void cloudMain() {
uprint("\r\n ************************ BOOT UP (CLOUD) ************************ \r\n");
configureAudio();
audioReset();
configureIRSend();
int sta = configureRadio(0x0A00, 0x0000111111111111);
uprint_int("Configured radio: ", sta);
char rxbuf[2];
int damageToSend, i;
configureCloudLighting();
DELAY_MS(400);
playSound(CS_BOOT);
DELAY_MS(CS_BOOT_LEN);
while (1) {
uprint("Beginning of main loop");
cloudLightingSetMode(ALGM_BLINK);
uprint("Waiting for hammer message");
radioGetMessage(rxbuf, 1);
uprint("Got message");
playSound(CS_FIRE);
// Don't wait for this sound
// Enter manual lighting mode
cloudLightingSetMode(ALGM_OFF);
cloudLightingSetAll(BRIGHTNESS_MAX);
cloudLightingUpdate();
damageToSend = rxbuf[0];
for (i = 0; i < damageToSend; i ++) {
uprint("Sending damage packet");
sendDamagePacket();
if ((i % 10) == 0) {
cloudLightingSetAll(BRIGHTNESS_MAX);
} else if ((i % 5) == 0) {
cloudLightingSetAll(50);
}
cloudLightingUpdate();
}
uprint("Sending DONE message");
radioSendMessage("DONE", 0x0A00);
}
}
void TEST_RadioSend() {
char rx[2];
while (1) {
uprint("Enter character to send: ");
uart1_gets(rx, 1);
radioSendMessage(rx, 0x0A00);
uprint("Sent message!");
}
}
void posixRadioProcess(void)
{
const int flags = POLLRDNORM | POLLERR | POLLNVAL | POLLHUP;
struct pollfd pollfd = { sSockFd, flags, 0 };
if (poll(&pollfd, 1, 0) > 0 && (pollfd.revents & flags) != 0)
{
radioReceive();
}
if (sState == kStateTransmit && !sAckWait)
{
radioSendMessage();
}
}
void hammerMain() {
uprint("\r\n ######################## BOOT UP (HAMMER) ######################## \r\n");
initHammerState();
HammerState *hs = getHammerStatePtr();
configureAccelerometer();
configureAudio();
audioReset();
int sta = configureRadio(0x0A00, 0x0000111111111111);
uprint_int("Configured radio: ", sta);
configureIRReceive();
configureLightMCU_SPI();
updateLightMCUAll(hs->health, hs->charge);
char sendString[2] = "x";
char rxbuf[50];
char doneString[] = "DONE";
DELAY_MS(400);
playSound(HS_BOOT);
DELAY_MS(HS_BOOT_LEN);
while (1) {
uprint("Beginning of main loop");
hs->charge = 0;
updateLightMCUAll(hs->health, hs->charge);
uprint("Waiting for spin...");
startTrackingSpin();
while (!checkSpinComplete());
uprint("Spin complete!");
playSound(HS_SPINCOMPLETE);
DELAY_MS(HS_SPINCOMPLETE_LEN);
setVolume(5);
// Charging is really damn loud
// This sound is very long, we just start it playing
playSound(HS_CHARGING);
uprint("Charging ...");
hs->charge = 0;
hs->charging = 1;
while (hs->charge < 100) {
hs->charge ++;
updateLightMCUCharge(hs->charge);
DELAY_MS((0.9 * hs->health) + 10);
}
hs->charging = 0;
setVolume(8);
// Back to normal
playSound(HS_CHARGECOMPLETE);
DELAY_MS(HS_CHARGECOMPLETE_LEN);
uprint("Finished charging!");
uprint("Waiting for thrust...");
startTrackingThrust();
while (!checkThrustComplete());
setLightMCUHitAnim();
uprint("Thrust complete!");
playSound(HS_FIRE);
DELAY_MS(HS_FIRE_LEN);
setLightMCURainbow();
// Become invincible
disableIRReceive();
uprint("Sending radio message");
sendString[0] = hs->health;
radioSendMessage(sendString, 0x0A00);
uprint("Waiting for cloud message");
radioGetMessage(rxbuf, 50);
if (memcmp(rxbuf, doneString, 4) != 0) {
uprint("Invalid message from cloud!");
}
enableIRReceive();
uprint("Got cloud message");
setLightMCUOff();
DELAY_MS(30);
}
}
