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sensors_state.c
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/*
* pixy_state.c
*
* Created on: 2019Äê9ÔÂ29ÈÕ
* Author: jiez
*/
#include "sensors_state.h"
#define ROTATE_LEFT 1
#define ROTATE_RIGHT 2
#define LINE_UP 3
#define NONE 0
const uint32_t lookup[10] = { 841000, 770000, 669000, 596000, 534000, 498000,
455000, 417000, 399000, 366000 };
const double correspond[10] = { 12, 14, 16, 18, 20, 22, 24, 26, 28, 30 };
int sensor_fsm(sensor_state_fsm* aFsm, msgQueue_sensor* dataRecv)
{
msgQueue_t2 dataToSend;
uint8_t sensorData[SENSOR_DATA_LENGTH];
int distance = 0;
// uint8_t trackingIndex = 0;
int targetCount = 0;
uint8_t isDetected[3] = { 0, 0, 0 };
uint32_t blockSize[3] = { 0, 0, 0 };
int block_target[3] = { -1, -1, -1 };
uint8_t trackingIndex[3] = { 0, 0, 0 };
uint8_t direction[3] = { NONE, NONE, NONE };
uint8_t color[3] = { 0, 0, 0 };
int blockAngle[3] = { 0, 0, 0 };
memcpy(sensorData, dataRecv->data, sizeof(sensorData));
switch (aFsm->state)
{
case OBJECT_FINDING:
{
if (dataRecv->dataType == PIXY_MSG_TYPE)
{
if (sensorData[0] != 175 || sensorData[1] != 193)
// || sensorData[PIXY_BLOCKNUM_LOC] == 0)
{
break;
}
//detected something
int blockCount = sensorData[PIXY_BLOCKNUM_LOC] / 14;
int i;
for (i = 0; i < blockCount; i++)
{
if ((sensorData[PIXY_SIG_LOC + i * 14] != 11
&& sensorData[PIXY_SIG_LOC + i * 14] != 10
&& sensorData[PIXY_SIG_LOC + i * 14] != 12)) //10 = blue green, 28 = red purple
{
continue;
}
if (isDetected[0] == 0)
{
isDetected[0] = 1;
block_target[0] = 0;
targetCount++;
}
else if (isDetected[1] == 0)
{
isDetected[1] = 1;
block_target[1] = 1;
targetCount++;
}
else if (isDetected[2] == 0)
{
isDetected[2] = 1;
block_target[2] = 2;
targetCount++;
}
}
int j;
for (j = 0; j < 3; j++)
{
double angle = 0;
if (isDetected[j])
{
blockSize[j] = sensorData[PIXY_WIDTH_LOC + j * 14]
* sensorData[PIXY_HEIGHT_LOC + j * 14];
trackingIndex[j] = sensorData[PIXY_TRACK_LOC
+ block_target[j] * 14];
uint16_t object_x = sensorData[PIXY_XCOR_LOC
+ block_target[j] * 14];
uint8_t object_x2 = sensorData[PIXY_XCOR_LOC + 1
+ block_target[j] * 14];
if (object_x2 != 0)
{
object_x = object_x2 << 8 | object_x;
}
int32_t x_err = X_CENTER - object_x; //about 30cm away from the object
angle = ANGLE_MULTIPLE * x_err;
angle = angle + ANGLE_CONSTANT;
blockAngle[j] = (int) (angle + 0.5);
if (dataToSend.angle[j] < -2)
{
direction[j] = ROTATE_LEFT;
}
else if (dataToSend.angle[j] > 2)
{
direction[j] = ROTATE_RIGHT;
}
else
{
direction[j] = LINE_UP;
uint16_t adcValue0;
uint16_t res = ADC_convert(aFsm->adc, &adcValue0);
uint32_t adcValue0MicroVolt =
ADC_convertRawToMicroVolts(aFsm->adc, adcValue0);
int index;
for (index = 0;
index < sizeof(lookup) / sizeof(lookup[0]) - 1;
index++)
{
if (index == 0
&& lookup[index] < adcValue0MicroVolt)
{
distance = 10;
break;
}
if (index == sizeof(lookup) / sizeof(lookup[0]) - 2
&& lookup[index] > adcValue0MicroVolt)
{
distance = 32;
break;
}
if (lookup[index] >= adcValue0MicroVolt
&& lookup[index + 1] <= adcValue0MicroVolt)
{
uint32_t total = lookup[index + 1]
- lookup[index];
uint32_t diff = adcValue0MicroVolt
- lookup[index];
double portion = diff / total;
distance =
(int) (portion * correspond[index]
+ (1 - portion)
* correspond[index + 1]);
break;
}
}
aFsm->reportUltra = true;
}
if (sensorData[PIXY_SIG_LOC + block_target[j] * 14] == 11)
{
color[j] = PURPLE_RED;
}
else if (sensorData[PIXY_SIG_LOC + block_target[j] * 14]
== 10)
{
color[j] = GREEN_PURPLE;
}
else if (sensorData[PIXY_SIG_LOC + block_target[j] * 14]
== 12)
{
color[j] = YELLOW_PURPLE;
}
// final_msg = OBJECT_FINDING_SIG << 24 | isDetected << 16
// | color << 8 | direction;
}
}
dataToSend.event = PROCESS_MSG;
dataToSend.state = OBJECT_FINDING;
dataToSend.shortDistWarn = aFsm->distWarn;
dataToSend.irDistance = distance;
memcpy(dataToSend.color, color, sizeof(color));
memcpy(dataToSend.direction, direction, sizeof(direction));
memcpy(dataToSend.angle, blockAngle, sizeof(blockAngle));
memcpy(dataToSend.blockSize, blockSize, sizeof(blockSize));
memcpy(dataToSend.detection, isDetected, sizeof(isDetected));
memcpy(dataToSend.trackIndex, trackingIndex, sizeof(trackingIndex));
sendMsgToMqtt(&dataToSend);
}
else if (dataRecv->dataType == ULTRA_MSG_TYPE)
{
uint32_t dist;
sscanf(sensorData, "%d", &dist);
dataToSend.distance = (uint8_t) sensorData[0] << 16
| (uint8_t) sensorData[1] << 8 | (uint8_t) sensorData[2];
if (dist <= 10)
{
aFsm->distWarn = true;
}
else
{
aFsm->distWarn = false;
}
if (aFsm->reportUltra)
{
dataToSend.event = DISTANCE_MSG;
dataToSend.state = OBJECT_FINDING;
if (dist <= 10)
{
dataToSend.shortDistWarn = true;
}
else
{
dataToSend.shortDistWarn = false;
}
sendMsgToMqtt(&dataToSend);
aFsm->reportUltra = false;
}
//
}
else if (dataRecv->dataType == ARM_MSG_TYPE)
{
aFsm->state = DROPAREA_FINDING;
aFsm->reportUltra = false;
}
break;
}
case DROPAREA_FINDING:
if (dataRecv->dataType == PIXY_MSG_TYPE)
{
if (sensorData[0] != 175 || sensorData[1] != 193)
// || sensorData[PIXY_BLOCKNUM_LOC] == 0)
{
break;
}
//detected something
int blockCount = sensorData[PIXY_BLOCKNUM_LOC] / 14;
int i;
for (i = 0; i < blockCount; i++)
{
if (sensorData[PIXY_SIG_LOC + i * 14] != 19) //10 = blue green, 28 = red purple
{
continue;
}
if (isDetected[0] == 0)
{
isDetected[0] = 1;
block_target[0] = 0;
block_target[1] = 0;
block_target[2] = 0;
isDetected[1] = 0;
isDetected[2] = 0;
targetCount++;
}
// else if (isDetected[1] == 0)
// {
// isDetected[1] = 1;
// block_target[1] = 1;
// targetCount++;
// }
// else if (isDetected[2] == 0)
// {
// isDetected[2] = 1;
// block_target[2] = 2;
// targetCount++;
// }
}
int j = 0;
double angle = 0;
if (isDetected[j])
{
blockSize[j] = sensorData[PIXY_WIDTH_LOC + j * 14]
* sensorData[PIXY_HEIGHT_LOC + j * 14];
trackingIndex[j] = sensorData[PIXY_TRACK_LOC
+ block_target[j] * 14];
uint16_t object_x = sensorData[PIXY_XCOR_LOC
+ block_target[j] * 14];
uint8_t object_x2 = sensorData[PIXY_XCOR_LOC + 1
+ block_target[j] * 14];
if (object_x2 != 0)
{
object_x = object_x2 << 8 | object_x;
}
int32_t x_err = X_CENTER - object_x; //about 30cm away from the object
angle = ANGLE_MULTIPLE * x_err;
angle = angle + ANGLE_CONSTANT;
blockAngle[j] = (int) (angle + 0.5);
if (dataToSend.angle[j] < -2)
{
direction[j] = ROTATE_LEFT;
}
else if (dataToSend.angle[j] > 2)
{
direction[j] = ROTATE_RIGHT;
}
else
{
direction[j] = LINE_UP;
aFsm->reportUltra = true;
uint16_t adcValue0;
uint16_t res = ADC_convert(aFsm->adc, &adcValue0);
uint32_t adcValue0MicroVolt =
ADC_convertRawToMicroVolts(aFsm->adc, adcValue0);
int index;
for (index = 0;
index < sizeof(lookup) / sizeof(lookup[0]) - 1;
index++)
{
if (index == 0 && lookup[index] < adcValue0MicroVolt)
{
distance = 10;
break;
}
if (index == sizeof(lookup) / sizeof(lookup[0]) - 2
&& lookup[index] > adcValue0MicroVolt)
{
distance = 32;
break;
}
if (lookup[index] >= adcValue0MicroVolt
&& lookup[index + 1] <= adcValue0MicroVolt)
{
uint32_t total = lookup[index + 1] - lookup[index];
uint32_t diff = adcValue0MicroVolt - lookup[index];
double portion = diff / total;
distance = (int) (portion * correspond[index]
+ (1 - portion) * correspond[index + 1]);
break;
}
}
}
if (sensorData[PIXY_SIG_LOC + block_target[j] * 14] == 19)
{
color[j] = GREEN_RED;
}
}
// int j;
// for (j = 0; j < 3; j++)
// {
// double angle = 0;
// if (isDetected[j])
// {
// blockSize[j] = sensorData[PIXY_WIDTH_LOC + j * 14]
// * sensorData[PIXY_HEIGHT_LOC + j * 14];
// trackingIndex[j] = sensorData[PIXY_TRACK_LOC
// + block_target[j] * 14];
// uint16_t object_x = sensorData[PIXY_XCOR_LOC
// + block_target[j] * 14];
// uint8_t object_x2 = sensorData[PIXY_XCOR_LOC + 1
// + block_target[j] * 14];
// if (object_x2 != 0)
// {
// object_x = object_x2 << 8 | object_x;
// }
// int32_t x_err = X_CENTER - object_x; //about 30cm away from the object
// angle = ANGLE_MULTIPLE * x_err;
// angle = angle + ANGLE_CONSTANT;
// blockAngle[j] = (int) (angle + 0.5);
// if (dataToSend.angle[j] < -2)
// {
// direction[j] = ROTATE_LEFT;
// }
// else if (dataToSend.angle[j] > 2)
// {
// direction[j] = ROTATE_RIGHT;
// }
// else
// {
// direction[j] = LINE_UP;
// aFsm->reportUltra = true;
// uint16_t adcValue0;
// uint16_t res = ADC_convert(aFsm->adc, &adcValue0);
// uint32_t adcValue0MicroVolt =
// ADC_convertRawToMicroVolts(aFsm->adc, adcValue0);
// int index;
// for (index = 0;
// index < sizeof(lookup) / sizeof(lookup[0]) - 1;
// index++)
// {
// if (index == 0
// && lookup[index] < adcValue0MicroVolt)
// {
// distance = 10;
// break;
// }
// if (index == sizeof(lookup) / sizeof(lookup[0]) - 2
// && lookup[index] > adcValue0MicroVolt)
// {
// distance = 32;
// break;
// }
// if (lookup[index] >= adcValue0MicroVolt
// && lookup[index + 1] <= adcValue0MicroVolt)
// {
// uint32_t total = lookup[index + 1]
// - lookup[index];
// uint32_t diff = adcValue0MicroVolt
// - lookup[index];
// double portion = diff / total;
// distance =
// (int) (portion * correspond[index]
// + (1 - portion)
// * correspond[index + 1]);
// break;
// }
// }
// }
// if (sensorData[PIXY_SIG_LOC + block_target[j] * 14] == 19)
// {
// color[j] = GREEN_RED;
// }
// final_msg = OBJECT_FINDING_SIG << 24 | isDetected << 16
// | color << 8 | direction;
// }
// }
dataToSend.event = PROCESS_MSG;
dataToSend.state = DROPAREA_FINDING;
dataToSend.shortDistWarn = aFsm->distWarn;
dataToSend.irDistance = distance;
memcpy(dataToSend.color, color, sizeof(color));
memcpy(dataToSend.direction, direction, sizeof(direction));
memcpy(dataToSend.angle, blockAngle, sizeof(blockAngle));
memcpy(dataToSend.blockSize, blockSize, sizeof(blockSize));
memcpy(dataToSend.detection, isDetected, sizeof(isDetected));
memcpy(dataToSend.trackIndex, trackingIndex, sizeof(trackingIndex));
sendMsgToMqtt(&dataToSend);
}
else if (dataRecv->dataType == ULTRA_MSG_TYPE)
{
uint32_t dist;
sscanf(sensorData, "%d", &dist);
dataToSend.distance = (uint8_t) sensorData[0] << 16
| (uint8_t) sensorData[1] << 8 | (uint8_t) sensorData[2];
if (dist <= 10)
{
aFsm->distWarn = true;
}
else
{
aFsm->distWarn = false;
}
if (aFsm->reportUltra)
{
dataToSend.event = DISTANCE_MSG;
dataToSend.state = OBJECT_FINDING;
if (dist <= 10)
{
dataToSend.shortDistWarn = true;
}
else
{
dataToSend.shortDistWarn = false;
}
sendMsgToMqtt(&dataToSend);
aFsm->reportUltra = false;
}
//
}
else if (dataRecv->dataType == ARM_MSG_TYPE)
{
aFsm->state = OBJECT_FINDING;
aFsm->reportUltra = false;
}
break;
}
return 0;
}