
}
void draw_sensor_history( Sensor_history *history ) {
char buf[1000], *ptr;
int i;
ptr = buf;
int size = 0;
size += sprintf( ptr, CURSOR_SAVE );
size += sprintf( ( ptr + size ), CURSOR_HIDE_STR );
size += cursorPositioning( ( ptr + size), 9, 4 );
for( i = 0; i < history->size; ++i ) {
if( i != 0 && i % 7 == 0 )
size += cursorPositioning( ( ptr + size ), 10, 4 );
int pos = history->newest_pos - i;
if( pos < 0 )
pos += SENSOR_HISTORY_LEN;
size += sprintf( ( ptr + size ), "%s", history->sensors[pos] );
}
size += sprintf( ( ptr + size ), CURSOR_RESTORE );
Putstr( COM2, ptr );
}
static void trainSetSpeed(const int speed, const int stopTime, const int delayer, Driver* me) {
char msg[4];
msg[1] = (char)me->trainNum;
if (me->lastSensorActualTime > 0) {
// a/d related stuff
int newSpeed = speed >=0 ? speed : 0;
int now = Time(me->timeserver) * 10;
if (me->speed == newSpeed) {
// do nothing
}
else if (me->speed == 0) {
// accelerating from 0
int v0 = getVelocity(me);
int v1 = me->v[newSpeed][ACCELERATE];
int t0 = now + 8; // compensate for time it takes to send to train
int t1 = now + 8 + me->a[newSpeed];
poly_init(&me->adPoly, t0, t1, v0, v1);
me->isAding = 1;
me->lastReportDist = 0;
me->adEndTime = t1;
} else if (newSpeed == 0) {
// decelerating to 0
int v0 = getVelocity(me);
int v1 = me->v[newSpeed][DECELERATE];
int t0 = now + 8; // compensate for time it takes to send to train
int t1 = now + 8 + getStoppingTime(me);
poly_init(&me->adPoly, t0, t1, v0, v1);
me->isAding = 1;
me->lastReportDist = 0;
me->adEndTime = t1;
}
}
TrainDebug(me, "Train Setting Speed %d", speed);
if (speed >= 0) {
if (delayer) {
TrainDebug(me, "Reversing speed.------- %d", speed);
msg[0] = 0xf;
msg[1] = (char)me->trainNum;
msg[2] = (char)speed;
msg[3] = (char)me->trainNum;
Putstr(me->com1, msg, 4);
//TrainDebug(me, "Next Sensor: %d %d", me->nextSensorIsTerminal, me->lastSensorIsTerminal);
// Update prediction
if (me->nextSensorIsTerminal) {
me->nextSensorBox = me->nextSensorBox == EX ? EN : EX;
//TrainDebug(me, "LAst Sensor: %d ", me->lastSensorVal);
} else {
int action = me->nextSensorVal%2 == 1 ? 1 : -1;
me->nextSensorVal = me->nextSensorVal + action;
}
if (me->lastSensorIsTerminal) {
me->lastSensorBox = me->lastSensorBox == EX ? EN : EX;
} else {
int action = me->lastSensorVal%2 == 1 ? 1 : -1;
me->lastSensorVal = me->lastSensorVal + action;
}
float distTemp = me->distanceFromLastSensor;
me->distanceFromLastSensor = me->distanceToNextSensor;
me->distanceToNextSensor = distTemp;
char valTemp = me->nextSensorVal;
me->nextSensorVal = me->lastSensorVal;
me->lastSensorVal = valTemp;
char boxTemp = me->nextSensorBox;
me->nextSensorBox = me->lastSensorBox;
me->lastSensorBox = boxTemp;
if (me->nextSensorIsTerminal || me->lastSensorIsTerminal){
char isTemp = me->nextSensorIsTerminal;
me->nextSensorIsTerminal = me->lastSensorIsTerminal;
me->lastSensorIsTerminal = isTemp;
}
// Reserve the track above train and future (covers case of init)
// Update prediction
updatePrediction(me);
int reserveStatus = reserveMoreTrack(me, 0, me->d[speed][ACCELERATE][MAX_VAL]); // moving
if (reserveStatus == RESERVE_FAIL) {
reroute(me);
}
} else {
//TrainDebug(me, "Set speed. %d %d", speed, me->trainNum);
msg[0] = (char)speed;
Putstr(me->com1, msg, 2);
if (speed == 0) {
int delayTime = stopTime + 500;
Reply(me->stopDelayer, (char*)&delayTime, 4);
}
}
if (speed > me->speed) {
me->speedDir = ACCELERATE;
} else if (speed < me->speed) {
me->speedDir = DECELERATE;
}
me->speed = speed;
} else {
//TrainDebug(me, "Reverse... %d ", me->speed);
DriverMsg delayMsg;
delayMsg.type = SET_SPEED;
delayMsg.timestamp = stopTime + 500;
if (me->speedAfterReverse == -1) {
delayMsg.data2 = (signed char)me->speed;
} else {
delayMsg.data2 = (signed char)me->speedAfterReverse;
}
//TrainDebug(me, "Using delayer: %d for %d", me->delayer, stopTime);
Reply(me->delayer, (char*)&delayMsg, sizeof(DriverMsg));
msg[0] = 0;
msg[1] = (char)me->trainNum;
Putstr(me->com1, msg, 2);
me->speed = 0;
me->speedDir = DECELERATE;
}
}
int main(void) {
/* Ledstrips inits */
/* W5100 defines */
unsigned char sockstat;
unsigned int rsize;
char radiostat0[10], radiostat1[10];
int postidx, getidx;
/* Initial variable used */
sockreg = 0;
tempvalue = 0;
ledmode = 0;
Init_timer1();
Init_timers();
/*Init_shift();*/
OSCTUN = 21;
PLLFBD = 38; /* M=40 */
CLKDIVbits.PLLPOST = 0; /* N1=2 */
CLKDIVbits.PLLPRE = 0; /* N2=2 */
/* Eraseleds();*/
/* even ledstrips have to be mirrored */
/* Mirror(patt); */
/* LCD inits */
Init_mcp();
Init_LCD();
Write_LCD(startup);
/* W5100 inits */
Init_pin_SPI();
Init_SPI();
W5100_Init(gtw_addr,mac_addr,sub_mask,ip_addr);
T_SPI_CS;
SPI_CS = 1;
Init_UART();
for (;;) {
sockstat = SPI_Read(S0_SR);
switch (sockstat) {
case SOCK_CLOSED:
if (socket(sockreg, MR_TCP, TCP_PORT) > 0) {
/* Listen to Socket 0 */
if (listen(sockreg) <= 0)
Delayms(1);
}
break;
case SOCK_ESTABLISHED:
/* Get the client request size */
rsize = recv_size();
if (rsize > 0) {
/* Now read the client Request */
if (recv(sockreg, buf, rsize) <= 0)
break;
Putstr(buf);
/* printf("%s",buf);*/
/* Check the Request Header */
getidx = strindex((char *) buf, "GET /");
postidx = strindex((char *) buf, "POST /");
if (getidx >= 0 || postidx >= 0) {
/* Now check the Radio Button for POST request */
if (postidx >= 0) {
if (strindex((char *) buf, "uBoard new color") > 0)
ledmode++;
}
/* Create the HTTP Response Header */
strncpy((char *)buf,("HTTP/1.0 200 OK\r\nContent-Type: text/html\r\n\r\n"
"<body style=\"background-color:FFFFFF;\">\r\n"),96);
strcat((char *)buf,("[\n"
" {\n"
" \"id\": \"1\",\n"
" \"name\": \"uBoard webboard\",\n"
" \"ipaddr\": \"192.168.0.102\",\n"
" \"subnetmask\": \"255.255.255.0\",\n"
" \"gateway\": \"192.168.0.1\",\n"
" \"adjustSpeedOfPattern\": \"int\",\n"
" \"turnLedsOnOff\": \"boolean\"\n"
" }\n"
"]\n"));
/* Now Send the HTTP Response */
if (send(sockreg,buf,strlen((char *)buf)) <= 0) break;
/* TODO: add status */
LCD_Clear();
LCD_PutByte(ledmode);
if (ledmode == 1) {
strncpy(radiostat0,"",0);
strncpy(radiostat1,("checked"),7);
} else {
strncpy(radiostat0,("checked"),7);
strncpy(radiostat1,"",0);
}
/* Create the HTTP Radio Button Response */
strncpy((char *)buf,("<p><input type=\"radio\" name=\"radio\" value=\"0\" "),52);
strcat((char *)buf,radiostat0);
strcat((char *)buf,(">Turn off\r\n"));
strcat((char *)buf,("<br><input type=\"radio\" name=\"radio\" value=\"1\" "));
strcat((char *)buf,radiostat1);
strcat((char *)buf,(">Lounge mode\r\n"));
strcat((char *)buf,("</strong><p>\r\n"));
strcat((char *)buf,("<input type=\"submit\">\r\n"));
strcat((char *)buf,("</form></span></body></html>\r\n")); /* Now Send the HTTP Remaining Response */
if (send(sockreg,buf,strlen((char *)buf)) <= 0)
break;
} /* Disconnect the socket */
disconnect(sockreg);
} else
Delayms(1); /* Wait for request */
break;
case SOCK_FIN_WAIT:
case SOCK_CLOSING:
case SOCK_TIME_WAIT:
case SOCK_CLOSE_WAIT:
case SOCK_LAST_ACK:
/* Force to close the socket */
close(sockreg);
break;
}
}
return 0;
}
