diff options
Diffstat (limited to 'Kod/bilbana/yc4/main.m')
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 43 |
1 files changed, 33 insertions, 10 deletions
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 8aad5a2..cc15f34 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -5,10 +5,16 @@ 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; disp('Startar bilbanan. Avsluta med q.') hf=figure('position', [0 0 eps eps], 'menubar', 'none'); @@ -33,13 +39,13 @@ car1.segment = 1; car1.lap = 0; car1.lap_times = []; car1.seg_times = []; +car1.last_seg_times = []; car1.position = 0; car1.seg_len = [0.0 2.53 3.05 4.73 7.68 8.98 10.93 14.69 17.57]; car1.map = Bana1; car1.approximation = []; car1.miss_probability = 0.0; - car2 = struct; car2.num = 2; car2.running = false; @@ -48,12 +54,12 @@ car2.segment = 1; car2.lap = 0; car2.lap_times = []; car2.seg_times = []; +car2.last_seg_times = []; car2.position = 0; car2.seg_len = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76]; car2.map = Bana2; car2.miss_probability = 0.0; - highToc = 0; %% ASK ACTIVE CARS @@ -106,13 +112,30 @@ 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 + % 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 @@ -122,8 +145,8 @@ while 1 end break; end + pause(0.001); end - send_data_to_display(); end %% END OF PROGRAM |