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%% INIT
% INIT DISPLAY
addpath display/ClientServerApp/Release
cd display/ClientServerApp/Release
!startServer
cd ../../..
display = struct;
display.data = [];
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.send_interval = 0.5;
disp('Startar bilbanan. Avsluta med q.')
hf=figure('position', [0 0 eps eps], 'menubar', 'none');
% initialize_counters(1)
% initialize_counters(2)
% config_IOs
load('bilbana\files\Bana1.mat')
load('bilbana\files\Bana2.mat')
% start_race(1)
% start_race(2)
car1 = struct;
car1.num = 1;
car1.running = false;
car1.automatic = false;
car1.segment = 1;
car1.lap = 0;
car1.lap_times = [];
car1.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;
car2.automatic = false;
car2.segment = 1;
car2.lap = 0;
car2.lap_times = [];
car2.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 = 0.05;
ref_time = 13;
t = 0;
highToc = 0;
%% 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([ ...
% TODO ?????????????????????????????????????????
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);
% 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
%{
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
%}
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;
%% PRE-LOOP
if strcmp(get(hf,'currentcharacter'),'q')
close(hf)
break
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
<<<<<<< HEAD
%% 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))];
display.data = [display.data, update_bar_graph(2, 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 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
>>>>>>> respond to buttons pressed + indents
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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