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clear all;
%% INIT TRACK
disp('Startar bilbanan. Avsluta med q.')
hf=figure('position', [0 0 eps eps], 'menubar', 'none');
initialize_counters(1)
initialize_counters(2)
config_IOs
start_race(1)
start_race(2)
%% INIT
global log_debug;
log_debug = true;
global log_verbose;
log_verbose = false;
% INIT DISPLAY
addpath display/ClientServerApp/Release
cd display/ClientServerApp/Release
!startServer
cd ../../..
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;
load('bilbana\files\Bana1.mat')
load('bilbana\files\Bana2.mat')
car1 = struct;
car1.num = 1;
car1.running = false;
car1.automatic = true;
car1.stopping = false;
car1.stopped = false;
car1.segment = 1;
car1.lap = 0;
car1.lap_times = [];
car1.seg_times = [];
car1.seg_constant_list = []; % TODO
car1.position = 0;
car1.pos_at = [0.0 2.53 3.05 4.73 7.68 8.98 10.93 14.69 17.57 19.60];
car1.seg_len = [2.53 0.53 1.68 2.92 1.2 2.01 3.83 2.89 1.99]
car1.map = Bana1;
car1.approximation = [];
car1.miss_probability = 0.0;
car1.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO
car2 = struct;
car2.num = 2;
car2.running = false;
car2.automatic = true;
car2.stopping = false;
car2.stopped = false;
car2.segment = 1;
car2.lap = 0;
car2.lap_times = [];
car2.seg_times = [];
car2.position = 0;
car2.pos_at = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76 19.95];
car2.seg_len = [2.53 0.53 1.87 2.68 1.24 1.81 4.03 3.09 2.19];
car2.map = Bana2;
car2.miss_probability = 0.1;
car2.seg_constant_list = []; % TODO
car2.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO
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;
elseif car1.response == 'M'
car1.running = true;
car1.automatic = false;
else
car1.running = false;
end
car2.response = input('Vill du köra bil 2? [N] ', 's');
if car2.response == 'J'
car2.running = true;
car2.automatic = true;
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;
end
%}
ref_time = 13;
%% MAIN LOOP
while 1
readTime = tic;
%% PRE-LOOP
if strcmp(get(hf,'currentcharacter'),'q')
close(hf)
break
elseif strcmp(get(hf, 'currentcharacter'), 's')
car1.stopping = true;
car2.stopping = true;
end
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);
if car1.stop == true
disp('stopped by car 1');
break;
end
if car2.stop == true
disp('stopped by car 2');
break;
end
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
% 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
end
if t > 0.1
% beep;
end
break;
end
pause(0.001);
end
end
%% END OF PROGRAM
disp(highToc);
disp(car1);
disp(car2);
terminate(1);
terminate(2);
matlabclient(3);
%% DISPLAY GRAPHS
if car1.running == true
graphs(car1.lap_times, ref_time, car1.seg_times, 1);
end
if car2.running == true
graphs(car2.lap_times, ref_time, car2.seg_times, 2);
end
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