Kelder/obus
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enhancements

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This commit is contained in:
Timo De Waele 2020-08-10 23:49:49 +02:00
parent 7b11b55367
commit 563a019d33
1 changed files with 14 additions and 6 deletions
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20
src/controller/controller.ino
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@ -14,7 +14,7 @@
#define OBUS_MSG_LENGTH 8 // Max 8 to fit in a CAN message
#define OBUS_MAX_MODULES 16
#define OBUS_DISC_DURATION 1 // Duration of discovery round in seconds
#define OBUS_DISC_DURATION 5 // Duration of discovery round in seconds
#define OBUS_GAME_DURATION 60 // Duration of the game in seconds
#define OBUS_MAX_STRIKEOUTS 3 // Number of strikeouts allowed until game over
#define OBUS_UPDATE_INTERVAL 500 // Number of milliseconds between game updates
@ -117,11 +117,11 @@ void solve_module_in_bit_vector(uint8_t module_id) {
}
void send_message(uint8_t* message) {
void send_message(uint8_t* message, uint8_t length) {
struct can_frame send_frame;
send_frame.can_id = make_id(OBUS_CONTROLLER_ID, false, OBUS_TYPE_CONTROLLER);
send_frame.can_dlc = OBUS_MSG_LENGTH;
send_frame.can_dlc = length;
memcpy(send_frame.data, message, OBUS_MSG_LENGTH);
@ -142,7 +142,7 @@ void start_hello() {
uint8_t message[OBUS_MSG_LENGTH];
message[0] = OBUS_MSGTYPE_C_HELLO;
send_message(message);
send_message(message, 1);
Serial.println("Start of discovery round");
}
@ -152,7 +152,7 @@ void send_ack() {
uint8_t message[OBUS_MSG_LENGTH];
message[0] = OBUS_MSGTYPE_C_ACK;
send_message(message);
send_message(message, 1);
}
@ -173,6 +173,7 @@ void receive_hello() {
}
send_ack();
Serial.println("ACK");
}
} else if (current_time - hello_round_start > OBUS_DISC_DURATION * 1000) {
state = STATE_GAME;
@ -195,7 +196,7 @@ void initialize_game() {
message[5] = strikeouts;
message[6] = OBUS_MAX_STRIKEOUTS;
send_message(message);
send_message(message, 7);
game_running = 1;
game_start = millis();
@ -228,6 +229,8 @@ void send_game_update(uint8_t status, uint16_t timestamp) {
message[4] = (uint8_t) (timestamp & 0x000000FF);
message[5] = strikeouts;
message[6] = OBUS_MAX_STRIKEOUTS;
send_message(message, 7);
}
@ -238,14 +241,17 @@ void game_loop() {
receive_module_update();
if (check_solved()) {
Serial.println("Game solved");
send_game_update(OBUS_MSGTYPE_C_SOLVED, game_duration);
state = STATE_INACTIVE;
return;
} else if (game_duration >= (uint16_t) OBUS_GAME_DURATION * 1000) {
Serial.println("Times up");
send_game_update(OBUS_MSGTYPE_C_TIMEOUT, game_duration);
state = STATE_INACTIVE;
return;
} else if (strikeouts >= OBUS_MAX_STRIKEOUTS) {
Serial.println("Strikeout");
send_game_update(OBUS_MSGTYPE_C_STRIKEOUT, game_duration);
state = STATE_INACTIVE;
return;
@ -253,6 +259,8 @@ void game_loop() {
uint16_t elapsed_time = current_time - last_update;
if (elapsed_time > OBUS_UPDATE_INTERVAL) {
Serial.print("Sending game update: ");
Serial.println(game_duration);
send_game_update(OBUS_MSGTYPE_C_STATE, (uint16_t) OBUS_GAME_DURATION * 1000 - game_duration);
last_update = current_time;
}