diff --git a/G3_TP1_labyrinth_etu/src/labyrinth.c b/G3_TP1_labyrinth_etu/src/labyrinth.c
index b8ad1d727be9566e593fd402d3dc85af7824dd72..de411ce7a1493e804f6a184e41a214a1b3668fc6 100644
--- a/G3_TP1_labyrinth_etu/src/labyrinth.c
+++ b/G3_TP1_labyrinth_etu/src/labyrinth.c
@@ -77,6 +77,10 @@ static coord_fx_t labyrinth_points[]={
{GOAL_H_WALL-4*BALL_RADIUS-WALL_WIDTH-1,LCD_MAX_HEIGHT-WALL_WIDTH},{GOAL_H_WALL-4*BALL_RADIUS-WALL_WIDTH-1,GOAL_V_WALL},{END_OF_WALLS,END_OF_WALLS}
};
+master_tx_t txBuf;
+accel_t rxBuf;
+bool flag_acc_slave=false;
+master_tx_t *j;
/* Description: Callback of ethernet module. This function is called when a message is received
* Parameters: data: pointer on data received
@@ -84,15 +88,19 @@ static coord_fx_t labyrinth_points[]={
*/
void slave_info_rx(void *data, int len)
{
- // code executed when the slave sends an ethernet frame
- if(len == sizeof(master_tx_t)){
- master_tx_t mstr = (master_tx_t)data;
- }
+ /*if(len == sizeof(accel_t)){
+ accel_t *x;
+ x = (accel_t*)data;
+ rxBuf = *x;
+ flag_acc_slave = true;
+ }*/
}
void Algo_main_ball(void *params);
void Algo_bots(void *params);
void RandAccel(accel_t *accel);
+void Algo_slave_ball(void *params);
+
int main(void)
{
@@ -112,7 +120,10 @@ int main(void)
printf("Accelerometer initialisation failed!\n");
return 1;
}
- //ethernet_init(..., slave_info_rx); // initialise ethernet and determine its callback function
+ int txLen = sizeof(master_tx_t) * 2;
+ int rxLen = sizeof(accel_t) * 2;
+
+
draw_labyrinth(labyrinth_points);
init_traces(115200, 1, false, true); // initialise traces. Line to be removed if you implement your own traces
@@ -123,7 +134,10 @@ int main(void)
xTaskCreate(Algo_main_ball, (signed portCHAR *)"Masterball",
configMINIMAL_STACK_SIZE, &ball_param_th[0], tskIDLE_PRIORITY+1,
NULL);
- xTaskCreate(Algo_bots, (signed portCHAR *)"libreball1",
+ /*xTaskCreate(Algo_slave_ball, (signed portCHAR *)"Slaveball",
+ configMINIMAL_STACK_SIZE, &ball_param_th[1], tskIDLE_PRIORITY+1,
+ NULL);*/
+ /*xTaskCreate(Algo_bots, (signed portCHAR *)"libreball1",
configMINIMAL_STACK_SIZE, &ball_param_th[2], tskIDLE_PRIORITY+1,
NULL);
xTaskCreate(Algo_bots, (signed portCHAR *)"libreball2",
@@ -131,7 +145,8 @@ int main(void)
NULL);
xTaskCreate(Algo_bots, (signed portCHAR *)"libreball3",
configMINIMAL_STACK_SIZE, &ball_param_th[4], tskIDLE_PRIORITY+1,
- NULL);
+ NULL);*/
+ j = (master_tx_t*)ethernet_init((unsigned char*)&txBuf, txLen, (unsigned char*)&rxBuf, rxLen, slave_info_rx); // initialise ethernet and determine its callback function
vTaskStartScheduler(); // launch scheduler
LPC_TIM0->TCR = 1;
@@ -144,6 +159,7 @@ void Algo_main_ball(void *params){
ball_param_th_t *ball = (ball_param_th_t *)params;
accel_t ball_acc;
int un_ou_moins_un_x = 1, un_ou_moins_un_y = 1;
+
while(1){
lcd_filled_circle(round(ball->ball.pos.x), round(ball->ball.pos.y), ball->ball.radius, LCD_BLACK);
int CollisionState = test_collision(&ball->ball);
@@ -184,7 +200,7 @@ void Algo_main_ball(void *params){
ball->ball.pos.y -= 2;
//ball->ball.pos.y = floor(ball->ball.pos.y);
}
- ball->ball.pos.x = round(ball->ball.pos.x);
+ ball->ball.pos.x = round(ball->ball.pos.x); //ATTENTION OSDJBG KSDJGBKSJDGB KSJD GSKJDBG KJSDBG KSBDJGKB SDGKBBKJ=============
ball->ball.pos.y = round(ball->ball.pos.y);
}else{
accel_read(&ball_acc);
@@ -200,8 +216,8 @@ void Algo_main_ball(void *params){
ball->ball.pos.y = ball->ball.pos.y + ball->ball.speed.y*(un_ou_moins_un_y);
un_ou_moins_un_y = 1;
un_ou_moins_un_x = 1;
- //ball->ball.pos.x = round(ball->ball.pos.x);
- //ball->ball.pos.y = round(ball->ball.pos.y);
+ ball->ball.pos.x = round(ball->ball.pos.x);
+ ball->ball.pos.y = round(ball->ball.pos.y);
}
//détection des collisions sur les bords de l'ecran LCD
@@ -217,6 +233,17 @@ void Algo_main_ball(void *params){
if(round(ball->ball.pos.y) >= (LCD_MAX_HEIGHT - (ball->ball.radius))){
ball->ball.pos.y = (LCD_MAX_HEIGHT - (ball->ball.radius+1));
}
+
+ txBuf.ball_coord.x = round(ball->ball.pos.x);
+ txBuf.ball_coord.y = round(ball->ball.pos.y);
+ txBuf.ball_id = ball->thread_id;
+ txBuf.color = ball->ball.color;
+ txBuf.radius = ball->ball.radius;
+ txBuf.winner = -1;
+
+ j = &txBuf;
+ j = (master_tx_t*)send_eth(sizeof(master_tx_t), false);
+
lcd_filled_circle(round(ball->ball.pos.x), round(ball->ball.pos.y), ball->ball.radius, ball->ball.color);
vTaskDelay((portTickType)ball->ball.period/portTICK_RATE_MS);
}
@@ -233,7 +260,6 @@ void Algo_bots(void *params){
//ralentissement de 10% de la vitesse de la balle
//ball->ball.speed.x = ball->ball.speed.x - (ball->ball.speed.x/10);
//ball->ball.speed.y = ball->ball.speed.y - (ball->ball.speed.y/10);
-
if(CollisionState & TOUCH_LEFT){
un_ou_moins_un_x = -1;
ball->ball.speed.x = ball->ball.speed.x - (ball->ball.speed.x/10);
@@ -282,8 +308,8 @@ void Algo_bots(void *params){
ball->ball.pos.y = ball->ball.pos.y + ball->ball.speed.y*(un_ou_moins_un_y);
un_ou_moins_un_y = 1;
un_ou_moins_un_x = 1;
- //ball->ball.pos.x = round(ball->ball.pos.x);
- //ball->ball.pos.y = round(ball->ball.pos.y);
+ ball->ball.pos.x = round(ball->ball.pos.x);
+ ball->ball.pos.y = round(ball->ball.pos.y);
}
//détection des collisions sur les bords de l'ecran LCD
@@ -299,12 +325,14 @@ void Algo_bots(void *params){
if(round(ball->ball.pos.y) >= (LCD_MAX_HEIGHT - (ball->ball.radius))){
ball->ball.pos.y = (LCD_MAX_HEIGHT - (ball->ball.radius+1));
}
+
+
+
lcd_filled_circle(round(ball->ball.pos.x), round(ball->ball.pos.y), ball->ball.radius, ball->ball.color);
vTaskDelay((portTickType)ball->ball.period/portTICK_RATE_MS);
}
}
-
//random d'accélérations
void RandAccel(accel_t *accel){
float x = (float)(rnd32()%100)-50;
@@ -312,3 +340,98 @@ void RandAccel(accel_t *accel){
accel->accel_x = x/100;
accel->accel_y = y/100;
}
+
+void Algo_slave_ball(void *params){
+ ball_param_th_t *ball = (ball_param_th_t *)params;
+ int un_ou_moins_un_x = 1, un_ou_moins_un_y = 1;
+ int rec = sizeof(accel_t);
+ while(1){
+ lcd_filled_circle(round(ball->ball.pos.x), round(ball->ball.pos.y), ball->ball.radius, LCD_BLACK);
+ int CollisionState = test_collision(&ball->ball);
+ if(CollisionState != NO_COLLISION){
+ //ralentissement de 10% de la vitesse de la balle
+ //ball->ball.speed.x = ball->ball.speed.x - (ball->ball.speed.x/10);
+ //ball->ball.speed.y = ball->ball.speed.y - (ball->ball.speed.y/10);
+
+ if(CollisionState & TOUCH_LEFT){
+ un_ou_moins_un_x = -1;
+ ball->ball.speed.x = ball->ball.speed.x - (ball->ball.speed.x/10);
+ //ball->ball.speed.x *= -REBOUND_FACTOR;
+ //ball->ball.pos.x += ball->ball.radius*0.4; //round
+ ball->ball.pos.x += 2;
+ //ball->ball.pos.x = ceil(ball->ball.pos.x);
+ }
+ if(CollisionState & TOUCH_UP){
+ un_ou_moins_un_y = -1;
+ ball->ball.speed.y = ball->ball.speed.y - (ball->ball.speed.y/10);
+ //ball->ball.speed.y *= -REBOUND_FACTOR;
+ //ball->ball.pos.y += ball->ball.radius*0.4; //round()
+ ball->ball.pos.y += 2;
+ //ball->ball.pos.y = ceil(ball->ball.pos.y);
+ }
+ if(CollisionState & TOUCH_RIGHT){
+ un_ou_moins_un_x = -1;
+ ball->ball.speed.x = ball->ball.speed.x - (ball->ball.speed.x/10);
+ //ball->ball.speed.x *= -REBOUND_FACTOR;
+ //ball->ball.pos.x -= ball->ball.radius*0.4; //round()
+ ball->ball.pos.x -= 2;
+ //ball->ball.pos.x = floor(ball->ball.pos.x);
+ }
+ if(CollisionState & TOUCH_DOWN){
+ un_ou_moins_un_y = -1;
+ ball->ball.speed.y = ball->ball.speed.y - (ball->ball.speed.y/10);
+ //ball->ball.speed.y *= -REBOUND_FACTOR;
+ //ball->ball.pos.y -= ball->ball.radius*0.4; //round()
+ ball->ball.pos.y -= 2;
+ //ball->ball.pos.y = floor(ball->ball.pos.y);
+ }
+ ball->ball.pos.x = round(ball->ball.pos.x);
+ ball->ball.pos.y = round(ball->ball.pos.y);
+ }else{
+ if(flag_acc_slave == true)
+ {
+ (accel_t*)rec_eth(&rec);
+ ball->ball.speed.x =((rxBuf.accel_x*0.3)+ball->ball.speed.x)*(un_ou_moins_un_x);
+ ball->ball.speed.y = ((rxBuf.accel_y*0.3)+ball->ball.speed.y)*(un_ou_moins_un_y);
+ flag_acc_slave = false;
+ }
+ ball->ball.speed.x = (ball->ball.speed.x >= SPEED_MAX) ? SPEED_MAX: ball->ball.speed.x;
+ ball->ball.speed.y = (ball->ball.speed.y >= SPEED_MAX) ? SPEED_MAX: ball->ball.speed.y;
+ ball->ball.speed.x = (ball->ball.speed.x <= -SPEED_MAX) ? -SPEED_MAX: ball->ball.speed.x;
+ ball->ball.speed.y = (ball->ball.speed.y <= -SPEED_MAX) ? -SPEED_MAX: ball->ball.speed.y;
+
+ ball->ball.pos.x = ball->ball.pos.x + ball->ball.speed.x*(un_ou_moins_un_x);
+ ball->ball.pos.y = ball->ball.pos.y + ball->ball.speed.y*(un_ou_moins_un_y);
+ un_ou_moins_un_y = 1;
+ un_ou_moins_un_x = 1;
+ ball->ball.pos.x = round(ball->ball.pos.x);
+ ball->ball.pos.y = round(ball->ball.pos.y);
+ }
+ //détection des collisions sur les bords de l'ecran LCD
+ if(round(ball->ball.pos.x) <= ball->ball.radius){
+ ball->ball.pos.x = ball->ball.radius+1;
+ }
+ if(round(ball->ball.pos.y) <= ball->ball.radius){
+ ball->ball.pos.y = ball->ball.radius+1;
+ }
+ if(round(ball->ball.pos.x) >= (LCD_MAX_WIDTH - (ball->ball.radius))){
+ ball->ball.pos.x = (LCD_MAX_WIDTH - (ball->ball.radius+1));
+ }
+ if(round(ball->ball.pos.y) >= (LCD_MAX_HEIGHT - (ball->ball.radius))){
+ ball->ball.pos.y = (LCD_MAX_HEIGHT - (ball->ball.radius+1));
+ }
+
+ txBuf.ball_coord.x = round(ball->ball.pos.x);
+ txBuf.ball_coord.y = round(ball->ball.pos.y);
+ txBuf.ball_id = ball->thread_id;
+ txBuf.color = ball->ball.color;
+ txBuf.radius = ball->ball.radius;
+ txBuf.winner = -1;
+
+ j = &txBuf;
+ j = (master_tx_t*)send_eth(sizeof(master_tx_t), false);
+
+ lcd_filled_circle(round(ball->ball.pos.x), round(ball->ball.pos.y), ball->ball.radius, ball->ball.color);
+ vTaskDelay((portTickType)ball->ball.period/portTICK_RATE_MS);
+ }
+}