obus/lib/obus_module.cpp

203 lines
4.6 KiB
C++

#include "obus_can.h"
#include "obus_module.h"
#define RED_LED A4
#define GREEN_LED A5
#define BLINK_DELAY_SLOW 1000
#define BLINK_DELAY_NORMAL 500
#define BLINK_DELAY_FAST 300
#define MCP_INT 2
#define COLOR_OFF ((struct color) {false, false})
#define COLOR_RED ((struct color) {true, false})
#define COLOR_GREEN ((struct color) {false, true})
#define COLOR_YELLOW ((struct color) {true, true})
namespace obus_module {
struct obus_can::module this_module;
uint8_t strike_count;
bool active;
// Current LED status
struct color { bool red; bool green; };
struct color led_color;
// Keeps track of whether the LED is currently lit, when a blink pattern is active
bool blink_led_lit = false;
int blink_delay = 0;
unsigned long blink_next_time = 0;
uint32_t led_reset_time;
void _setLed(struct color color) {
led_color = color;
blink_delay = 0;
led_reset_time = 0;
digitalWrite(RED_LED, color.red ? HIGH : LOW);
digitalWrite(GREEN_LED, color.green ? HIGH : LOW);
}
void _ledLoop() {
// Check if we need to turn the LED back off, e.g. to reset the strike blinker
if (led_reset_time && millis() > led_reset_time) {
if (active) {
_setLed(COLOR_YELLOW);
} else {
_setLed(COLOR_OFF);
}
led_reset_time = 0;
}
// Update blink of status LED
if (blink_delay && millis() > blink_next_time) {
blink_led_lit = !blink_led_lit;
if (blink_led_lit) {
digitalWrite(RED_LED, led_color.red ? HIGH : LOW);
digitalWrite(GREEN_LED, led_color.green ? HIGH : LOW);
} else {
digitalWrite(RED_LED, false);
digitalWrite(GREEN_LED, false);
}
blink_next_time = millis() + blink_delay;
}
}
void _setLedBlink(struct color color, uint16_t delay) {
led_color = color;
blink_led_lit = false;
blink_delay = delay;
blink_next_time = millis();
led_reset_time = 0;
_ledLoop();
}
void _resetState() {
strike_count = 0;
active = false;
if (this_module.type == OBUS_TYPE_PUZZLE || this_module.type == OBUS_TYPE_NEEDY) {
pinMode(RED_LED, OUTPUT);
pinMode(GREEN_LED, OUTPUT);
_setLedBlink(COLOR_GREEN, BLINK_DELAY_SLOW);
}
}
void setup(uint8_t type, uint8_t id) {
this_module.type = type;
this_module.id = id;
obus_can::init();
_resetState();
}
bool loopPuzzle(obus_can::message* message, void (*callback_game_start)(), void (*callback_game_stop)()) {
// TODO this can be more efficient by only enabling error interrupts and
// reacting to the interrupt instead of checking if the flag is set in a loop
// We will need to fork our CAN library for this, because the needed functions
// are private
if (obus_can::is_error_condition()) {
bool blink = false;
while (true) {
digitalWrite(RED_LED, blink);
digitalWrite(GREEN_LED, blink);
blink = !blink;
delay(BLINK_DELAY_NORMAL);
}
}
bool interesting_message = false;
if (obus_can::receive(message)) {
if (message->from.type == OBUS_TYPE_CONTROLLER && message->from.id == 0) {
switch (message->msg_type) {
case OBUS_MSGTYPE_C_GAMESTART:
active = true;
_setLed(COLOR_YELLOW);
callback_game_start();
break;
case OBUS_MSGTYPE_C_HELLO:
_resetState();
obus_can::send_m_hello(this_module);
break;
case OBUS_MSGTYPE_C_SOLVED:
case OBUS_MSGTYPE_C_TIMEOUT:
case OBUS_MSGTYPE_C_STRIKEOUT:
active = false;
_setLed(COLOR_OFF);
callback_game_stop();
break;
case OBUS_MSGTYPE_C_ACK:
break;
case OBUS_MSGTYPE_C_STATE:
interesting_message = true;
break;
default:
break;
}
}
}
_ledLoop();
return interesting_message;
}
bool loopNeedy(obus_can::message* message, void (*callback_game_start)(), void (*callback_game_stop)()) {
// For now this is the same function
return loopPuzzle(message, callback_game_start, callback_game_stop);
}
bool loopInfo(obus_can::message* message, int (*info_generator)(uint8_t*)) {
bool interesting_message = false;
if (obus_can::receive(message)) {
if (message->from.type == OBUS_TYPE_CONTROLLER && message->from.id == 0) {
switch (message->msg_type) {
case OBUS_MSGTYPE_C_INFOSTART:
{
uint8_t info_message[OBUS_PAYLD_INFO_MAXLEN];
int len = info_generator(info_message);
obus_can::send_i_infomessage(this_module, info_message, len);
}
break;
case OBUS_MSGTYPE_C_STATE:
interesting_message = true;
break;
default:
break;
}
}
}
return interesting_message;
}
void strike() {
if (!active) {
return;
}
strike_count++;
_setLedBlink(COLOR_RED, BLINK_DELAY_FAST);
led_reset_time = millis() + 2000;
obus_can::send_m_strike(this_module, strike_count);
}
void solve() {
if (!active) {
return;
}
obus_can::send_m_solved(this_module);
active = false;
_setLed(COLOR_GREEN);
}
bool is_active() {
return active;
}
}