diff options
Diffstat (limited to 'Kod/bilbana/yc4/main.m')
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 54 |
1 files changed, 42 insertions, 12 deletions
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 56b0014..8ee18b2 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -5,10 +5,17 @@ cd display/ClientServerApp/Release !startServer cd ../../.. -global display_data; -display_data = {}; -display_data = {display_data clear_display()}; -pause(1); +display = struct; +display.data = [clear_display()]; +display.out = 0; +display.shm = 0; +display.shm_interp = struct; +display.shm_interp.ack = 0; +display.shm_interp.start_code = ''; +display.shm_interp.data = []; +display.last_send = tic; +display.last_request = tic; +display.send_interval = 0.5; disp('Startar bilbanan. Avsluta med q.') hf=figure('position', [0 0 eps eps], 'menubar', 'none'); @@ -16,7 +23,6 @@ hf=figure('position', [0 0 eps eps], 'menubar', 'none'); initialize_counters(1) initialize_counters(2) - config_IOs load('bilbana\files\Bana1.mat') @@ -39,7 +45,6 @@ car1.map = Bana1; car1.approximation = []; car1.miss_probability = 0.0; - car2 = struct; car2.num = 2; car2.running = false; @@ -103,8 +108,8 @@ while 1 figure(hf) drawnow - [car1, car1.stop, display_data] = do_car(car1, t, display_data); - [car2, car2.stop, display_data] = do_car(car2, t, display_data); + [car1, car1.stop, display.data] = do_car(car1, t, display.data); + [car2, car2.stop, display.data] = do_car(car2, t, display.data); if car1.stop == true disp('stopped by car 1'); @@ -114,13 +119,38 @@ while 1 disp('stopped by car 2'); break; end - - %% DISPLAY %% END OF LOOP while 1 %Whileloop med paus som k�rs till pausen �verskridit 0.07 sekunder - pause(0.001); + % DISPLAY + display.send_delay = tic; + if toc(display.last_send) > display.send_interval + % queue control signal + if car1.running && car1.automatic + display.data = [display.data, put_text(20, 16 + (16 * 1), 'L', num2str(car1.u))]; + end + if car2.running && car2.automatic + display.data = [display.data, put_text(20, 16 + (16 * 2), 'L', num2str(car2.u))]; + end + + % send all queued data + if ~isempty(display.data) + [display.out] = matlabclient(1, get_smallpackage(display.data)); + display.data = []; + end + display.last_send = tic; + + % read internal mem from last send + [display.out, display.shm] = matlabclient(2); + [display.shm_interp.ack, display.shm_interp.start_code, display.shm_interp.data] = get_response(display.shm); + + % request internal mem + % matlabclient(1, hex2dec(['12'; '01'; '53'; '66'])); + end + % disp(strjoin({'display took additional ', num2str(toc(display.send_delay))})); + % ACTUAL END OF LOOP t = toc(readTime); + if t > 0.07 if t > highToc highToc = t; %Om det nya v�rdet p� pausen �r h�gre �n den tidigare h�gsta s� sparas det som den h�gsta @@ -130,8 +160,8 @@ while 1 end break; end + pause(0.001); end - send_data_to_display(); end %% END OF PROGRAM |