void AsebaVMResetCB(AsebaVMState *vm) {
leds_set_circle(0,0,0,0,0,0,0,0);
leds_set_body_rgb(0,0,0);
leds_set(LED_SOUND,0);
leds_set(LED_RC,0);
behavior_start(B_LEDS_ACC);
behavior_start(B_LEDS_NTC);
behavior_start(B_LEDS_MIC);
behavior_start(B_LEDS_PROX);
behavior_start(B_SOUND_BUTTON);
behavior_start(B_LEDS_MIC);
behavior_start(B_LEDS_RC5);
prox_disable_network();
memset(vm->variables, 0, vm->variablesSize*sizeof(sint16));
vmVariables.id = vmState.nodeId;
vmVariables.productid = PRODUCT_ID;
vmVariables.fwversion[0] = FW_VERSION;
vmVariables.fwversion[1] = FW_VARIANT;
}
static int behavior_switch(unsigned char id)
{
/* if the current behavior is done, dont
take into the account the priority and
dont stop it.
*/
if (!behavior_is_done())
{
if (prio_by_id(id) < prio_by_id(current_behavior.id))
return -1;
behavior_stop();
}
/* start the new one */
behavior_start(id);
return 0;
}
void AsebaVMResetCB(AsebaVMState *vm) {
leds_set_circle(0,0,0,0,0,0,0,0);
leds_set_body_rgb(0,0,0);
leds_set(LED_SOUND,0);
leds_set(LED_RC,0);
behavior_start(B_LEDS_ACC);
behavior_start(B_LEDS_NTC);
behavior_start(B_LEDS_MIC);
behavior_start(B_LEDS_PROX);
behavior_start(B_SOUND_BUTTON);
behavior_start(B_LEDS_MIC);
behavior_start(B_LEDS_RC5);
prox_disable_network();
events_flags[0] = 0;
events_flags[1] = 0;
memset(vm->variables, 0, vm->variablesSize*sizeof(int16_t));
vmVariables.id = vmState.nodeId;
vmVariables.productid = PRODUCT_ID;
vmVariables.fwversion[0] = FW_VERSION;
vmVariables.fwversion[1] = FW_VARIANT;
vmVariables.sd_present = !sd_user_open("_TESTSD");
sd_user_open(NULL);
}
void main(void)
{
sched_timer_t* light_timer;
sched_timer_t* dist_timer;
unsigned char is_light_disabled;
unsigned char is_dist_disabled;
osc_setup();
int_setup();
srf04_setup();
sched_setup();
behavior_setup();
/* sensor timers */
light_timer = sched_add_timer(2, on_light_timer, 1);
is_light_disabled = 0;
dist_timer = sched_add_timer(2, on_distance_timer, 1);
is_dist_disabled = 0;
/* default behaviour */
behavior_start(BEHAVIOR_ID_LAND_EXPLORER);
/* main loop */
sched_enable();
while (1)
{
/* sensors. order matters so that object
avoider takes priority over light tracker.
this can be removed as soon as behavior
priority is implemented.
*/
if (TIMER_MAP_ISSET(DISTANCE))
{
{
#define MIN_DISTANCE_VALUE 0x0a00 /* 20 cms */
unsigned int dist = srf04_get_distance(MIN_DISTANCE_VALUE);
if (dist <= MIN_DISTANCE_VALUE)
{
if (behavior_switch(BEHAVIOR_ID_OBJECT_AVOIDER) != -1)
{
sched_disable_timer(dist_timer);
is_dist_disabled = 1;
}
}
}
/* clear after the timer may have been disabled */
TIMER_MAP_CLEAR(DISTANCE);
}
if (TIMER_MAP_ISSET(LIGHT))
{
{
unsigned short light = adc_read(LIGHT_ADC_CHANNEL);
if ((light <= ADC_QUANTIZE_5_10(2.35)) || (light >= ADC_QUANTIZE_5_10(2.65)))
{
if (behavior_switch(BEHAVIOR_ID_LIGHT_TRACKER) != -1)
{
sched_disable_timer(light_timer);
is_light_disabled = 1;
}
}
}
TIMER_MAP_CLEAR(LIGHT);
}
/* schedule behavior */
behavior_next();
if (behavior_is_done())
{
/* reenable timer */
if (is_light_disabled)
{
sched_enable_timer(light_timer);
is_light_disabled = 0;
}
if (is_dist_disabled)
{
sched_enable_timer(dist_timer);
is_dist_disabled = 0;
}
/* switch to default behavior */
behavior_switch(BEHAVIOR_ID_DEFAULT);
}
}
}
