/**
* \brief Entering the robot into the "Attachement mode"
* \detailed In this mode, the robot will look for a source of high heat and will follow it. If the robot doesn't find a source
* after a period of time, it goes into a panic mode, which is turning around itself forever until it detects a heat source and follows it.
* \param pvParameters - pointer to parameters
*/
static void attachmentMode(void * pvParameters) {
TickType_t xLastWakeTime = xTaskGetTickCount();
uint8_t distance = 0, panicModeCounter = 0, panicModeEnabledCount = 250;
uint16_t currentPulseWidthTicks = INITIAL_PULSE_WIDTH_TICKS;
// Initialize as search mode
ATTACHMENT_MODE = SEARCH_MODE;
// Head needs to be facing forward
motion_servo_start(MOTION_SERVO_CENTER);
rotateHead(¤tPulseWidthTicks);
while (1) {
// If we have new temperature data
if(hasNewValues == 1){
hasNewValues = 0;
// the highest temperature sensed is greater than the trigger temperature
if ((uint8_t) TRIGGER_TEMPERATURE < temperatures[indexOfHighestTemperature]) {
// We are tracking a heat source!
ATTACHMENT_MODE = TRACKING_MODE;
// reset panic mode counter
panicModeCounter = 0;
// get the distance to the heat source
distance = getDistance();
// if the highest heat source is not in the center
if (indexOfHighestTemperature != 4 || indexOfHighestTemperature != 5) {
// turn towards the heat source
turnToAngle(45 - 10 * indexOfHighestTemperature);
}
// get as close to target as possible
moveToTarget(distance);
// no temperature is higher than the trigger temperature
// increment the panic mode counter and check if we have reached the panic mode enabled count
} else if (panicModeEnabledCount <= panicModeCounter) {
ATTACHMENT_MODE = PANIC_MODE;
setMovementType(ROTATE_RIGHT_MOVEMENT);
} else {
++panicModeCounter;
// Stop movement because we're no longer tracking a heat source
setMovementType(STOP_MOVEMENT);
// No longer in tracking or panic mode
ATTACHMENT_MODE = SEARCH_MODE;
}
}
vTaskDelayUntil(&xLastWakeTime, ((30000 / panicModeEnabledCount) / portTICK_PERIOD_MS));
}
}
// Constructor
AboutWindow::AboutWindow(QWidget *parent) : QDialog(parent)
{
QGridLayout* layout = new QGridLayout( this );
// Make the graphics view fixed size
QGraphicsView* graphicsView = new QGraphicsView;
graphicsView->setHorizontalScrollBarPolicy( Qt::ScrollBarAlwaysOff );
graphicsView->setVerticalScrollBarPolicy( Qt::ScrollBarAlwaysOff );
graphicsView->setSizePolicy( QSizePolicy::Fixed, QSizePolicy::Fixed );
// Make the version text bold
QLabel* appVersion = new QLabel( "Cache Simulator, Version 0.0.2" );
QFont font;
font.setPointSize( 10 );
font.setBold( true );
font.setWeight( 75 );
appVersion->setFont( font );
QLabel* descrip = new QLabel( HELP_TEXT );
descrip->setWordWrap( true );
QSpacerItem* vSpace = new QSpacerItem( 20, 40, QSizePolicy::Minimum, QSizePolicy::Expanding );
// Add widgets to the layout
layout->addWidget( graphicsView, 0, 0, 2, 1 );
layout->addWidget( appVersion, 0, 2, 1, 1 );
layout->addWidget( descrip, 1, 2, 1, 1 );
layout->addItem( vSpace, 1, 1, 1, 1 );
// Position a picture of Dr. Plassmann's head over his shoulders
_plassHead = new QGraphicsPixmapItem;
_plassHead->setPixmap( QPixmap("PlassHead.png") );
_plassHead->setTransformOriginPoint( _plassHead->pixmap().width()/2,
_plassHead->pixmap().height()/2 );
_plassHead->setPos( 30, 8 );
_angle = 0;
// Tell the view which scene to show
QGraphicsScene* scene = new QGraphicsScene;
scene->addPixmap( QPixmap("PlassGround.png") );
scene->addItem( _plassHead );
graphicsView->setScene( scene );
// Set a timer to rotate Dr. Plassmann's head every 20 ms
_rotateTimer = new QTimer( this );
connect( _rotateTimer, SIGNAL(timeout()), this, SLOT(rotateHead()) );
_angle = 720;
_rotateTimer->start( 20 );
// Do not allow resizing
setFixedSize( this->sizeHint() );
}
/**
* \brief Make the head scan left to right, then right to left
* \param pvParameters - pointer to parameters
*/
static void moveHead(void *pvParameters) {
TickType_t xLastWakeTime;
xLastWakeTime = xTaskGetTickCount();
uint16_t currentPulseWidthTicks = INITIAL_PULSE_WIDTH_TICKS;
//init head motor
motion_servo_start(MOTION_SERVO_CENTER);
while (1) {
// Rotate the head to the next logical position given its current position
rotateHead(¤tPulseWidthTicks);
// Execute every x milliseconds
vTaskDelayUntil(&xLastWakeTime, (10 / portTICK_PERIOD_MS));
}
}
void callMotionFunc(int x, int y) {
switch(g_mouseCurrentButton) {
case LEFT :
rotateHead ((g_mousePreviousX - x) / 10.0);
nodHead ((g_mousePreviousY - y) / 10.0);
break;
case MIDDLE :
rotateZ ((g_mousePreviousX - x) / 10.0);
zoom ((g_mousePreviousY - y) / 10.0);
break;
case RIGHT :
translateY ((g_mousePreviousX - x) / 10.0);
translateX ((g_mousePreviousY - y) / 10.0);
break;
default:
break;
}
g_mousePreviousX = x;
g_mousePreviousY = y;
}
void callSpecialFunc(int key, int x, int y) {
int sens; /* sens positif ou negatif */
if(glutGetModifiers() == GLUT_ACTIVE_SHIFT) {
sens = -1;
} else {
sens = 1;
}
// Global modifications
switch(key) {
case GLUT_KEY_LEFT:
rotateHead(OBS_ROTATING_HEAD);
break;
case GLUT_KEY_RIGHT:
rotateHead(-OBS_ROTATING_HEAD);
break;
case GLUT_KEY_UP:
nodHead(-OBS_NODING_HEAD);
break;
case GLUT_KEY_DOWN:
nodHead(OBS_NODING_HEAD);
break;
case GLUT_KEY_F7:
if(scene->tabsource[0].allume == 0) {
scene->tabsource[0].allume = 1;
} else {
scene->tabsource[0].allume = 0;
}
break;
case GLUT_KEY_F8: /* switch lighting */
g_switchLight ^= 1;
break;
case GLUT_KEY_F9: /* turn on or off infinite light */
if(g_dayTime == DAY) {
g_dayTime = NIGHT;
charger_skybox(NIGHT);
scene->tabsource[0].allume = 0;
turnOnLight(g_scenes3DS[ANIMATED_KART_ID].lights[0]);
turnOnLight(g_scenes3DS[ANIMATED_KART_ID].lights[1]);
}
else if(g_dayTime == NIGHT) {
g_dayTime = DAY;
charger_skybox(DAY);
scene->tabsource[0].allume = 1;
turnOffLight(g_scenes3DS[ANIMATED_KART_ID].lights[0]);
turnOffLight(g_scenes3DS[ANIMATED_KART_ID].lights[1]);
}
redefineLights();
break;
case GLUT_KEY_F10:
switchLight(g_scenes3DS[ANIMATED_KART_ID].lights[0]);
switchLight(g_scenes3DS[ANIMATED_KART_ID].lights[1]);
redefineLights();
break;
case GLUT_KEY_F11: /* turn on or off kart's lights */
switchLight(g_scenes3DS[KART_ID].lights[0]);
switchLight(g_scenes3DS[KART_ID].lights[1]);
redefineLights();
break;
case GLUT_KEY_F12: /* rotate selon direction axe z */
rotateZ(sens * OBS_ROTATING_Z);
break;
}
// Is an object currently selected ?
if(g_currentObj < 0) { return ; }
// Local modification ==> On an object
switch (key) {
case GLUT_KEY_F1: /* avance selon direction axe x */
translate(&(scene->tabobj[g_currentObj]), TRANSLATING * sens, 0.0, 0.0);
break;
case GLUT_KEY_F2: /* avance selon direction axe y */
if(g_currentObj < 0) { return ; }
translate(&(scene->tabobj[g_currentObj]), 0.0, TRANSLATING * sens, 0.0);
break;
case GLUT_KEY_F3: /* avance selon direction axe z */
if(g_currentObj < 0) { return ; }
translate(&(scene->tabobj[g_currentObj]), 0.0, 0.0, TRANSLATING * sens);
break;
case GLUT_KEY_F4: /* rotate selon direction axe x */
if(g_currentObj < 0) { return ; }
rotate(&(scene->tabobj[g_currentObj]), ROTATING * sens, 0.0, 0.0);
break;
case GLUT_KEY_F5: /* rotate selon direction axe y */
if(g_currentObj < 0) { return ; }
rotate(&(scene->tabobj[g_currentObj]), 0.0, ROTATING * sens, 0.0);
break;
case GLUT_KEY_F6: /* rotate selon direction axe z */
if(g_currentObj < 0) { return ; }
rotate(&(scene->tabobj[g_currentObj]), 0.0, 0.0, ROTATING * sens);
break;
}
glutPostRedisplay();
}
