/*
* function IR_Sample is to be called from an interrupt
* reads value from ADC and stores in buffer
* only samples when IR_Sample_Count = the Global variable IR sample rate set by user
* stores a number of values in buffer according to Global variable IR sample per Estimate
* when all samples taken sets Sample_Finished flag to 1
*/
void IR_Sample(void)
{
IR_Sample_count++;
if(IR_Sample_count == (GLOBAL_IRsampleR))
{
IR_Sample_count = 0;
switchChannels(SIDE_IR);
*S_IR = doADC();
S_IR++;
IR_count++;
if(IR_count == (GLOBAL_IRsampleE))
{
S_IR = &Side_IR_Buff[0];
IR_count = 0;
Sample_Finished = 1;
}
}
}
//#pragma code highPriorityInterruptAddress=0x0008
//void high_interrupt(void)
//{
// _asm GOTO highPriorityIsr _endasm
//}
//
//#pragma code
void main(void){
//Default
TRISD = 0x00; //set port D signals to output
menu_ref_1=1;
menu_ref_2=0;
/*zone of disgust*/
values[MAXSPEED]=100; //Max speed
values[PIDGAINS]=100; //PID Gains
values[MAXYAW]=100; //Max Yaw
values[IRSAMPE]=10; //ir_samp_e;
values[IRSAMPR]=20; //ir_samp_r;
values[IRRAW]=60; //ir_raw
values[IRAVG]=10; //ir_avg;
/*****************/
setupSerial();
Lcd_Init();
ADC_setup();
Button_Setup();
welcome();
LCD_disp(menu_ref_1, menu_ref_2);
RUN=0;
while(1){
//NORMAL OPERATION
while(RUN==0){
if(PORTDbits.RD0 == 0)
{
mode_button = 1;
}
if(PORTDbits.RD1 == 0)
{
motor_button = 1;
}
if (mode_button==1){ //Mode change sequence
checkMode(menu);
menu_ref_2=0; //Default menu ref, should only be SPEED
delayms(200);
mode_button=0;
LCD_disp(menu_ref_1, menu_ref_2);
}
delayms(200); //Used to prevent double tapping
//possibly new function
switchChannels(0);
joy_x = doADC();
switchChannels(1);
joy_y = doADC();
if(menu_ref_1==MANUAL) //IF IN MANUAL
{
if(joy_x<=LEFT){ //User pushes right joystick left
if(values[menu_ref_2]>0){
values[menu_ref_2]=values[menu_ref_2]-5; //decrement value by 5%
GLOBAL_MAX_SPEED = values[menu_ref_2];
sendMaxSpeed();
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(200); //Delay to prevent flickering, and also to prevent 100-0 increments
}
else if (joy_x>=RIGHT){ //User pushes right joystick right
if(values[menu_ref_2]<100){
values[menu_ref_2]=values[menu_ref_2]+5; //increment value by 5%
GLOBAL_MAX_SPEED = values[menu_ref_2];
sendMaxSpeed();
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(200);
}
}
else if(menu_ref_1==FACTORY){ //IF IN FACTORY MODE
if (joy_y>=UP){ //User pushes left joystick UP
//Circular selection
if(menu_ref_2==0){
menu_ref_2=4;
}
else{
menu_ref_2--; //switched the order of this to prevent overflow
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(250); //Arbitrary delay of 250 milliseconds
}
else if (joy_y<=DOWN){ //User pushes left joystick DOWN
menu_ref_2++;
//Circular selection
if(menu_ref_2>=7){
menu_ref_2=1;
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(250);
}
else if (joy_x<=LEFT){ //User pushes right joystick left
if(values[menu_ref_2]>0){
values[menu_ref_2]=values[menu_ref_2]-5; //decrement value by 5%
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(255);
delayms(200);
}
else if (joy_x>=RIGHT){ //User pushes right joystick right
if(values[menu_ref_2]<100){
values[menu_ref_2]=values[menu_ref_2]+5; //decrement value by 5%
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(255);
delayms(200);
}
}
//All other menu_ref_1's do not have values displayed
if (motor_button==1){
motor_button=0;
RUN=1;
}
//send here
}
/*Menu on setup*/
if (RUN==1){
on_setup();
GLOBAL_RUN = RUN;
sendRun();
//MOTOR ON GOES AFTER
motor_button=0;
}
/*MOTOR ON BEHAVIOUR*/
while(RUN==1){
if(PORTDbits.RD1 == 0)
{
motor_button = 1;
}
if (motor_button==1){ //At interrupt, stop motor and return to menu
motor_button=0;
RUN=0;
GLOBAL_RUN = RUN;
sendRun();
}
switchChannels(0);
//GLOBAL_VELOCITY = doADC(); GLOBAL_VELOCITY = doADC() //Get joystick values
joy_y = doADC();
GLOBAL_VELOCITY = joy_y;
switchChannels(1);
joy_x = doADC();
GLOBAL_OMEGA = joy_x;
sendVelocity();
sendOmega();
//send command here
}
/*MOTOR OFF MESSAGE*/
RUN=0;
//MOTOR OFF FUNCTION GOES BEFORE MESSAGE
LCD_title(t5); //"Whoa!"
delays(2); //safety delay
LCD_disp(menu_ref_1, menu_ref_2); //Return to normal display
}
}
void *client_handler(void *fd) {
struct USER user = *(struct USER *)fd;
struct PACKET packet;
struct UNODE *curr;
struct CNODE *channelIterator;
size_t bytes, sent;
struct PACKET response;
while(1) {
bytes = recv(user.socketfd, (void *)&packet, sizeof(struct PACKET), 0);
if(!bytes) {
fprintf(stderr, "Connection lost from [%d] %s...\n", user.socketfd, user.alias);
removeUser(&user);
break;
}
printf("[%d] %s %s %s %s\n", user.socketfd, packet.option, user.channelAlias, packet.senderAlias, packet.message);
if(!strcmp(packet.option, "alias")) {
printf("Set alias to %s\n", packet.senderAlias);
channelIterator = channels_find(&channels, user.channelAlias);
struct CHANNEL *channel = &channelIterator->channel;
pthread_mutex_lock(&channel->channel_mutex);
for(curr = channel->head; curr != NULL; curr = curr->next) {
if(compare(&curr->user, &user) == 0) {
strcpy(curr->user.alias, packet.senderAlias);
strcpy(user.alias, packet.senderAlias);
break;
}
}
pthread_mutex_unlock(&channel->channel_mutex);
memset(&response, 0, sizeof(struct PACKET));
strcpy(response.option, "alias-ok");
strcpy(response.message, user.alias);
send(user.socketfd, (void *)&response, sizeof(struct PACKET), 0);
}
else if (!strcmp(packet.option, "create")) {
pthread_mutex_lock(&channels.channels_mutex);
if (channels_contains(&channels, packet.message)) {
sendError("Channel already exists.", &user);
}
else {
struct CHANNEL newChannel;
channel_init(&newChannel);
strncpy(newChannel.alias, packet.message, ALIAS_LEN);
channels_insert(&channels, &newChannel);
}
pthread_mutex_unlock(&channels.channels_mutex);
}
else if (!strcmp(packet.option, "join")) {
switchChannels(user.channelAlias, packet.message, &user);
}
else if (!strcmp(packet.option, "leave")) {
switchChannels(user.channelAlias, DEFAULT_CHANNEL_ALIAS, &user);
}
else if(!strcmp(packet.option, "send")) {
pthread_mutex_lock(&channels.channels_mutex);
channelIterator = channels_find(&channels, user.channelAlias);
struct CHANNEL *currentChannel = &channelIterator->channel;
pthread_mutex_unlock(&channels.channels_mutex);
pthread_mutex_lock(¤tChannel->channel_mutex);
for(curr = currentChannel->head; curr != NULL; curr = curr->next) {
if(!compare(&curr->user, &user))
continue;
struct PACKET spacket;
memset(&spacket, 0, sizeof(struct PACKET));
strcpy(spacket.option, "msg");
strcpy(spacket.senderAlias, user.alias);
strcpy(spacket.message, packet.message);
sent = send(curr->user.socketfd, (void *)&spacket, sizeof(struct PACKET), 0);
}
pthread_mutex_unlock(¤tChannel->channel_mutex);
}
else if(!strcmp(packet.option, "exit")) {
printf("[%d] %s has disconnected...\n", user.socketfd, user.alias);
removeUser(&user);
break;
}
else {
fprintf(stderr, "Garbage data from [%d] %s...\n", user.socketfd, user.alias);
}
}
close(user.socketfd);
return NULL;
}
