diff options
Diffstat (limited to 'Kod/bilbana')
24 files changed, 456 insertions, 117 deletions
diff --git a/Kod/bilbana/yc4/clamp.m b/Kod/bilbana/yc4/clamp.m new file mode 100644 index 0000000..78ddedd --- /dev/null +++ b/Kod/bilbana/yc4/clamp.m @@ -0,0 +1,6 @@ +function val = clamp(n, m, M) +% returns n if n is between m and M, otherwise + % m if n < m + % M if n > m +val = min(max(n, m), M); +end diff --git a/Kod/bilbana/yc4/display/bar_graph.m b/Kod/bilbana/yc4/display/bar_graph.m new file mode 100644 index 0000000..bc04406 --- /dev/null +++ b/Kod/bilbana/yc4/display/bar_graph.m @@ -0,0 +1,6 @@ +function pkg = bar_graph(direction, no, x1, y1, x2, y2, start_value, end_value, type, pattern) +args = [no, get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)]; +args = [args, start_value, end_value, type, pattern]; %TODO get_bytes or no ? + +pkg = get_package(strjoin({'B', direction}, ''), args); +end diff --git a/Kod/bilbana/yc4/display/draw_box.m b/Kod/bilbana/yc4/display/box.m index 7ac4b70..786f95e 100644 --- a/Kod/bilbana/yc4/display/draw_box.m +++ b/Kod/bilbana/yc4/display/box.m @@ -1,4 +1,4 @@ -function pkg = draw_box(x1, y1, x2, y2, n1) +function pkg = box(x1, y1, x2, y2, n1) arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2), n1]; pkg = get_package('RO', arg); end diff --git a/Kod/bilbana/yc4/display/continue_line.m b/Kod/bilbana/yc4/display/continue_line.m index 99b4074..fe863f7 100644 --- a/Kod/bilbana/yc4/display/continue_line.m +++ b/Kod/bilbana/yc4/display/continue_line.m @@ -1,4 +1,4 @@ function pkg = continue_line(x2, y2) arg = [get_bytes(x2), get_bytes(y2)]; -pkg = get_package('GW', arg) +pkg = get_package('GW', arg); end diff --git a/Kod/bilbana/yc4/display/define_bar_graph.m b/Kod/bilbana/yc4/display/define_bar_graph.m deleted file mode 100644 index d915cf1..0000000 --- a/Kod/bilbana/yc4/display/define_bar_graph.m +++ /dev/null @@ -1,7 +0,0 @@ -function pkg = define_bar_graph(direction, no, x1, y1, x2, y2, start_value, end_value, type, pattern) -pkg = [] -args = [no, get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)] -args = [args, start_value, end_value, type, pattern] %TODO get_bytes or no ? - -pkg = get_package(strjoin({'B', direction}, ''), args) -end diff --git a/Kod/bilbana/yc4/display/delete_bar_graph.m b/Kod/bilbana/yc4/display/delete_bar_graph.m deleted file mode 100644 index 093cb2b..0000000 --- a/Kod/bilbana/yc4/display/delete_bar_graph.m +++ /dev/null @@ -1,7 +0,0 @@ -function pkg = define_bar_graph(num, keep_visible) -if keep_visible - keep_visible = 1 -else - keep_visible = 0 -pkg = get_package('BD', [num, keep_visible]) -end diff --git a/Kod/bilbana/yc4/display/draw_single_line.m b/Kod/bilbana/yc4/display/draw_line.m index c1da8ab..0a43ef7 100644 --- a/Kod/bilbana/yc4/display/draw_single_line.m +++ b/Kod/bilbana/yc4/display/draw_line.m @@ -1,4 +1,4 @@ -function pkg = draw_single_line(x1, y1, x2, y2) +function pkg = draw_line(x1, y1, x2, y2) arg = [mod(x1, 255), fix(x1 / 255), y1, 0, mod(x2, 255), fix(x2 / 255), y2, 0]; pkg = get_package('GD', arg); end diff --git a/Kod/bilbana/yc4/display/define_flashing_area.m b/Kod/bilbana/yc4/display/flashing_area.m index 3e581ea..e3ba624 100644 --- a/Kod/bilbana/yc4/display/define_flashing_area.m +++ b/Kod/bilbana/yc4/display/flashing_area.m @@ -1,4 +1,4 @@ -function pkg = define_flashing_area(x1, y1, x2, y2) +function pkg = flashing_area(x1, y1, x2, y2) arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)]; pkg = get_package('QI', arg); end diff --git a/Kod/bilbana/yc4/display/define_flashing_area_with_pattern.m b/Kod/bilbana/yc4/display/flashing_area_with_pattern.m index c5c190f..e6dd61b 100644 --- a/Kod/bilbana/yc4/display/define_flashing_area_with_pattern.m +++ b/Kod/bilbana/yc4/display/flashing_area_with_pattern.m @@ -1,4 +1,4 @@ -function pkg = define_flashing_area_with_pattern(x1, y1, x2, y2, n1) +function pkg = flashing_area_with_pattern(x1, y1, x2, y2, n1) arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2), n1]; pkg = get_package('QM', arg); end diff --git a/Kod/bilbana/yc4/display/draw_frame.m b/Kod/bilbana/yc4/display/frame.m index 1a6ce3b..093d6b5 100644 --- a/Kod/bilbana/yc4/display/draw_frame.m +++ b/Kod/bilbana/yc4/display/frame.m @@ -1,4 +1,4 @@ -function pkg = draw_frame(x1, y1, x2, y2, n1) +function pkg = frame(x1, y1, x2, y2, n1) arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)]; pkg = get_package('RR', arg); end diff --git a/Kod/bilbana/yc4/display/draw_frame_box.m b/Kod/bilbana/yc4/display/frame_box.m index f2a247e..b28c61d 100644 --- a/Kod/bilbana/yc4/display/draw_frame_box.m +++ b/Kod/bilbana/yc4/display/frame_box.m @@ -1,4 +1,4 @@ -function pkg = draw_frame_box(x1, y1, x2, y2, n1) +function pkg = frame_box(x1, y1, x2, y2, n1) arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2), n1]; pkg = get_package('RT', arg); end diff --git a/Kod/bilbana/yc4/display/get_bars_from_values.m b/Kod/bilbana/yc4/display/get_bars_from_values.m new file mode 100644 index 0000000..cbae702 --- /dev/null +++ b/Kod/bilbana/yc4/display/get_bars_from_values.m @@ -0,0 +1,44 @@ +function [bars, max_val, min_y, height] = get_bars_from_values(values1, values2) +bars = []; + +% CONSTANT VALUES +min_y = 200; +height = 156; +min_x = 16+13; +bar_width = 10; % for a single bar, doubled if only one track +bar_inner_gap_width = 1; % double effect +bar_gap_width = 10; + +% switch 1 and 2 if 1 is empty +if isempty(values1) && ~isempty(values2) + values1 = values2; + values2 = []; +end + +max1 = max(values1); +max2 = 0; +if ~isempty(values2) + max2 = max(values2); +end +max_val = max([max1 max2]); + +for i = 1:9 + bar = struct; + bar.x_lo = min_x + ((bar_width + bar_width + bar_gap_width) * (i-1)); + bar.x_hi = bar.x_lo; + bar.y_lo = min_y; + bar.y_hi = min_y - round(height * (values1(i) / max_val)); + if isempty(values2) + bar.x_hi = bar.x_lo + 2*bar_width; + bars = [bars bar]; + else + bar.x_hi = bar.x_lo + bar_width; + bar2 = struct; + bar2.x_lo = bar.x_hi + bar_inner_gap_width*2; + bar2.x_hi = bar2.x_lo + bar_width; + bar2.y_lo = min_y; + bar2.y_hi = min_y - round((height * (values2(i) / max_val))); + bars = [bars bar bar2]; + end +end +end diff --git a/Kod/bilbana/yc4/display/get_response.m b/Kod/bilbana/yc4/display/get_response.m index 0c77a00..aab66a6 100644 --- a/Kod/bilbana/yc4/display/get_response.m +++ b/Kod/bilbana/yc4/display/get_response.m @@ -36,7 +36,7 @@ pointer = pointer + 1; % total length data = struct; -while pointer < length(display_data) - 1 % last value is bcc +while pointer < length(display_data) - 1 % (last value is bcc) pointer = pointer + 1; if display_data(pointer) ~= 27 % TODO: no ESC? diff --git a/Kod/bilbana/yc4/display/define_touch_key.m b/Kod/bilbana/yc4/display/key.m index 69ed130..0187755 100644 --- a/Kod/bilbana/yc4/display/define_touch_key.m +++ b/Kod/bilbana/yc4/display/key.m @@ -1,4 +1,4 @@ -function pkg = define_touch_key(x1, y1, x2, y2, down_code, up_code, just, text) +function pkg = key(x1, y1, x2, y2, down_code, up_code, just, text) arg_location = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)]; arg_text = double(strjoin({just; text}, '')); arg_null = 0; diff --git a/Kod/bilbana/yc4/display/draw_point.m b/Kod/bilbana/yc4/display/point.m index 34ba683..cfb6b34 100644 --- a/Kod/bilbana/yc4/display/draw_point.m +++ b/Kod/bilbana/yc4/display/point.m @@ -1,4 +1,4 @@ -function pkg = draw_point(x1, y1) +function pkg = point(x1, y1) arg = [get_bytes(x1), get_bytes(y1)]; pkg = get_package('GP', arg); end diff --git a/Kod/bilbana/yc4/display/put_text.m b/Kod/bilbana/yc4/display/put_text.m index 8455c83..8157a65 100644 --- a/Kod/bilbana/yc4/display/put_text.m +++ b/Kod/bilbana/yc4/display/put_text.m @@ -1,5 +1,5 @@ function [pkg] = put_text(x, y, justification, text) -arg1 = [mod(x, 256), x ./ 256, mod(y, 256), y ./ 256]; +arg1 = [get_bytes(x), get_bytes(y)]; arg2 = text; arg3 = 0; diff --git a/Kod/bilbana/yc4/display/scenes/draw_lap_graph.m b/Kod/bilbana/yc4/display/scenes/draw_lap_graph.m new file mode 100644 index 0000000..ebee57e --- /dev/null +++ b/Kod/bilbana/yc4/display/scenes/draw_lap_graph.m @@ -0,0 +1,183 @@ +function [] = draw_lap_graph(car1_laptimes, car2_laptimes, ref_time, change_car) +dt = 0.2; % delay for display + +% don't have to re-draw static elements, just the graphs +persistent in_clipboard; +if isempty(in_clipboard) + in_clipboard = false; +end + +% draw the other car every time the function is called if the change_car flag is set +% (this value is ignored if only one set of lap times are given) +persistent current_car; +if isempty(current_car) + % first call to function + current_car = 1; +else + % switch current_car + disp('switching current car'); + if change_car + if current_car == 1 + current_car = 2; + else + current_car = 1; + end + end +end + +%% STRIP EMPTY VALUES +tmp = []; +for i = 1:length(car1_laptimes) + if car1_laptimes(i) ~= 0 + tmp = [tmp car1_laptimes(i)]; + end +end +car1_laptimes = tmp; + +tmp = []; +for i = 1:length(car2_laptimes) + if car2_laptimes(i) ~= 0 + tmp = [tmp car2_laptimes(i)]; + end +end +car2_laptimes = tmp; + +pause(dt); +matlabclient(1, get_smallpackage(clear_display())); +pause(dt); + +%% DRAW STATICS (OR COPY STATICS FROM CLIPBOARD) +if ~(in_clipboard) + matlabclient(1, get_smallpackage([ ... + put_text(160, 8, 'C', 'Varvtider'), ... + key(0 , 216, 107, 240, 51, 61, 'C', 'Varv'), ... + key(107, 216, 213, 240, 52, 62, 'C', 'Segment'), ... + key(213, 216, 320, 240, 53, 63, 'C', 'Avsluta'), ... + key(260, 0 , 320, 24 , 70, 71, 'C', 'Byt bil') ... + ])); + pause(dt); + + matlabclient(1, get_smallpackage([ ... + draw_line(20, 24, 20, 144), ... % y-axis + put_text(9, 25, 'C', 's'), ... % label y-axis + continue_line(304, 144), ... % x-axis + draw_line(16, 32, 20, 24), ... % arrow on y, left part + continue_line(24, 32), ... % arrow on y, right part + draw_line(304, 140, 304, 148) ... % line on x + ])); + pause(dt); + + y = 166; + margin_top = 6; + matlabclient(1, get_smallpackage([ ... + draw_line(0, y, 320, y), ... + put_text(53 , y + margin_top, 'C', 'target'), ... + put_text(160, y + margin_top, 'C', 'mean'), ... + put_text(266, y + margin_top, 'C', 'stdev') ... + ])); + pause(dt); + + car1 = struct; + car1.avg = '--.-'; + car1.dev = '-.--'; + if ~isempty(car1_laptimes) + car1.avg = num2str(mean(car1_laptimes), 3); + car1.dev = num2str(std(car1_laptimes), 2); + end + car2 = struct; + car2.avg = '--.-'; + car2.dev = '-.--'; + if ~isempty(car2_laptimes) + car2.avg = num2str(mean(car2_laptimes), 3); + car2.dev = num2str(std(car2_laptimes), 2); + end + + line = 12; + matlabclient(1, get_smallpackage([ ... + put_text(6 , y + 3 + margin_top + line*1, 'L', '1'), ... + put_text(6 , y + 3 + margin_top + line*2, 'L', '2'), ... + put_text(53 , y + 2 + margin_top + line*1, 'C', num2str(ref_time)), ... + put_text(53 , y + 2 + margin_top + line*2, 'C', num2str(ref_time)), ... + put_text(160, y + 2 + margin_top + line*1, 'C', car1.avg), ... + put_text(160, y + 2 + margin_top + line*2, 'C', car2.avg), ... + put_text(266, y + 2 + margin_top + line*1, 'C', car1.dev), ... + put_text(266, y + 2 + margin_top + line*2, 'C', car2.dev), ... + ])); + pause(dt); + + matlabclient(1, get_smallpackage(save_display_to_clipboard())); + pause(dt); +else + matlabclient(1, get_smallpackage(restore_display_from_clipboard())); + pause(dt); +end + +%% DRAW GRAPH FOR CAR + +laps = -1; +% want to keep the same scale in x-axis for both cars so set laps to max of both +laps = max(length(car1_laptimes), length(car2_laptimes)); % TODO check if max([]) == 0 +x_min = 20; +dx_max = 260; +% x[lap] = x_min + (dx_max * (i / laps))) + +y_min_val = ref_time - 1.5; % val for lowest y +y_max_val = ref_time + 1.5; % val for highest y +y_min = 144; +dy_max = -50; +max_diff_val = 1; +y_mid = y_min + (dy_max); +% y[lap] = clamp(y_min, y_mid + (dy_max * (lap[i] / ref_time)), y_min + 2*dy_max) + +times = []; +% choose which lap-times to graph +car = 0; +if current_car == 1 && ~isempty(car1_laptimes) + times = car1_laptimes; + car = 1; +elseif current_car == 2 && ~isempty(car2_laptimes) + times = car2_laptimes; + car = 2; +% ignore current_car and choose the only carn_laptimes that exist +elseif ~isempty(car1_laptimes) + times = car1_laptimes; + car = 1; +elseif ~isempty(car2_laptimes) + times = car2_laptimes; + car = 2; +else + % not supposed to get here +end + +for i = 1:(length(times)) + x = round(x_min + (dx_max * (i/laps))); + y = clamp(round(y_mid + dy_max), ... + round(y_mid + (dy_max * ((times(i) - ref_time) / max_diff_val))), ... + round(y_mid - dy_max) ... + ); + matlabclient(1, get_smallpackage([ ... + set_point_size(3, 3), ... + point(x, y), ... + set_point_size(1, 1), ... + draw_line(x, 144-2, x, 144+2) ... + ])); + pause(dt); +end +max_lap_nums = 9; +d_lap = floor(laps/max_lap_nums) + 1; +% examples: +% laps = 8 + % d_lap = floor(8/9) + 1 = 0 + 1 = 1 +% laps = 10 + % d_lap = floor(10/9) + 1 = 1 + 1 = 2 +for i = 1:(length(times)) + if mod(i, d_lap) == 0 + x = round(x_min + (dx_max * (i/laps))); + y = y_min + 4; + matlabclient(1, get_smallpackage([ ... + put_text(x, y, 'C', num2str(i)) ... + ])); + pause(dt); + end +end +end diff --git a/Kod/bilbana/yc4/display/scenes/draw_segment_bars.m b/Kod/bilbana/yc4/display/scenes/draw_segment_bars.m new file mode 100644 index 0000000..6df2dab --- /dev/null +++ b/Kod/bilbana/yc4/display/scenes/draw_segment_bars.m @@ -0,0 +1,57 @@ +function [] = draw_segment_bars(values1, values2) +dt = 0.2; % delay for display +queue = []; % internal queue for packages to send to display + +pause(dt); +matlabclient(1, get_smallpackage(clear_display())); +pause(dt); + +matlabclient(1, get_smallpackage(put_text(160, 8, 'C', 'Genomsnittlig tid per segment'))) +pause(dt); + +% input(''); +matlabclient(1, get_smallpackage([ ... + key(0 , 216, 107, 240, 51, 61, 'C', 'Varv'), ... + key(107, 216, 213, 240, 52, 62, 'C', 'Segment'), ... + key(213, 216, 320, 240, 53, 63, 'C', 'Avsluta') ... +])); +pause(dt); + +matlabclient(1, get_smallpackage([ ... + draw_line(20, 24, 20, 200), ... % y-axis + put_text(9, 25, 'C', 's'), ... % label y-axis + continue_line(304, 200), ... % x-axis + draw_line(16, 32, 20, 24), ... % arrow on y, left part + continue_line(24, 32), ... % arrow on y, right part + draw_line(304, 196, 304, 204) ... % line on x +])); +pause(dt); + +[bars, max_val, min_y, max_height] = get_bars_from_values(values1, values2); + +for bar = bars + matlabclient(1, get_smallpackage(fill_area(bar.x_lo, bar.y_lo, bar.x_hi, bar.y_hi))); + pause(dt); +end + +for i = 0:8 + x = 16+13 + 10 + 30*i; + queue = [queue put_text(x, 204, 'C', num2str(i + 1))]; + if i == 4 || i == 8 + matlabclient(1, get_smallpackage(queue)); + queue = []; + pause(dt); + end +end + +for i = 1:floor(max_val) + x = 20; + y = min_y - round(max_height * (i/max_val)); + matlabclient(1, get_smallpackage([... + draw_line(x, y, 320, y), ... + put_text(x-6, y-2, 'C', num2str(i))... + ])); + pause(dt); +end +end + diff --git a/Kod/bilbana/yc4/display/set_add_line_spacing.m b/Kod/bilbana/yc4/display/set_add_line_spacing.m deleted file mode 100644 index 33a0b4a..0000000 --- a/Kod/bilbana/yc4/display/set_add_line_spacing.m +++ /dev/null @@ -1,3 +0,0 @@ -function pkg = set_add_line_spacing(val) -pkg = get_package('ZY', [val]) -end diff --git a/Kod/bilbana/yc4/display/set_line_spacing.m b/Kod/bilbana/yc4/display/set_line_spacing.m new file mode 100644 index 0000000..95bfc49 --- /dev/null +++ b/Kod/bilbana/yc4/display/set_line_spacing.m @@ -0,0 +1,3 @@ +function pkg = set_line_spacing(val) +pkg = get_package('ZY', [val]) +end diff --git a/Kod/bilbana/yc4/display/define_touch_switch.m b/Kod/bilbana/yc4/display/switch.m index e45f512..e45f512 100644 --- a/Kod/bilbana/yc4/display/define_touch_switch.m +++ b/Kod/bilbana/yc4/display/switch.m diff --git a/Kod/bilbana/yc4/display/toggle.m b/Kod/bilbana/yc4/display/toggle.m new file mode 100644 index 0000000..9dc42b0 --- /dev/null +++ b/Kod/bilbana/yc4/display/toggle.m @@ -0,0 +1,7 @@ +function pkg = toggle(x1, y1, x2, y2, down_code, up_code, just, text) +arg_location = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)]; +arg_text = double(strjoin({just; text}, '')); +arg_null = 0; + +pkg = get_package('AK', [arg_location, down_code, up_code, arg_text, arg_null]); +end diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m index cf534fa..4792ca7 100644 --- a/Kod/bilbana/yc4/do_car.m +++ b/Kod/bilbana/yc4/do_car.m @@ -1,4 +1,4 @@ -function [car, stop, display_data] = do_car(car, t, display_data, boot) +function [car, halt, display_data] = do_car(car, t, display_data, boot) %DO_CAR Ger nya värden till struct car, avgör om koden ska stoppas samt hämtar displaydata. %{ Input/Output: @@ -27,7 +27,7 @@ anrop stop - Huruvida koden ska stoppas eller inte %} -stop = false; +halt = false; if car.running == true [car.new_lap, car.new_check_point, car.time] = get_car_position(car.num); if car.new_check_point == true && rand < car.miss_probability && car.lap >= 4 @@ -53,7 +53,7 @@ if car.running == true if car.response == 'J' car.seg_tic = tic; else - stop = true; + halt = true; return; end end diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 7f5264b..519fbf9 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -20,14 +20,14 @@ global log_verbose; log_verbose = false; % INIT DISPLAY if display_active - addpath display/ClientServerApp/Release - cd display/ClientServerApp/Release - !startServer - cd ../../.. + addpath display/ClientServerApp/Release + cd display/ClientServerApp/Release + !startServer + cd ../../.. end display = struct; -display.data = [clear_display()]; +display.data = []; display.out = 0; display.shm = 0; display.shm_interp = struct; @@ -35,7 +35,6 @@ 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; load('bilbana\files\Bana1.mat') @@ -94,49 +93,99 @@ boot2 = struct; boot2.status = false; boot2.time = 0; +halt = false; + +ref_time = 13; + t = 0; highToc = 0; -%% ASK ACTIVE CARS -disp('J = Ja (automatiskt), M = Ja (manuellt), N = Nej'); - -car1.response = input('Vill du köra bil 1? [N] ', 's'); -if car1.response == 'J' - car1.running = true; - car1.automatic = true; - boot1.status = true; - boot1.time = tic; -elseif car1.response == 'M' - car1.running = true; - car1.automatic = false; -else - car1.running = false; -end +%% DRAW DISPLAY +matlabclient(1, get_smallpackage([ ... + put_text(160, 30, 'C', 'Choose which car to drive'), ... + define_touch_switch(98 , 60 , 130, 90 , 11, 12, 'C', '1'), ... % ACTIVATE TRACK 1 + define_touch_switch(102, 98 , 126, 122, 13, 14, 'C', 'M'), ... % MANUAL CONTROL TRACK 1 + define_touch_switch(190, 60 , 222, 90 , 21, 22, 'C', '2'), ... % ACTIVATE TRACK 2 + define_touch_switch(194, 98 , 218, 122, 23, 61, 'C', 'M') ... % MANUAL CONTROL TRACK 2 + ])); +pause(0.5); +matlabclient(1, get_smallpackage([ ... + put_text(160, 120, 'C', '13.0'), ... % CURRENT REFERENCE TIME + define_touch_key( 98 , 110, 130, 140, 41, 42, 'C', '-'), ... % DECREASE REFERENCE TIME + define_touch_key( 190, 110, 220, 140, 43, 44, 'C', '+'), ... % INCREASE REFERENCE TIME + define_touch_key( 272, 192, 304, 224, 31, 32, 'C', 'S') ... % START BUTTON + %TODO CLEAR BUTTON + ])); + +%% CHECK DISPLAY BUTTONS +display.last_check = tic; +done = false; +while 1 + pause(0.1); + if toc(display.last_check) > 0.4 + display.last_check = 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); -car2.response = input('Vill du köra bil 2? [N] ', 's'); -if car2.response == 'J' - car2.running = true; - car2.automatic = true; - boot2.status = true; - boot2.time = tic; -elseif car2.response == 'M' - car2.running = true; - car2.automatic = false; -else - car2.running = false; -end -%{ -ref_time = input('Vilken referenstid ska användas? [13] ', 's'); -ref_time = str2double(ref_time); -if isnan(ref_time) - ref_time = 13; -elseif not(isreal(ref_time)) - ref_time = 13; + % request internal mem + matlabclient(1, hex2dec(['12'; '01'; '53'; '66'])); + if isempty(display.shm_interp.data) + continue + end + update_ref_time = false; + for i = 1:length(display.shm_interp.data) + disp(num2str(length(display.shm_interp.data))) + data = display.shm_interp.data(i); + disp(data) + if data.data == 32 + done = true; + elseif data.data == 11 + car1.running = true; + elseif data.data == 12 + car1.running = false; + elseif data.data == 13 + car1.automatic = false; + elseif data.data == 14 + car1.automatic = true; + elseif data.data == 21 + car2.running = true; + elseif data.data == 22 + car2.running = false; + elseif data.data == 23 + car2.automatic = false; + elseif data.data == 24 + car2.automatic = true; + elseif data.data == 41 + % ignore + elseif data.data == 42 + ref_time = max(ref_time - 0.5, 12.0); + update_ref_time = true; + elseif data.data == 43 + % ignore + elseif data.data == 44 + ref_time = min(ref_time + 0.5, 15.0); + update_ref_time = true; + end + end + if done == true + break + end + if update_ref_time == true + pause(0.4); + matlabclient(1, get_smallpackage(put_text(160, 120, 'C', num2str(ref_time, '%.1f')))); + end + display.last_check = tic; + end end -%} -car1.ref_time = 15; -car2.ref_time = 15; + +debug('DISPLAY', ['CAR1.RUNNING=', car1.running, ', CAR1.AUTOMATIC=', car1.automatic]) +debug('DISPLAY', ['CAR2.RUNNING=', car2.running, ', CAR2.AUTOMATIC=', car2.automatic]) +debug('DISPLAY', ['CHOSEN REFERENCE TIME=', ref_time]) + +matlabclient(1, get_smallpackage([define_bar_graph('O', 2, 266, 30, 290, 210, 0, 64, 1, 1)])); + %% MAIN LOOP while 1 readTime = tic; @@ -148,52 +197,53 @@ while 1 car1.stopping = true; car2.stopping = true; end +end - figure(hf) - drawnow - - %% CORE OF LOOP - [car1, car1.stop, display.data] = do_car(car1, t, display.data, boot1); - [car2, car2.stop, display.data] = do_car(car2, t, display.data, boot2); - %% BOOTSTRAP - if boot1.status - [car1, boot1] = do_boot(car1, boot1); - end - if boot2.status - [car2, boot2] = do_boot(car2, boot2); - end - %% GOVERNOR - if not(boot1.status) && car1.lap ~= 0 - car1 = do_gov(car1); - end - if not(boot2.status) && car2.lap ~= 0 - car2 = do_gov(car2); - end - %% - if car1.stop == true - disp('stopped by car 1'); - break; - end - if car2.stop == true - disp('stopped by car 2'); - break; - end +figure(hf) +drawnow - if (~car2.running && car1.stopped) || (~car1.running && car2.stopped) || (car1.stopped && car2.stopped) - break; - end +[car1, halt, display.data] = do_car(car1, t, display.data); +if halt + break +end +[car2, halt, display.data] = do_car(car2, t, display.data); +if halt + break +end + +%% BOOTSTRAP +if boot1.status + [car1, boot1] = do_boot(car1, boot1); +end +if boot2.status + [car2, boot2] = do_boot(car2, boot2); +end +%% GOVERNOR +if not(boot1.status) && car1.lap ~= 0 + car1 = do_gov(car1); +end +if not(boot2.status) && car2.lap ~= 0 + car2 = do_gov(car2); +end +%% - %% END OF LOOP - while 1 %Whileloop med paus som k�rs till pausen �verskridit 0.07 sekunder - % DISPLAY - display.send_delay = tic; - if toc(display.last_send) > display.send_interval && display_active +if (~car2.running && car1.stopped) || (~car1.running && car2.stopped) || (car1.stopped && car2.stopped) + break; +end + +%% END OF LOOP +while 1 %Whileloop med paus som k�rs till pausen �verskridit 0.07 sekunder + % DISPLAY + display.send_delay = tic; + if toc(display.last_send) > display.send_interval && display_active % queue control signal if car1.running && car1.automatic % display.data = [display.data, put_text(20, 16 + (16 * 1), 'L', num2str(car1.u))]; + display.data = [display.data, update_bar_graph(1, car1.u)]; end if car2.running && car2.automatic % display.data = [display.data, put_text(20, 16 + (16 * 2), 'L', num2str(car2.u))]; + display.data = [display.data, update_bar_graph(2, car2.u)]; end % send all queued data @@ -235,7 +285,7 @@ disp(car2); terminate(1); terminate(2); if display_active - matlabclient(3); + matlabclient(3); end %% DISPLAY GRAPHS @@ -253,10 +303,10 @@ dateStr = datestr(now, 'yyyy-mm-dd'); timeStr = datestr(now, 'HH.MM'); if car1.lap > 2 - filenameMat1 = strjoin({'bilbana1_', dateStr, 'T', timeStr, '.mat'}, ''); - save(filenameMat1, '-struct', 'car1'); + filenameMat1 = strjoin({'bilbana1_', dateStr, 'T', timeStr, '.mat'}, ''); + save(filenameMat1, '-struct', 'car1'); end if car2.lap > 2 - filenameMat2 = strjoin({'bilbana2_', dateStr, 'T', timeStr, '.mat'}, ''); - save(filenameMat2, '-struct', 'car2'); -end
\ No newline at end of file + filenameMat2 = strjoin({'bilbana2_', dateStr, 'T', timeStr, '.mat'}, ''); + save(filenameMat2, '-struct', 'car2'); +end |