Kelder/obus
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Not yet tested controller implementation

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This commit is contained in:
Timo De Waele 2020-08-10 23:26:45 +02:00
parent ac42987c38
commit 7b11b55367
1 changed files with 100 additions and 14 deletions
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114
src/controller/controller.ino
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@ -13,10 +13,10 @@
#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_GAME_DURATION 60 // Duration of the game in seconds
#define OBUS_MAX_STRIKEOUTS 3 // Number of strikeouts allowed until game over
#define OBUS_MAX_MODULES 16
#define OBUS_DISC_DURATION 1 // 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
#define OBUS_MSGTYPE_C_ACK 0
@ -47,11 +47,15 @@ uint8_t nr_connected_modules;
uint8_t strikeouts;
uint8_t game_running;
// Bit vectors for checking if game is solved or not
uint8_t unsolved_puzzles[32]; // 256 bits
// TIMERS
uint16_t hello_round_start;
uint16_t game_start;
uint16_t last_update;
void setup() {
Serial.begin(9600);
mcp2515.reset();
@ -61,6 +65,7 @@ void setup() {
game_running = 0;
}
uint16_t make_id(uint8_t id, bool priority, uint8_t type) {
assert(type <= 0x11);
@ -74,6 +79,7 @@ uint16_t make_id(uint8_t id, bool priority, uint8_t type) {
(uint16_t) id;
}
struct module get_module_info(uint16_t can_id) {
uint8_t module_type = can_id & 0x0300;
uint8_t module_id = can_id & 0x00FF;
@ -84,6 +90,33 @@ struct module get_module_info(uint16_t can_id) {
return module_info;
}
uint8_t check_solved() {
uint8_t solved = 1;
for (int i; i<32; i++) {
if (unsolved_puzzles != 0) {
solved = 0;
break;
}
}
return solved;
}
void add_module_to_bit_vector(uint8_t module_id) {
uint8_t byte_index = module_id >> 3;
uint8_t bit_index = module_id & 0x07;
unsolved_puzzles[byte_index] |= 0x1 << bit_index;
}
void solve_module_in_bit_vector(uint8_t module_id) {
uint8_t byte_index = module_id >> 3;
uint8_t bit_index = module_id & 0x07;
unsolved_puzzles[byte_index] &= ~(0x1 << bit_index);
}
void send_message(uint8_t* message) {
struct can_frame send_frame;
@ -95,11 +128,17 @@ void send_message(uint8_t* message) {
mcp2515.sendMessage(&send_frame);
}
void start_hello() {
state = STATE_HELLO;
hello_round_start = millis();
nr_connected_modules = 0;
// Zero bit vectors
for (int i; i<32; i++) {
unsolved_puzzles[i] = 0;
}
uint8_t message[OBUS_MSG_LENGTH];
message[0] = OBUS_MSGTYPE_C_HELLO;
@ -108,6 +147,7 @@ void start_hello() {
Serial.println("Start of discovery round");
}
void send_ack() {
uint8_t message[OBUS_MSG_LENGTH];
message[0] = OBUS_MSGTYPE_C_ACK;
@ -115,6 +155,7 @@ void send_ack() {
send_message(message);
}
void receive_hello() {
struct can_frame receive_frame;
uint16_t current_time = millis();
@ -126,6 +167,11 @@ void receive_hello() {
Serial.println(new_module.id);
connected_modules_ids[nr_connected_modules] = new_module;
nr_connected_modules++;
if (new_module.type == OBUS_TYPE_PUZZLE) {
add_module_to_bit_vector(new_module.id);
}
send_ack();
}
} else if (current_time - hello_round_start > OBUS_DISC_DURATION * 1000) {
@ -134,6 +180,7 @@ void receive_hello() {
}
}
void initialize_game() {
strikeouts = 0;
@ -152,27 +199,66 @@ void initialize_game() {
game_running = 1;
game_start = millis();
last_update = game_star();
last_update = game_start;
Serial.println("Game started");
}
void receive_module_update() {
if (receive_frame.data[0] == OBUS_MSGTYPE_M_STRIKE) {
// Handle strikeout
} else if (receive_frame.data[0] == OBUS_MSGTYPE_M_SOLVED) {
// Handle solved module
struct can_frame receive_frame;
if (mcp2515.readMessage(&receive_frame) == MCP2515::ERROR_OK) {
if (receive_frame.data[0] == OBUS_MSGTYPE_M_STRIKE) {
strikeouts++;
} else if (receive_frame.data[0] == OBUS_MSGTYPE_M_SOLVED) {
struct module module_info = get_module_info(receive_frame.can_id);
solve_module_in_bit_vector(module_info.id);
}
}
}
void game_loop() {
uint16_t current_time = millis();
uint16_t elapsed_time = current_time - last_update;
void send_game_update(uint8_t status, uint16_t timestamp) {
uint8_t message[OBUS_MSG_LENGTH];
message[0] = status;
message[1] = (uint8_t) ((timestamp & 0xFF000000) >> 0x18);
message[2] = (uint8_t) ((timestamp & 0x00FF0000) >> 0x10);
message[3] = (uint8_t) ((timestamp & 0x0000FF00) >> 0x08);
message[4] = (uint8_t) (timestamp & 0x000000FF);
message[5] = strikeouts;
message[6] = OBUS_MAX_STRIKEOUTS;
}
void game_loop() {
uint16_t current_time = millis();
uint16_t game_duration = current_time - game_start;
receive_module_update();
if (check_solved()) {
send_game_update(OBUS_MSGTYPE_C_SOLVED, game_duration);
state = STATE_INACTIVE;
return;
} else if (game_duration >= (uint16_t) OBUS_GAME_DURATION * 1000) {
send_game_update(OBUS_MSGTYPE_C_TIMEOUT, game_duration);
state = STATE_INACTIVE;
return;
} else if (strikeouts >= OBUS_MAX_STRIKEOUTS) {
send_game_update(OBUS_MSGTYPE_C_STRIKEOUT, game_duration);
state = STATE_INACTIVE;
return;
}
uint16_t elapsed_time = current_time - last_update;
if (elapsed_time > OBUS_UPDATE_INTERVAL) {
send_game_update(OBUS_MSGTYPE_C_STATE, (uint16_t) OBUS_GAME_DURATION * 1000 - game_duration);
last_update = current_time;
}
}
void loop() {
if (state == STATE_INACTIVE) {
start_hello();