static void posDataUpdate(Kart* thisKart){
thisKart->currentXPosition = 0;
thisKart->currentYPosition = 0;
thisKart->currentOrientation = 0;
uint16_t zoneNumber = 0;
uint16_t XPosition = 0x0000;
uint16_t YPosition = 0x0000;
int16_t orientation = 0x0000;
XPosition|= getDataByte(thisKart->position_command_index, POS_X_M_INDEX)<<8;
XPosition|= getDataByte(thisKart->position_command_index, POS_X_L_INDEX);
YPosition|= getDataByte(thisKart->position_command_index, POS_Y_M_INDEX)<<8;
YPosition|= getDataByte(thisKart->position_command_index, POS_Y_L_INDEX);
orientation|= getDataByte(thisKart->position_command_index, ORIENT_M_INDEX)<<8;
orientation|= getDataByte(thisKart->position_command_index, ORIENT_L_INDEX);
thisKart->currentXPosition = XPosition;
thisKart->currentYPosition = YPosition;
thisKart->currentOrientation = orientation;
zoneNumber = determineZone(XPosition,YPosition, thisKart);
if(thisKart->kartNumber == our_kart.kartNumber){
if(zoneNumber != thisKart->zone){
ES_Event Event;
Event.EventType = ZoneUpdate;
Event.EventParam = zoneNumber;
PostStrategySM(Event);
PostTurningFSM(Event);
thisKart->zone = zoneNumber;
}
}
}
static int determineZone(uint16_t Xpos, uint16_t Ypos, Kart* kart){
if(Xpos >= ZONE_2_X_MIN && Xpos < zone_two_x_max && Ypos >= zone_two_y_min && Ypos < zone_two_y_max){
//printf("Zone 2\r\n");
return 2;
}
if(Xpos >= zone_three_x_min && Xpos < zone_three_x_max && Ypos >= zone_three_y_min && Ypos < zone_three_y_max) {
//printf("Zone 3\r\n");
return 3;
}
if(Xpos >= zone_four_x_min && Xpos < zone_four_x_max && Ypos >= zone_four_y_min && Ypos < ZONE_4_Y_MAX) {
if(Xpos >= CENTER_OF_OBSTACLE_POINT_X && kart->kartNumber == our_kart.kartNumber &&
listenToCenterOfObstacle){ //&&getKartAZone()!=5 && getKartBZone() !=5){
ES_Event Event;
Event.EventType = CenterOfObstacle;
PostStrategySM(Event);
listenToCenterOfObstacle = false;
}
//printf("Zone 4\r\n");
return 4;
}
if(Xpos >= zone_five_x_min && Xpos < ZONE_5_X_MAX && Ypos >= zone_five_y_min && Ypos < zone_five_y_max){
if(Ypos <= OBSTACLE_PAST_CROSSOVER_POINT_Y && kart->kartNumber == our_kart.kartNumber &&
listenToMostlyCrossed){
ES_Event Event;
Event.EventType = ObstacleMostlyCrossed;
PostStrategySM(Event);
listenToMostlyCrossed = false;
}
//printf("Zone 5\r\n");
return 5;
}
else if(listenToPostObstacleZoneOne && Ypos <= ZONE_ONE_FROM_ZONE_FIVE_STOP_Y && kart->kartNumber == our_kart.kartNumber){
ES_Event Event;
Event.EventType = ZoneOneStop;
PostStrategySM(Event);
listenToPostObstacleZoneOne = false;
}
//printf("Zone 1\r\n");
return 1;
}
static void updateOurKartStatus(void){
uint8_t gameStatusByte = getDataByte(GAME_STATUS_COM_INDEX,our_kart.game_status_byte);
//Update Number of Laps
uint8_t numLapsLeft = maskAndShiftByte (gameStatusByte, NUM_LAPS_LEFT_MASK, NUM_LAPS_LEFT_SHIFT);
if(our_kart.numLaps != numLapsLeft){
ES_Event ThisEvent;
ThisEvent.EventType = LapUpdate;
ThisEvent.EventParam = numLapsLeft;
PostStrategySM(ThisEvent);
our_kart.numLaps = numLapsLeft;
}
//Update Obstacle Status only do this until the obstacle has been made
if(our_kart.obstacleStatus == 0){
uint8_t obstacleStatus = maskAndShiftByte(gameStatusByte, OBSTACLE_STATUS_STATUS_MASK, OBSTACLE_STATUS_STATUS_SHIFT);
if(obstacleStatus!=our_kart.obstacleStatus){
ES_Event ThisEvent;
ThisEvent.EventType = ObstacleComplete;
PostStrategySM(ThisEvent);
our_kart.obstacleStatus = 1;
}
}
//Update TargetStatus
if(our_kart.targetStatus ==0){
uint8_t targetStatus = maskAndShiftByte (gameStatusByte, TARGET_STATUS_MASK, TARGET_STATUS_SHIFT);
//printf("\r0x%#08x = Game_Status_Byte, 0x%#08x = targetStatus\n", gameStatusByte, targetStatus);
if(targetStatus!=our_kart.targetStatus){
ES_Event ThisEvent;
ThisEvent.EventType = TargetComplete;
PostStrategySM(ThisEvent);
our_kart.targetStatus = 1;
}
}
//Update Run Status
ES_Event ThisEvent;
uint8_t status = maskAndShiftByte (gameStatusByte, RUN_STATUS_MASK, RUN_STATUS_SHIFT);
if(status!= RunStatus){
RunStatus = status;
if(status == 0x01){
ThisEvent.EventType = FlagDropped;
PostStrategySM(ThisEvent);
HWREG(GPIO_PORTB_BASE +(GPIO_O_DATA + ALL_BITS))|= (BIT3HI);
}
else if(status ==0x02){
ThisEvent.EventType = CautionFlag;
PostStrategySM(ThisEvent);
PostTurningFSM(ThisEvent);
HWREG(GPIO_PORTB_BASE +(GPIO_O_DATA + ALL_BITS))&= ~(BIT3HI);
}
else if(status == 0x03){
ThisEvent.EventType = RaceOver;
PostStrategySM(ThisEvent);
PostTurningFSM(ThisEvent);
HWREG(GPIO_PORTB_BASE +(GPIO_O_DATA + ALL_BITS))&= ~(BIT3HI);
}
}
}
static void updateOurKartStatus(){
currentByte = getDataByte(GAME_STATUS_COMMAND_INDEX,(our_kart.kartNumber+GAME_STATUS_BYTE_INDEX));
//Update Number of Laps
uint8_t numLapsLeft = maskAndShiftByte (currentByte, NUM_LAPS_LEFT_MASK, NUM_LAPS_LEFT_SHIFT);
if(our_kart.numLaps != numLapsLeft){
ES_Event ThisEvent;
ThisEvent.EventType = LAP_UPDATE;
ThisEvent.EventParam = numToTranslate;
PostStrategySM(ThisEvent);
our_kart.numLaps = numLapsLeft;
}
//Update Obstacle Status only do this until the obstacle has been made
if(our_kart.obstacleStatus == 0){
uint8_t obstacleStatus = maskAndShiftByte(currentByte, OBSTACLE_STATUS_STATUS_MASK, OBSTACLE_STATUS_STATUS_SHIFT);
if(obstacleStatus!=our_kart.obstacleStatus){
ES_Event ThisEvent;
ThisEvent.EventType = OBSTACLE_COMPLETE;
PostStrategySM(ThisEvent);
our_kart.obstacleStatus = 1;
}
}
//Update TargetStatus
if(our_kart.targetStatus ==0){
uint8_t targetStatus = maskAndShiftByte (currentByte, TARGET_STATUS_MASK, TARGET_STATUS_SHIFT);
if(targetStatus!=our_kart.targetStatus){
ES_Event ThisEvent;
ThisEvent.EventType = TARGET_COMPLETE;
PostStrategySM(ThisEvent);
our_kart.targetStatus = 1;
}
}
//Update Run Status
ES_Event ThisEvent;
uint8_t runStatus = maskAndShiftByte (currentByte, RUN_STATUS_MASK, RUN_STATUS_SHIFT);
if(runStatus == 0x01){
ThisEvent.EventType = FLAG_DROPPED;
PostStrategySM(ThisEvent);
}
else if(runStatus ==0x02){
ThisEvent.EventType = CAUTION_FLAG;
PostStrategySM(ThisEvent);
}
else if(runStatus == 0x03){
ThisEvent.EventType = RACE_OVER;
PostStrategySM(ThisEvent);
}
}
/**
* Calculates the time between consecutive rising edges on PC4. This is
* the interrupt service routine (ISR).
*/
void BeaconSenseResponse(void) {
//printf("BSR\r\n"); //****************************************************************************
uint32_t thisCapture;
/* Start by clearing the source of the interrupt, the input capture event */
HWREG(WTIMER0_BASE+TIMER_O_ICR) = TIMER_ICR_CAECINT;
thisCapture = HWREG(WTIMER0_BASE+TIMER_O_TAR);
period = thisCapture - lastCapture; // add to periodSum
/* Update lastCapture to prepare for the next edge */
lastCapture = thisCapture;
/* Send a BeaconSensed event */
if(period >=targetPeriodMinus && period <= targetPeriodPlus){
ES_Event ThisEvent;
ThisEvent.EventType = BeaconDetected;
PostStrategySM(ThisEvent);
/* Mask the interrupt so that it doesn't call the ISR again */
maskBeaconInterrupt(true);
}
//printf("B\r\n");
}
/****************************************************************************
Function
Check4Keystroke
Parameters
None
Returns
bool: true if a new key was detected & posted
Description
checks to see if a new key from the keyboard is detected and, if so,
retrieves the key and posts an ES_NewKey event to TestHarnessService0
Notes
The functions that actually check the serial hardware for characters
and retrieve them are assumed to be in ES_Port.c
Since we always retrieve the keystroke when we detect it, thus clearing the
hardware flag that indicates that a new key is ready this event checker
will only generate events on the arrival of new characters, even though we
do not internally keep track of the last keystroke that we retrieved.
Author
J. Edward Carryer, 08/06/13, 13:48
****************************************************************************/
bool Check4Keystroke(void)
{
if ( IsNewKeyReady() ) // new key waiting?
{
ES_Event ThisEvent;
uint8_t keyPressed = GetNewKey();
// test distribution list functionality by sending the 'L' key out via
// a distribution list.
//PostToStrategy
if(keyPressed == 'a')
{
ThisEvent.EventType = GET_KEYPRESS_STATUS;
PostStrategySM(ThisEvent);
}
if(keyPressed == 'c')
{
ThisEvent.EventType = POTENTIAL_POLL_STATION;
PostStrategySM(ThisEvent);
}
else if(keyPressed == 'g')
{
ThisEvent.EventType = FOLLOW_LINE;
PostStrategySM(ThisEvent);
}
else if(keyPressed == 's')
{
ThisEvent.EventType = STOP_NOW_CHANGE_TO_CAPTURE;
PostStrategySM(ThisEvent);
}
else if (keyPressed == 'p')
{
//Activate shooter
ThisEvent.EventType = SHOOT_NOW;
PostStrategySM(ThisEvent);
}
/*
else if(keyPressed == 'h')
{
ThisEvent.EventType = EOT_TIMEOUT;
PostStatusPAC(ThisEvent);
}
else if(keyPressed == 'g')
{
ThisEvent.EventType = ES_TIMEOUT;
PostStatusPAC(ThisEvent);
}*/
/*else if(keyPressed == 'r')
{
ThisEvent.EventType = CAPTURE_STATION_NOW;
ThisEvent.EventParam = 9;
PostCampaigningSM(ThisEvent);
}*/
return true;
}
return false;
}
/****************************************************************************
Function
RunSendBytesStatus
Parameters
ES_Event: the event to process
Returns
ES_Event: an event to return
Description
add your description here
Notes
uses nested switch/case to implement the machine.
Author
J. Edward Carryer, 2/11/05, 10:45AM
****************************************************************************/
ES_Event RunSendBytesStatus( ES_Event CurrentEvent )
{
bool MakeTransition = false;/* are we making a state transition? */
SendBytesState_t NextState = CurrentState;
ES_Event EntryEventKind = { ES_ENTRY, 0 };// default to normal entry to new state
ES_Event ReturnEvent = CurrentEvent; // assume we are not consuming event
switch ( CurrentState )
{
case WAITING_SENDBYTES : // If current state is WAITING
// Execute During function for WAITING. ES_ENTRY & ES_EXIT are
// processed here allow the lower level state machines to re-map
// or consume the event
CurrentEvent = DuringWaiting(CurrentEvent);
//process any events
if ( CurrentEvent.EventType != ES_NO_EVENT ) //If an event is active
{
switch (CurrentEvent.EventType)
{
case RETURN_STATUS : //If event is RETURN_STATUS
// Execute action function for state one : event one
NextState = SENDING_SENDBYTES;//Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
EntryEventKind.EventType = ES_ENTRY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
//This is a status request
isStatus = true;
PostStatusPAC(CurrentEvent);
break;
case RETURN_REQUEST : //If event is RETURN_STATUS
// Execute action function for state one : event one
NextState = SENDING_SENDBYTES;//Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
EntryEventKind.EventType = ES_ENTRY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
PostStatusPAC(CurrentEvent);
break;
case RETURN_QUERY : //If event is RETURN_STATUS
// Execute action function for state one : event one
NextState = SENDING_SENDBYTES;//Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
EntryEventKind.EventType = ES_ENTRY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
PostStatusPAC(CurrentEvent);
break;
case RETURN_PSEUDO_QUERY : //If event is RETURN_STATUS
// Execute action function for state one : event one
NextState = SENDING_SENDBYTES;//Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
EntryEventKind.EventType = ES_ENTRY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
isPseudo = true;
PostStatusPAC(CurrentEvent);
break;
}
}
break;
case SENDING_SENDBYTES: // If current state is SENDING
// Execute During function for SENDING. ES_ENTRY & ES_EXIT are
// processed here allow the lower level state machines to re-map
// or consume the event
CurrentEvent = DuringSending(CurrentEvent);
uint8_t freqCode;
//process any events
if ( CurrentEvent.EventType != ES_NO_EVENT ) //If an event is active
{
switch (CurrentEvent.EventType)
{
case RETURN_STATUS : //If event is GET_STATUS
#ifdef DEBUG_SENDBYTES
printf("\rSending status\r\n");
#endif
for (uint8_t i = 0; i < 5; i++)
{
WriteFIFO(getStatus[i]);
#ifdef DEBUG_SENDBYTES
printf("%x\r\n",getStatus[i]);
#endif
}
//Enable the NVIC interrupt for the SSI when starting to transmit (or receive?)
HWREG(NVIC_BASE+EN0) |= BIT7HI; //Interrupt 7 for SSI0
// Execute action function for state one : event one
NextState = WAITING4EOT;//Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
EntryEventKind.EventType = ES_ENTRY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
break;
case RETURN_REQUEST : //If event is GET_STATUS
freqCode = (uint8_t)CurrentEvent.EventParam;
uint8_t myColor = getMyColor();
uint8_t colorCode = ((myColor << 4) | (myColor << 5));
getRequest[0] = 0x80 | freqCode | colorCode;
#ifdef DEBUG_SENDBYTES
printf("\rCurrent Request\r\n");
#endif
for (uint8_t i = 0; i < 5; i++)
{
WriteFIFO(getRequest[i]);
#ifdef DEBUG_SENDBYTES
printf("%x\r\n",getRequest[i]);
#endif
}
//Enable the NVIC interrupt for the SSI when starting to transmit (or receive?)
HWREG(NVIC_BASE+EN0) |= BIT7HI; //Interrupt 7 for SSI0
// Execute action function for state one : event one
NextState = WAITING4EOT;//Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
EntryEventKind.EventType = ES_ENTRY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
break;
case RETURN_QUERY : //If event is GET_STATUS
#ifdef DEBUG_SENDBYTES
printf("\rSending\r\n");
#endif
for (uint8_t i = 0; i < 5; i++)
{
WriteFIFO(getQuery[i]);
#ifdef DEBUG_SENDBYTES
printf("%x\r\n",getQuery[i]);
#endif
}
//Enable the NVIC interrupt for the SSI when starting to transmit (or receive?)
HWREG(NVIC_BASE+EN0) |= BIT7HI; //Interrupt 7 for SSI0
// Execute action function for state one : event one
NextState = WAITING4EOT;//Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
EntryEventKind.EventType = ES_ENTRY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
break;
case RETURN_PSEUDO_QUERY : //If event is GET_STATUS
#ifdef DEBUG_SENDBYTES
printf("\rSending\r\n");
#endif
for (uint8_t i = 0; i < 5; i++)
{
WriteFIFO(getQuery[i]);
#ifdef DEBUG_SENDBYTES
printf("%x\r\n",getQuery[i]);
#endif
}
//Enable the NVIC interrupt for the SSI when starting to transmit (or receive?)
HWREG(NVIC_BASE+EN0) |= BIT7HI; //Interrupt 7 for SSI0
// Execute action function for state one : event one
NextState = WAITING4EOT;//Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
EntryEventKind.EventType = ES_ENTRY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
break;
}
}
break;
case WAITING4EOT : // If current state is WAITING4EOT
// Execute During function for SENDING. ES_ENTRY & ES_EXIT are
// processed here allow the lower level state machines to re-map
// or consume the event
CurrentEvent = DuringWaiting4EOT(CurrentEvent);
//process any events
if ( CurrentEvent.EventType != ES_NO_EVENT ) //If an event is active
{
switch (CurrentEvent.EventType)
{
case EOT_TIMEOUT : //If event is GET_STATUS
#ifdef DEBUG_SENDBYTES
if(!isStatus)
{printf("\rReading result\r\n");
}
#endif
for (uint8_t i = 0; i < 5; i++)
{
readdata[i] = ReadFIFO();
#ifdef DEBUG_SENDBYTES
if(!isStatus){printf("\r%x\r\n",readdata[i]);}
#endif
}
// Execute action function for state one : event one
NextState = WAITING4TIMEOUT;//Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
EntryEventKind.EventType = ES_ENTRY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
ES_Timer_InitTimer(EOTTimer,2);
break;
}
}
break;
case WAITING4TIMEOUT : // If current state is WAITING4TIMEOUT
// Execute During function for SENDING. ES_ENTRY & ES_EXIT are
// processed here allow the lower level state machines to re-map
// or consume the event
CurrentEvent = DuringWaiting4Timeout(CurrentEvent);
//process any events
if ( CurrentEvent.EventType != ES_NO_EVENT ) //If an event is active
{
switch (CurrentEvent.EventType)
{
case ES_TIMEOUT:
// Execute action function for state one : event one
NextState = WAITING_SENDBYTES;//Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
EntryEventKind.EventType = ES_ENTRY;
// optionally, consume or re-map this event for the upper
// level state machine
ES_Event CompletedEvent;
CompletedEvent.EventType = PAC_COMM_COMPLETE;
for (uint8_t i= 0; i < 5; i++)
{
CompletedEvent.EventArray[i] = readdata[i];
}
//If this is a status request, send back to only Strategy
//Otherwise, send to only campaigning
if(isStatus)
{
PostStrategySM(CompletedEvent);
isStatus = false;
}
else if(isPseudo)
{
isPseudo = false;
}
else
{
//return or query request returned to
//campagin
PostCampaigningSM(CompletedEvent);
}
break;
}
}
break;
// repeat state pattern as required for other states
}
// If we are making a state transition
if (MakeTransition == true)
{
// Execute exit function for current state
CurrentEvent.EventType = ES_EXIT;
RunSendBytesStatus(CurrentEvent);
CurrentState = NextState; //Modify state variable
// Execute entry function for new state
// this defaults to ES_ENTRY
RunSendBytesStatus(EntryEventKind);
}
return(ReturnEvent);
}
