void __nxtAssert(const char *file, int line, const char *exp)
{
display_clear(0);
display_goto_xy(0, 0);
display_string("assert");
display_goto_xy(0, 1);
display_string("File: ");
display_string(file);
display_goto_xy(0, 2);
display_string("Line: ");
display_int(line,0);
display_goto_xy(0, 3);
display_string(exp);
display_update();
#ifdef NXT_WARN_ASSERT
display_goto_xy(0, 3);
display_string("Press ENTER");
#endif
while(true)
{
#ifdef NXT_WARN_ASSERT
if(ecrobot_is_ENTER_button_pressed())
{
display_clear(0);
display_goto_xy(0, 0);
return;
}
#endif
}
}
int UI::courseSelect(){
int course = -1;
display_goto_xy(4, 1);
while(1){
if(ecrobot_is_RUN_button_pressed()){
course = course * (-1);
if(course == 1){
display_string(" IN COURSE");
display_goto_xy(4, 1);
}
else{
display_string("OUT COURSE");
display_goto_xy(4, 1);
}
}
if(ecrobot_is_ENTER_button_pressed()){
display_goto_xy(6, 3);
display_string("READY");
break;
}
display_update();
// 500msecウェイトする
systick_wait_ms(500);
}
display_update();
return course;
}
void sonar_sensor_measurement(void)
{
// Variables used for distance measurement
S32 distance_left = 0;
S32 distance_right = 0;
int measurements = 0;
// Display menu
reset_sonar_measurement_menu();
while(true)
{
// Update values
distance_left += ecrobot_get_sonar_sensor(SONAR_SENSOR_FRONT);
distance_right += ecrobot_get_sonar_sensor(SONAR_SENSOR_REAR);
// Calculate average of new and previous
distance_left /= 2;
distance_right /= 2;
// Wait when over some measurements
if(measurements++ % MEASUREMENT_WAIT_INTERVAL == 0)
{
// Update the display
display_sonar_sensor_measurements(distance_left, distance_right);
systick_wait_ms(MEASUREMENT_WAIT);
}
// Chek if the enter button is pressed for long enough time to exit
if(ecrobot_is_ENTER_button_pressed())
{
// Time when the button was pressed
int enter_button_pressed_start_time = systick_get_ms();
// Continusly check if enought time has past to exit
while(ecrobot_is_ENTER_button_pressed())
{
if(enter_button_pressed_start_time + ENTER_BUTTON_EXIT_TIMEOUT <
systick_get_ms())
{
return;
}
}
}
}
}
