void Dashboard::StartRunButtonClicked()
{
if (!run_in_progress)
{
// start the run
start_button->setText("Stop Run");
run_status->setText("<font color='green'>Running</font>");
for (int i = 0; i < NUMBER_OF_LAPS; i++)
{
lap_actual_time[i]->setText("<h2><font color='grey'>0:00</font></h2>");
}
run_in_progress = true;
current_lap = 0;
avgspeed_numerator = 0.0;
avgspeed_denominator = 0;
emit StartRun();
}
else
{
// stop the run
start_button->setText("Start Run");
run_status->setText("<font color='red'>Stopped</font>");
run_in_progress = false;
emit StopRun();
}
}
void ExplorationRun(void) {
int i;
if (pSegment.cnt != 0) {
switch (DispDotMatrixWait("There are recorded data. Continue?")) {
case SW_PRESS: return;
default: break;
}
}
// clear rSegment.
clrSegStruct = (char *) &rSegment;
for (i = 0; i < sizeof(rSegment); i++)
*clrSegStruct++ = 0;
// clear pSegment before recording data.
clrSegStruct = (char *) &pSegment;
for (i = 0; i < sizeof(pSegment); i++)
*clrSegStruct++ = 0;
StartBeep();
DispDotMatrix("GOGO");
DelaymSec(1500);
StartRun();
bExplorationFlag = TRUE;
// constant speed & acceleration
// SetRobotSpeedX(EXPLORATION_SPEED);
// SetRobotAccX(ACCELERATION);
SetMoveCommand(XSPEED, 100000, 0, EXPLORATION_SPEED, 0, ACCELERATION);
while (1) {
PrintRunStatus();
// prematurely terminate the run with switch press
if (bSWFlag) {
bExplorationFlag = FALSE;
bSWFlag = FALSE;
StopRun();
break;
}
if (bStopFlag) {
rSegment.totalDisp = curPos[XSPEED] / DIST_mm_oc(1);
StopRun();
ProcessData();
DispExplorationStats();
break;
}
}
}
VOID WINAPI ServiceMain(DWORD dwNumServicesArgs, LPSTR *lpServiceArgVectors)
{
LOG_TRACE();
if (1 < dwNumServicesArgs && 0 == strcmp("MediaBypass", lpServiceArgVectors[1]))
{
AppContextMgr::Instance().SetBypass(TRUE);
}
g_hSvcCtrl = RegisterServiceCtrlHandler(MY_SERVICE_NAME, ControlHandler);
if (NULL == g_hSvcCtrl)
{
LOG_RUN_ERROR("RegisterServiceCtrlHandler failed.");
return;
}
// SERVICE_START_PENDING
g_svc_status.dwServiceType = SERVICE_WIN32_OWN_PROCESS;
g_svc_status.dwCurrentState = SERVICE_START_PENDING;
g_svc_status.dwControlsAccepted = SERVICE_ACCEPT_STOP;
g_svc_status.dwWin32ExitCode = NO_ERROR;
g_svc_status.dwServiceSpecificExitCode = 0;
g_svc_status.dwCheckPoint = 0;
g_svc_status.dwWaitHint = 0;
SetServiceStatus(g_hSvcCtrl, &g_svc_status);
LOG_RUN_DEBUG("SetServiceStatus SERVICE_START_PENDING");
// 初始化SDK
int iRet = AppContextMgr::Instance().Init();
if (eLTE_SVC_ERR_SUCCESS != iRet)
{
LOG_RUN_ERROR("Init elte sdk failed.(%d)", iRet);
}
else
{
// SERVICE_RUNNING
g_svc_status.dwCurrentState = SERVICE_RUNNING;
SetServiceStatus(g_hSvcCtrl, &g_svc_status);
LOG_RUN_DEBUG("SetServiceStatus SERVICE_RUNNING");
// 开启业务监听
StartRun();
// 退出SDK
iRet = AppContextMgr::Instance().Exit();
if (eLTE_SVC_ERR_SUCCESS != iRet)
{
LOG_RUN_ERROR("Exit elte sdk failed.(%d)", iRet);
}
}
// SERVICE_STOPPED
g_svc_status.dwCurrentState = SERVICE_STOPPED;
SetServiceStatus(g_hSvcCtrl, &g_svc_status);
LOG_RUN_DEBUG("SetServiceStatus SERVICE_STOPPED");
}//lint !e818
void SetupJob ()
{
AllocArrays ();
InitCoords ();
InitVels ();
timeNow = nextSumTime = 0.;
collCount = crossCount = 0.;
StartRun ();
ScheduleEvent (0, MOL_LIMIT + 6, nextSumTime);
InitFreePath ();
}
void SetupJob ()
{
SetupFiles ();
AllocArrays ();
InitCoords ();
InitVels ();
timeNow = nextSumTime = 0.;
collCount = crossCount = 0.;
countGrid = 0;
nextSnapTime = intervalGrid;
StartRun ();
GridAverage (0);
ScheduleEvent (0, MOL_LIMIT + 6, nextSumTime);
ScheduleEvent (0, MOL_LIMIT + 7, nextSnapTime);
}
void SpeedTuning(void) {
int i, cnt = 0;
int16_t dist = 2500;
int16_t variable[4][2500];
DispDotMatrix(" ");
DelaymSec(1500);
StartRun();
SetRobotSpeedX(tuneSpeed);
SetRobotAccX(ACCELERATION);
while (markerCnt[RIGHT_SENSOR] != 1) {
if (bSWFlag) {
bSWFlag = FALSE;
StopRun();
return;
}
}
SetMoveCommand(XSPEED, dist, 0, tuneSpeed, tuneSpeed, ACCELERATION);
while (1) {
sprintf(s, "%04d", linePosition);
DispDotMatrix(s);
DelaymSec(1); // record every 1 msec
if (EndOfMove(XSPEED)) {
StartBeep();
break;
}
if (bStopFlag)
break;
if (bSWFlag) {
bSWFlag = FALSE;
break;
}
if (cnt <= 2500) {
variable[0][cnt] = linePosition;
variable[1][cnt] = alignmentSpeed;
variable[2][cnt] = posErr[WSPEED];
variable[3][cnt] = posPWM[WSPEED];
cnt++;
}
}
StartBeep();
StopRun();
sprintf(s, "%4d", cnt);
DispDotMatrixWait(s);
for (i = 0; i < cnt; i++) {
printf("%-4d %4d %4d %4d\n", variable[0][i], variable[1][i], variable[2][i], variable[3][i]);
}
StartBeep();
DispDotMatrixWait("Done");
}
void RecordSegment(void) {
int i, cnt = 0;
char s[5];
int16_t variable[2500];
// int16_t variable[2][2500];
// int16_t line_position_med[500], *med_sort;
// int a, b;
DispDotMatrix(" ");
DelaymSec(1500);
StartRun();
bRecordFlag = TRUE;
bSwapSide = TRUE;
SetRobotSpeedX(EXPLORATION_SPEED);
SetRobotAccX(ACCELERATION);
while (markerCnt[RIGHT_SENSOR] != 1) {
if (bSWFlag) {
bSWFlag = TRUE;
StopRun();
return;
}
}
while (1) {
sprintf(s, "%04d", linePosition);
DispDotMatrix(s);
DelaymSec(1); // record every 1 msec
if (cnt <= 2500) {
variable[cnt] = linePosition;
// variable[0][cnt] = gyroReading;
// variable[1][cnt] = PIDFeedback[WSPEED];
cnt++;
}
if (bStopFlag)
break;
if (bSWFlag) {
bSWFlag = FALSE;
break;
}
}
StartBeep();
StopRun();
bRecordFlag = FALSE;
bSwapSide = FALSE;
DispDotMatrixWait("Segment recorded successfully");
StartBeep();
clrscr();
sprintf(s, "%4d", cnt);
DispDotMatrixWait(s);
DispDotMatrix(" ");
// insertion sort (median)
// for (i = 0; i < cnt; i += 5) {
// med_sort = line_position+i;
//
// for (a = 1; a < 5; a++) {
// while (med_sort[a] < med_sort[a-1]) {
// b = med_sort[a];
// med_sort[a] = med_sort[a-1];
// med_sort[a-1] = b;
//
// a--;
//
// if (!a)
// break;
// }
// }
//
// line_position_med[i%5] = med_sort[2];
// }
for (i = 0; i < cnt; i++) {
printf("%-4d\n", variable[i]);
// printf("%-4d %-3d\n", variable[0][i], variable[1][i]);
// printf("%-3d\n", line_position_med[i]);
}
WaitSW();
}
void FastRun(int fastType) {
sSeg segment;
int index, *i = &segmentIndex;
char s[4];
if (pSegment.cnt == 0) {
DispDotMatrixWait("No data recorded");
return;
}
StartBeep();
DispDotMatrix("GOGO");
DelaymSec(1500);
bFastFlag = TRUE;
ComputeSpeed(fastType);
segment = pSegment;
segPtr = &segment;
segmentIndex = 0;
StartRun();
// SetRobotSpeedX(segment.topSpeed[*i]);
// SetRobotAccX(ACCELERATION);
SetMoveCommand(XSPEED, 1000, 0, segment.topSpeed[*i], segment.topSpeed[*i], ACCELERATION);
while (markerCnt[RIGHT_SENSOR] != 1) {
if (bSWFlag) {
bSWFlag = FALSE;
StopRun();
return;
}
}
StartRunTimer();
for (; *i < segment.cnt; (*i)++) {
sprintf(s, "%4d", *i);
DispDotMatrix(s);
WaitSyncFastRun();
if (MoveRobotFastRun(XSPEED, segment.length[*i], segment.brakeDist[*i], segment.topSpeed[*i],
segment.endSpeed[*i], ACCELERATION))
break; // switch break
// if (segment.bSyncFlag[*i]) {
// *i = markerCnt[LEFT_SENSOR] - 1;
// }
segment.curDisp += segment.length[*i];
if (bStopFlag) {
(*i)++;
break;
}
// StartBeep();
}
StopRunTimer();
StopRun();
align_Kp = 4;
align_Kd = 40;
sprintf(s, "%04d", runTime);
// DispDotMatrixWait(s);
WaitSW();
clrscr();
printf("segment cnt: %d i: %d\n", segment.cnt, *i);
printf("No. State Top Min Max Dist Length Actual Break Marker\n");
printf("--- ----- --- --- --- ---- ------ ------ ----- ------\n");
for (index = 0; index < *i; index++) {
printf("%3d %-9s %4dmm/s %4dmm/s %4dmm/s %4dmm %4dmm %4dmm %d %d\n", index, run_state[segment.state[index]],
segment.topSpeed[index], segment.actMinSpeed[index], segment.actMaxSpeed[index], segment.dist[index], segment.length[index],
segment.actDisp[index], segment.bActBreakFlag[index], segment.bMarkerBreakFlag[index]);
}
DispDotMatrixWait("Done");
}
void JustDied(Unit* )
{
StartRun();
}
