503 lines
16 KiB
C
503 lines
16 KiB
C
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/*
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* c't-Sim - Robotersimulator fuer den c't-Bot
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*
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* This program is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General
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* Public License as published by the Free Software
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* Foundation; either version 2 of the License, or (at your
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* option) any later version.
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* This program is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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* You should have received a copy of the GNU General Public
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* License along with this program; if not, write to the Free
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* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
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* MA 02111-1307, USA.
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*
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*/
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/*! @file rc5.c
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* @brief RC5-Fernbedienung
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* Um RC5-Codes fuer eine eigene Fernbedienung anzupassen, reicht es diese
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* in eine Header-Datei auszulagern und anstatt der rc5code.h einzubinden.
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* Die Maskierung fuer die Auswertung der Codes nicht vergessen!
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* @author Benjamin Benz (bbe@heise.de)
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* @date 20.12.05
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*/
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#include "bot-logic/bot-logik.h"
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#include "map.h"
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#include "ir-rc5.h"
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#include "display.h"
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#include "motor-low.h"
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#include "rc5-codes.h"
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#include <stdlib.h>
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#ifdef RC5_AVAILABLE
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/*!
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* Dieser Typ definiert Parameter fuer RC5-Kommando-Code Funktionen.
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*/
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typedef struct {
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uint16 value1; /*!< Wert 1 */
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uint16 value2; /*!< Wert 2 */
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} RemCtrlFuncPar;
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/*! Dieser Typ definiert die RC5-Kommando-Code Funktion. */
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typedef void (*RemCtrlFunc)(RemCtrlFuncPar *par);
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/*! Dieser Typ definiert den RC5-Kommando-Code und die auszufuehrende Funktion. */
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typedef struct {
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uint16 command; /*!< Kommando Code */
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RemCtrlFunc func; /*!< Auszufuehrende Funktion */
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RemCtrlFuncPar par; /*!< Parameter */
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} RemCtrlAction;
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/*!
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* Diese Funktion setzt das Display auf eine andere Ausgabe.
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* @param par Parameter mit dem zu setzenden Screen.
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*/
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#ifdef DISPLAY_SCREENS_AVAILABLE
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static void rc5_screen_set(RemCtrlFuncPar *par);
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#endif
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#ifdef JOGDIAL
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/*!
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* Diese Funktion setzt die Geschwindigkeit auf den angegebenen Wert.
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* @param par Parameter mit den zu setzenden Geschwindigkeiten.
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*/
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static void rc5_bot_set_speed(RemCtrlFuncPar *par);
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#endif
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/*!
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* Diese Funktion aendert die Geschwindigkeit um den angegebenen Wert.
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* @param par Parameter mit den relativen Geschwindigkeitsaenderungen.
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*/
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#ifdef BEHAVIOUR_AVAILABLE
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static void rc5_bot_change_speed(RemCtrlFuncPar *par);
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#endif
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/*!
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* Diese Funktion wechselt zwischen verschiednen Verhalten
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* @param par Parameter mit den zu setzenden Geschwindigkeiten.
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*/
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void rc5_bot_next_behaviour(RemCtrlFuncPar *par);
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/*!
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* Diese Funktion stellt die Not-Aus-Funktion dar. Sie laesst den Bot anhalten
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* und setzt alle Verhalten zurueck.
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* @param par notwendiger Dummy-Parameter.
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*/
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static void rc5_emergency_stop(RemCtrlFuncPar *par);
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/*!
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* Verarbeitet die Zifferntasten in Abhaengigkeit vom eingestelltem Screen
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* @param par Parameter mit der betaetigten Zahlentaste.
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*/
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void rc5_number(RemCtrlFuncPar *par);
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#ifdef DISPLAY_BEHAVIOUR_AVAILABLE
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/*!
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* Diese Funktion setzt die Aktivitaeten der Verhalten nach der Auswahl.
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* Hierdurch erfolgt der Startschuss fuer Umschaltung der Verhalten
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*/
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#ifndef DISPLAY_DYNAMIC_BEHAVIOUR_AVAILABLE
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static void rc5_set_all_behaviours(void) ;
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#endif
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/*!
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* toggled ein Verhalten der Verhaltensliste an Position pos,
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* die Aenderung erfolgt nur auf die Puffervariable
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* @param i Verhaltens-Listenposition, entspricht der Taste 1-6 der gewaehlten Verhaltensseite
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*/
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static void rc5_toggle_behaviour_new(int8 i);
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#endif
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/*! Steuert den Servo an
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* @param par Parameter mit Servo-Nummer und -Position
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*/
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void rc5_bot_servo(RemCtrlFuncPar *par);
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uint16 RC5_Code; /*!< Letzter empfangener RC5-Code */
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/*! Fernbedienungsaktionen */
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static RemCtrlAction gRemCtrlAction[] = {
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/* RC5-Code, Funktion, Parameter */
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{ RC5_CODE_PWR, rc5_emergency_stop, { 0, 0 } },
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#ifdef BEHAVIOUR_AVAILABLE
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{ RC5_CODE_UP, rc5_bot_change_speed, { 10, 10 } },
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{ RC5_CODE_DOWN, rc5_bot_change_speed, { -10, -10 } },
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{ RC5_CODE_LEFT, rc5_bot_change_speed, { 0, 10 } },
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{ RC5_CODE_RIGHT, rc5_bot_change_speed, { 10, 0 } },
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#endif
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{ RC5_CODE_0, rc5_number, { 0, 0 } },
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{ RC5_CODE_1, rc5_number, { 1, 1 } },
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{ RC5_CODE_2, rc5_number, { 2, 2 } },
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{ RC5_CODE_3, rc5_number, { 3, 3 } },
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{ RC5_CODE_4, rc5_number, { 4, 4 } },
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{ RC5_CODE_5, rc5_number, { 5, 5 } },
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{ RC5_CODE_6, rc5_number, { 6, 6 } },
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{ RC5_CODE_7, rc5_number, { 7, 7 } },
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{ RC5_CODE_8, rc5_number, { 8, 8 } },
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{ RC5_CODE_9, rc5_number, { 9, 9 } },
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{ RC5_CODE_I_II, rc5_bot_next_behaviour, { 0, 0 } },
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#ifdef BEHAVIOUR_SERVO_AVAILABLE
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{ RC5_CH_PLUS, rc5_bot_servo, { SERVO1, DOOR_CLOSE } },
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{ RC5_CH_MINUS, rc5_bot_servo, { SERVO1, DOOR_OPEN } },
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#endif
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#ifdef DISPLAY_SCREENS_AVAILABLE
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{ RC5_CODE_RED, rc5_screen_set, { 0, 0 } },
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{ RC5_CODE_GREEN, rc5_screen_set, { 1, 0 } },
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{ RC5_CODE_YELLOW, rc5_screen_set, { 2, 0 } },
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{ RC5_CODE_BLUE, rc5_screen_set, { 3, 0 } },
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{ RC5_CODE_TV_VCR, rc5_screen_set, { DISPLAY_SCREEN_TOGGLE, 0 } },
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#endif
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#ifdef JOGDIAL
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{ RC5_CODE_JOG_MID, rc5_bot_set_speed, { BOT_SPEED_MAX, BOT_SPEED_MAX } },
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{ RC5_CODE_JOG_L1, rc5_bot_set_speed, { BOT_SPEED_FAST, BOT_SPEED_MAX } },
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{ RC5_CODE_JOG_L2, rc5_bot_set_speed, { BOT_SPEED_NORMAL, BOT_SPEED_MAX } },
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{ RC5_CODE_JOG_L3, rc5_bot_set_speed, { BOT_SPEED_SLOW, BOT_SPEED_MAX } },
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{ RC5_CODE_JOG_L4, rc5_bot_set_speed, { BOT_SPEED_STOP, BOT_SPEED_MAX } },
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{ RC5_CODE_JOG_L5, rc5_bot_set_speed, { -BOT_SPEED_NORMAL, BOT_SPEED_MAX } },
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{ RC5_CODE_JOG_L6, rc5_bot_set_speed, { -BOT_SPEED_FAST, BOT_SPEED_MAX } },
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{ RC5_CODE_JOG_L7, rc5_bot_set_speed, { -BOT_SPEED_MAX, BOT_SPEED_MAX } },
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{ RC5_CODE_JOG_R1, rc5_bot_set_speed, { BOT_SPEED_MAX, BOT_SPEED_FAST } },
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{ RC5_CODE_JOG_R2, rc5_bot_set_speed, { BOT_SPEED_MAX, BOT_SPEED_NORMAL } },
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{ RC5_CODE_JOG_R3, rc5_bot_set_speed, { BOT_SPEED_MAX, BOT_SPEED_SLOW } },
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{ RC5_CODE_JOG_R4, rc5_bot_set_speed, { BOT_SPEED_MAX, BOT_SPEED_STOP } },
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{ RC5_CODE_JOG_R5, rc5_bot_set_speed, { BOT_SPEED_MAX, -BOT_SPEED_NORMAL } },
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{ RC5_CODE_JOG_R6, rc5_bot_set_speed, { BOT_SPEED_MAX, -BOT_SPEED_FAST } },
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{ RC5_CODE_JOG_R7, rc5_bot_set_speed, { BOT_SPEED_MAX, -BOT_SPEED_MAX } }
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#endif /* JOGDIAL */
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};
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/*!
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* Diese Funktion setzt das Display auf eine andere Ausgabe.
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* Fuer die Verhaltensausgabe werden hier die Verhalten durchgeblaettert
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* @param par Parameter mit dem zu setzenden Screen.
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*/
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#ifdef DISPLAY_SCREENS_AVAILABLE
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static void rc5_screen_set(RemCtrlFuncPar *par) {
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if (par) {
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if (par->value1 == DISPLAY_SCREEN_TOGGLE) {
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#ifdef DISPLAY_BEHAVIOUR_AVAILABLE
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/* erst nachsehen, ob noch weitere Verhalten auf anderen Pages vorhanden sind */
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/* nur neuer Screen, wenn alle Verhalten angezeigt wurden */
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if ((display_screen == 2) && (another_behaviour_page())
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)
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behaviour_page++;
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else {
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display_screen ++;
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if (display_screen == 1) {
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behaviour_page = 1;
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#ifndef DISPLAY_DYNAMIC_BEHAVIOUR_AVAILABLE
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set_behaviours_equal();
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#endif
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}
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}
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#else
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display_screen ++;
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#endif
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}
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else
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{
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/* Screen direkt waehlen */
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#ifdef DISPLAY_BEHAVIOUR_AVAILABLE
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/* Screen direkt waehlen und Verhaltens-Puffervariablen abgleichen*/
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display_screen = par->value1;
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// bei dyn. Anzeige und Auswahl keine Ubernahme in Puffervariable benoetigt
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#ifndef DISPLAY_DYNAMIC_BEHAVIOUR_AVAILABLE
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if ((display_screen == 2)&& (behaviour_page == 1)) {
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set_behaviours_equal();
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}
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#endif
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behaviour_page = 1;
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#else
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/* Screen direkt waehlen */
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display_screen = par->value1;
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#endif
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}
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display_screen %= DISPLAY_SCREENS;
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display_clear();
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}
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}
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#endif
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#ifdef BEHAVIOUR_SERVO_AVAILABLE
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/*! Steuert den Servo an
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* @param par Parameter mit Servo-Nummer und -Position
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*/
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void rc5_bot_servo(RemCtrlFuncPar *par){
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bot_servo(0,par->value1,par->value2);
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}
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#endif
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/*!
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* Diese Funktion wechselt zwiaschen verschiednen Verhalten
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* @param par Parameter mit den zu setzenden Geschwindigkeiten.
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*/
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void rc5_bot_next_behaviour(RemCtrlFuncPar *par) {
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static uint8 state =0;
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state++;
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switch (state) {
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case 0:
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break;
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#ifdef BEHAVIOUR_DRIVE_SQUARE_AVAILABLE
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case 1: activateBehaviour(bot_drive_square_behaviour);
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break;
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#endif
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case 2:
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#ifdef BEHAVIOUR_DRIVE_SQUARE_AVAILABLE
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deactivateBehaviour(bot_drive_square_behaviour);
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#endif
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#ifdef BEHAVIOUR_GOTO_AVAILABLE
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deactivateBehaviour(bot_goto_behaviour);
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#endif
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#ifdef BEHAVIOUR_OLYMPIC_AVAILABLE
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activateBehaviour(bot_olympic_behaviour);
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#endif
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break;
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default:
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#ifdef BEHAVIOUR_DRIVE_DISTANCE_AVAILABLE
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deactivateBehaviour( bot_drive_distance_behaviour);
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#endif
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#ifdef BEHAVIOUR_TURN_AVAILABLE
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deactivateBehaviour( bot_turn_behaviour);
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#endif
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#ifdef BEHAVIOUR_OLYMPIC_AVAILABLE
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deactivateBehaviour(bot_olympic_behaviour);
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deactivateBehaviour( bot_explore_behaviour);
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deactivateBehaviour( bot_do_slalom_behaviour);
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#endif
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state=0;
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}
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}
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#ifdef JOGDIAL
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/*!
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* Diese Funktion setzt die Geschwindigkeit auf den angegebenen Wert.
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* @param par Parameter mit den zu setzenden Geschwindigkeiten.
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*/
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static void rc5_bot_set_speed(RemCtrlFuncPar *par) {
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if (par) {
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target_speed_l = par->value1;
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target_speed_r = par->value2;
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}
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}
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#endif
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/*!
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* Diese Funktion stellt die Not-Aus-Funktion dar. Sie laesst den Bot anhalten
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* und setzt alle Verhalten zurueck mit Sicherung der vorherigen Aktivitaeten.
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* @param par notwendiger Dummy-Parameter.
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*/
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static void rc5_emergency_stop(RemCtrlFuncPar *par) {
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#ifdef BEHAVIOUR_AVAILABLE
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// Setzen der Geschwindigkeit auf 0
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target_speed_l = 0 ;
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target_speed_r = 0 ;
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// Alle Verhalten deaktivieren
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deactivateAllBehaviours(); // alle Verhalten deaktivieren mit vorheriger Sicherung
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#ifdef DISPLAY_BEHAVIOUR_AVAILABLE
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// bei dynamischer Verhaltensanzeige kein Sprung in Anzeigescreen
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#ifndef DISPLAY_DYNAMIC_BEHAVIOUR_AVAILABLE
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display_clear(); // Screen zuerst loeschen
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display_screen = 2; // nach Notstop in den Verhaltensscreen mit Anzeige der alten Verhalten
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#endif
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#endif
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#endif
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}
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/*!
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* Diese Funktion aendert die Geschwindigkeit um den angegebenen Wert.
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* @param par Parameter mit den relativen Geschwindigkeitsaenderungen.
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*/
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||
|
|
#ifdef BEHAVIOUR_AVAILABLE
|
||
|
|
static void rc5_bot_change_speed(RemCtrlFuncPar *par) {
|
||
|
|
int old;
|
||
|
|
if (par) {
|
||
|
|
old=target_speed_l;
|
||
|
|
target_speed_l += par->value1;
|
||
|
|
if ((target_speed_l < -BOT_SPEED_MAX)|| (target_speed_l > BOT_SPEED_MAX))
|
||
|
|
target_speed_l = old;
|
||
|
|
|
||
|
|
old=target_speed_r;
|
||
|
|
target_speed_r += par->value2;
|
||
|
|
if ((target_speed_r <-BOT_SPEED_MAX)||(target_speed_r > BOT_SPEED_MAX))
|
||
|
|
target_speed_r = old;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* Liest ein RC5-Codeword und wertet es aus
|
||
|
|
*/
|
||
|
|
void rc5_control(void){
|
||
|
|
uint16 run;
|
||
|
|
static uint16 RC5_Last_Toggle = 1; /*!< Toggle-Wert des zuletzt empfangenen RC5-Codes*/
|
||
|
|
|
||
|
|
uint16 rc5 = ir_read();
|
||
|
|
|
||
|
|
if (rc5 != 0) {
|
||
|
|
RC5_Code= rc5 & RC5_MASK; /* Alle uninteressanten Bits ausblenden */
|
||
|
|
/* Toggle kommt nicht im Simulator, immer gewechseltes Toggle Bit sicherstellen */
|
||
|
|
#ifdef PC
|
||
|
|
RC5_Last_Toggle = !(rc5 & RC5_TOGGLE);
|
||
|
|
#endif
|
||
|
|
/* Bei Aenderung des Toggle Bits, entspricht neuem Tastendruck, gehts nur weiter */
|
||
|
|
if ((rc5 & RC5_TOGGLE) != RC5_Last_Toggle) { /* Nur Toggle Bit abfragen, bei Ungleichheit weiter */
|
||
|
|
RC5_Last_Toggle = rc5 & RC5_TOGGLE; /* Toggle Bit neu belegen */
|
||
|
|
|
||
|
|
/* Suchen der auszufuehrenden Funktion */
|
||
|
|
for(run=0; run<sizeof(gRemCtrlAction)/sizeof(RemCtrlAction); run++) {
|
||
|
|
/* Funktion gefunden? */
|
||
|
|
if (gRemCtrlAction[run].command == RC5_Code) {
|
||
|
|
/* Funktion ausfuehren */
|
||
|
|
gRemCtrlAction[run].func(&gRemCtrlAction[run].par);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef DISPLAY_BEHAVIOUR_AVAILABLE
|
||
|
|
/*!
|
||
|
|
* toggled ein Verhalten der Verhaltensliste an Position pos,
|
||
|
|
* die Aenderung erfolgt nur auf die Puffervariable
|
||
|
|
* @param i Verhaltens-Listenposition, entspricht der Taste 1-6 der gewaehlten Verhaltensseite
|
||
|
|
*/
|
||
|
|
void rc5_toggle_behaviour_new(int8 i) {
|
||
|
|
|
||
|
|
toggleNewBehaviourPos(i);
|
||
|
|
}
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* Diese Funktion setzt die Aktivitaeten der Verhalten nach der Auswahl.
|
||
|
|
* Hierdurch erfolgt der Startschuss fuer Umschaltung der Verhalten
|
||
|
|
* nicht verwendet bei sofortiger Anzeige und Auswahl der Aktivitaet
|
||
|
|
*/
|
||
|
|
#ifndef DISPLAY_DYNAMIC_BEHAVIOUR_AVAILABLE
|
||
|
|
static void rc5_set_all_behaviours(void) {
|
||
|
|
|
||
|
|
set_behaviours_active_to_new();
|
||
|
|
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* Verarbeitet die Zifferntasten in Abhaengigkeit vom eingestelltem Screen
|
||
|
|
* @param par Parameter mit der betaetigten Zahlentaste.
|
||
|
|
*/
|
||
|
|
void rc5_number(RemCtrlFuncPar *par) {
|
||
|
|
#ifdef DISPLAY_SCREENS_AVAILABLE
|
||
|
|
switch (display_screen) {
|
||
|
|
#ifdef DISPLAY_BEHAVIOUR_AVAILABLE
|
||
|
|
case 2:
|
||
|
|
switch (par->value1) {
|
||
|
|
case 0: break;
|
||
|
|
case 1: rc5_toggle_behaviour_new(1); break;
|
||
|
|
case 2: rc5_toggle_behaviour_new(2); break;
|
||
|
|
case 3: rc5_toggle_behaviour_new(3); break;
|
||
|
|
case 4: rc5_toggle_behaviour_new(4); break;
|
||
|
|
case 5: rc5_toggle_behaviour_new(5); break;
|
||
|
|
case 6: rc5_toggle_behaviour_new(6); break;
|
||
|
|
case 7: break;
|
||
|
|
case 8: break;
|
||
|
|
case 9:
|
||
|
|
#ifndef DISPLAY_DYNAMIC_BEHAVIOUR_AVAILABLE
|
||
|
|
rc5_set_all_behaviours();
|
||
|
|
#endif
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
#endif
|
||
|
|
default:
|
||
|
|
#endif
|
||
|
|
switch (par->value1) {
|
||
|
|
#ifdef BEHAVIOUR_AVAILABLE
|
||
|
|
case 0:
|
||
|
|
target_speed_l=0;target_speed_r=0;break;
|
||
|
|
case 1: target_speed_l = BOT_SPEED_SLOW; target_speed_r = BOT_SPEED_SLOW; break;
|
||
|
|
#endif
|
||
|
|
#ifdef BEHAVIOUR_DRIVE_DISTANCE_AVAILABLE
|
||
|
|
case 2: bot_drive_distance(0, 0, BOT_SPEED_NORMAL, 10); break;
|
||
|
|
#endif
|
||
|
|
// case 3: target_speed_l = BOT_SPEED_NORMAL; target_speed_r = BOT_SPEED_NORMAL; break;
|
||
|
|
#ifdef MAP_AVAILABLE
|
||
|
|
case 3: print_map(); break;
|
||
|
|
#endif
|
||
|
|
// case 4: bot_turn(0, 90); break;
|
||
|
|
#ifdef BEHAVIOUR_SCAN_AVAILABLE
|
||
|
|
case 4: bot_scan(0); break;
|
||
|
|
#endif
|
||
|
|
// //case 5: bot_goto(0, 0, 0); break;
|
||
|
|
// #ifdef MEASURE_MOUSE_AVAILABLE
|
||
|
|
// case 5: bot_gotoxy(0,20,20);
|
||
|
|
// #else
|
||
|
|
|
||
|
|
case 5: remote_call_list(); break;
|
||
|
|
|
||
|
|
|
||
|
|
#ifdef BEHAVIOUR_SOLVE_MAZE_AVAILABLE
|
||
|
|
// case 5: bot_solve_maze(0); break;
|
||
|
|
#endif
|
||
|
|
#ifdef BEHAVIOUR_CATCH_PILLAR_AVAILABLE
|
||
|
|
// case 5: bot_catch_pillar(0); break;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// case 5: target_speed_l = BOT_SPEED_MAX; target_speed_r = BOT_SPEED_MAX; break;
|
||
|
|
// #endif
|
||
|
|
// case 5: bot_scan(0); break;
|
||
|
|
#ifdef BEHAVIOUR_TURN_AVAILABLE
|
||
|
|
case 6: bot_turn(0, -90); break;
|
||
|
|
case 7: bot_turn(0,180); break;
|
||
|
|
case 9: bot_turn(0, -180); break;
|
||
|
|
#endif
|
||
|
|
#ifdef BEHAVIOUR_DRIVE_DISTANCE_AVAILABLE
|
||
|
|
case 8: bot_drive_distance(0, 0, BOT_SPEED_NORMAL, 10); break;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// case 0: target_speed_l=BOT_SPEED_STOP;target_speed_r=target_speed_l;break;
|
||
|
|
// case 1: target_speed_l=BOT_SPEED_SLOW;target_speed_r=target_speed_l;break;
|
||
|
|
// case 2: target_speed_l=BOT_SPEED_MEDIUM;target_speed_r=target_speed_l;break;
|
||
|
|
// case 3: target_speed_l=BOT_SPEED_FAST;target_speed_r=target_speed_l;break;
|
||
|
|
// case 4: target_speed_l=BOT_SPEED_MAX;target_speed_r=target_speed_l;break;
|
||
|
|
|
||
|
|
// case 5: Kp++; break;
|
||
|
|
// case 8: Kp--; break;
|
||
|
|
// case 6: Ki++; break;
|
||
|
|
// case 9: Ki--; break;
|
||
|
|
|
||
|
|
// case 9: target_speed_l=-BOT_SPEED_MEDIUM;target_speed_r=target_speed_l;break;
|
||
|
|
}
|
||
|
|
#ifdef DISPLAY_SCREENS_AVAILABLE
|
||
|
|
|
||
|
|
break;
|
||
|
|
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
#endif
|