bool S013010C_Aaron_Smith_Tank::RotateHeadingToTarget(Vector2D targetPos)
{
Vector2D toTarget = Vec2DNormalize(GetCentralPosition() - targetPos);
//Determine the angle between the heading vector and the target.
double angle = atan2(toTarget.y - mHeading.y,toTarget.x - mHeading.x);
//cout << angle << endl;
angle *= (180 / Pi);
//Return true if the player is facing the target.
/*if (angle < -0.007)
return true;*/
if (angle < 0)
{
angle = 360 - (-angle);
}
RotateHeadingByRadian(angle, mHeading.Sign(toTarget));
return true;
}
void S013010C_Aaron_Smith_Tank::MoveInHeadingDirection(float deltaTime)
{
mSteeringForce = mSteering->Calculate(deltaTime);
//Acceleration = Force/Mass
//mSteeringForce.Truncate(GetMaxForce());
Vector2D acceleration = mSteeringForce / GetMass();
//Update velocity.
mVelocity += acceleration * deltaTime;
//Don't allow the tank does not go faster than max speed.
mVelocity.Truncate(GetMaxSpeed());
//cout << "mVelocity " << mVelocity.x << ":" << mVelocity.y << endl;
//cout << "VELOCITY " << mVelocity.Length() << endl;
if (mVelocity.Length() > 0.0001)
{
if (mVelocity.x != mVelocity.x || mVelocity.y != mVelocity.y) return;
Vector2D newPosition = GetPosition();
newPosition.x += mVelocity.x*deltaTime;
newPosition.y += (mVelocity.y)*deltaTime; //Y flipped as adding to Y moves down screen.
SetPosition(newPosition);
Vector2D ahead = Vec2DNormalize(mVelocity);
if (ahead.Length() == 0)
ahead = mHeading;
Vector2D cenPos = GetCentrePosition();
Vector2D aheadDistance = cenPos + ahead * 10 ;
RotateHeadingToTarget(aheadDistance);
// double dynamicLength = mVelocity.Length() / GetMaxSpeed();
Vector2D left = (mHeading - mSide) * 0.5;
Vector2D right = (mHeading + mSide) * 0.5;
mTopLeftCorner.x = left.x;
mTopLeftCorner.y = left.y;
mTopLeftCorner = Vec2DNormalize(mTopLeftCorner) * -10;
mTopLeftCorner += GetCentralPosition();
mTopRightCorner.x = right.x;
mTopRightCorner.y = right.y;
mTopRightCorner = Vec2DNormalize(mTopRightCorner) * -10;
mTopRightCorner += GetCentralPosition();
/*double angle = 70;
int ahead2Amount = 40;
int ahead1Amount = ahead2Amount / 2;
int side2Amount = 30;
int side1Amount = side2Amount / 2;
Vector2D fannedLeftAhead;
fannedLeftAhead.x = ahead.x * cos(DegsToRads(-angle)) - ahead.y * sin(DegsToRads(-angle));
fannedLeftAhead.y = ahead.x * sin(DegsToRads(-angle)) + ahead.y * cos(DegsToRads(-angle));
Vector2D fannedRightAhead;
fannedRightAhead.x = ahead.x * cos(DegsToRads(angle)) - ahead.y * sin(DegsToRads(angle));
fannedRightAhead.y = ahead.x * sin(DegsToRads(angle)) + ahead.y * cos(DegsToRads(angle));
mLeftAhead2Distance = (mTopLeftCorner) + (fannedLeftAhead * dynamicLength * side2Amount);
mLeftAhead1Distance = (mTopLeftCorner) + (fannedLeftAhead * dynamicLength * side1Amount);
mRightAhead2Distance = (mTopRightCorner)+(fannedRightAhead * dynamicLength * side2Amount);
mRightAhead1Distance = (mTopRightCorner)+(fannedRightAhead * dynamicLength * side1Amount);
mAhead1Distance = GetCentrePosition() + (ahead * dynamicLength * ahead1Amount );
mAhead2Distance = GetCentrePosition() + (ahead * dynamicLength * (ahead2Amount + 50));*/
//cout << "AHEAD " << mLeftAhead2Distance.x << ":" << mLeftAhead2Distance.y << endl;
//mAhead1Distance = mAhead2Distance * 0.5;
}
CreateFeelers(mRightSideFeelers, 90, 30, GetCentralPosition());
CreateFeelers(mLeftSideFeelers, -90, 30, GetCentralPosition());
CreateFeelers(mLeftFeelers, -40, 30, mTopLeftCorner);
CreateFeelers(mRightFeelers, 40, 30, mTopRightCorner); // 70
CreateFeelers(mStraightFeelers, 0, 40, mTopLeftCorner);
}
void UI_ListView_Handler(void *pvParameters)
{
ListView_Param_Struct* listView_Params = pvParameters;
Key_Message_Struct key_Message;
u16 pos[5];
char tempString[29];
int currentPos;
int currentRelativePos;
u16 itemStringLengths[4];
u16 lastSelected = listView_Params->DefaultPos;
u16 lengthTemp;
u16 posTemp;
u16 i, p, m;
u8 displayLineNumInSinglePage = listView_Params->ListLength > 5 ? 5 : listView_Params->ListLength;
// u16* dataNumPointer;
float * dataPointers[4];
bool updateNumTab = true;
bool firstDraw = true;
bool currentPosChanged = false;
xSemaphoreTake(OLEDRelatedMutex, portMAX_DELAY);
OLED_Clear();
OLED_DrawRect(0, 0, 127, 23 + 10 * (displayLineNumInSinglePage - 1), DRAW);
OLED_DrawHorizonalLine(13, 0, 127, 1);
xSemaphoreGive(OLEDRelatedMutex);
SetKeyBeatRate(listView_Params->FastSpeed);
/*Get the lengths of the itemNames*/
for (i = 0; i < listView_Params->ItemNum; i++)
{
itemStringLengths[i] = GetStringGraphicalLength(listView_Params->ItemNames[i]);
}
pos[0] = listView_Params->ItemPositions[0];
/*Make the positions of the itemStrings centural between two grids*/
for (i = 0; i < listView_Params->ItemNum; i++)
{
pos[i] = GetCentralPosition(listView_Params->ItemPositions[i],
listView_Params->ItemPositions[i + 1], itemStringLengths[i]) - 1;
}
for (i = 0; i < listView_Params->ItemNum; i++)
{
OLED_ShowAnyString(pos[i], 1, listView_Params->ItemNames[i], NotOnSelect, 12);
}
/*Draw vertical grids*/
for (i = 0; i < listView_Params->ItemNum; i++)
{
OLED_DrawVerticalLine(listView_Params->ItemPositions[i] - 2, 0, 23 + 10 * (displayLineNumInSinglePage - 1), 1);
}
/*Draw horizonal grids*/
for (i = 0; i < displayLineNumInSinglePage; i++)
{
OLED_DrawHorizonalLine(23 + 10 * i, 0, 127, 1);
}
if (listView_Params->Item1AutoNum == true)
{
for (i = 0; i < listView_Params->ItemNum - 1; i++)
{
dataPointers[i + 1] = listView_Params->DataPointers[i];
}
// dataNumPointer = listView_Params->DataAutoNumPointer;
// for (i = 0; i < listView_Params->ListLength; i++)
// {
// dataNumPointer[i] = listView_Params->Item1AutoNumStart + i*listView_Params->Item1AutoNumStep;
// }
}
else
{
for (i = 0; i < listView_Params->ItemNum; i++)
{
dataPointers[i] = listView_Params->DataPointers[i];
}
}
currentPos = listView_Params->DefaultPos;
currentRelativePos = 0;
ClearKeyEvent();
for (;;)
{
xSemaphoreTake(OLEDRelatedMutex, portMAX_DELAY);
if (listView_Params->Item1AutoNum == true) p = 1;
else p = 0;
for (i = 0; i < listView_Params->ItemNum - p; i++)
{
for (m = 0; m < displayLineNumInSinglePage; m++)
{
sprintf(tempString, listView_Params->sprintfCommandStrings[i], dataPointers[i + p][currentPos + m]);
lengthTemp = GetStringGraphicalLength(tempString);
posTemp = GetCentralPosition(listView_Params->ItemPositions[i + p],
listView_Params->ItemPositions[i + p + 1], lengthTemp);
OLED_ShowAnyString(posTemp - 1, 15 + 10 * m, tempString, NotOnSelect, 8);
}
}
if (listView_Params->Item1AutoNum == true)
{
if (currentPosChanged == true)
{
currentPosChanged = false;
for (i = 0; i < displayLineNumInSinglePage; i++)
OLED_FillRect(listView_Params->ItemPositions[0], 15 + 10 * i,
listView_Params->ItemPositions[1] - 4, 22 + 10 * i, 0);
firstDraw = true;
updateNumTab = true;
}
for (i = 0; i < displayLineNumInSinglePage; i++)
{
sprintf(tempString, "%d", listView_Params->Item1AutoNumStart + (currentPos + i)*listView_Params->Item1AutoNumStep);
lengthTemp = GetStringGraphicalLength(tempString);
posTemp = GetCentralPosition(listView_Params->ItemPositions[0],
listView_Params->ItemPositions[1], lengthTemp);
if (currentRelativePos != i&&lastSelected != i)
OLED_ShowAnyString(posTemp - 1, 15 + 10 * i, tempString, NotOnSelect, 8);
if (currentRelativePos == i&&updateNumTab == true)
{
if (firstDraw == false)
OLED_InvertRect(listView_Params->ItemPositions[0], 15 + 10 * lastSelected,
listView_Params->ItemPositions[1] - 4, 22 + 10 * lastSelected);
else firstDraw = false;
OLED_ShowAnyString(posTemp - 1, 15 + 10 * i, tempString, NotOnSelect, 8);
OLED_InvertRect(listView_Params->ItemPositions[0], 15 + 10 * i,
listView_Params->ItemPositions[1] - 4, 22 + 10 * i);
lastSelected = currentRelativePos;
updateNumTab = false;
}
}
}
OLED_Refresh_Gram();
xSemaphoreGive(OLEDRelatedMutex);
xQueueReceive(Key_Message, &key_Message, portMAX_DELAY);
if (key_Message.KeyEvent == RightClick || key_Message.AdvancedKeyEvent == RightContinous)
{
currentRelativePos++;
updateNumTab = true;
if (currentRelativePos >= displayLineNumInSinglePage)
{
currentPosChanged = true;
currentPos++;
if (currentPos + displayLineNumInSinglePage > listView_Params->ListLength)
{
currentPos = listView_Params->ListLength - displayLineNumInSinglePage;
currentPosChanged = false;
updateNumTab = false;
}
currentRelativePos = displayLineNumInSinglePage - 1;
}
}
else if (key_Message.KeyEvent == LeftClick || key_Message.AdvancedKeyEvent == LeftContinous)
{
currentRelativePos--;
updateNumTab = true;
if (currentRelativePos < 0)
{
currentPosChanged = true;
currentPos--;
if (currentPos < 0)
{
currentPos = 0;
currentPosChanged = false;
updateNumTab = false;
}
currentRelativePos = 0;
}
}
else if (key_Message.KeyEvent == MidDouble)
{
currentPos = 32767;
xQueueSend(UI_ListViewMsg, ¤tPos, portMAX_DELAY);
for(;;) vTaskDelay(portMAX_DELAY);
}
else if (key_Message.KeyEvent == MidClick)
{
xQueueSend(UI_ListViewMsg, ¤tPos, portMAX_DELAY);
for(;;) vTaskDelay(portMAX_DELAY);
}
}
}