app.cpp

[詳解]

#include "ev3api.h"
#include "app.h"
#include "util.h"
#include "ColorSensor.h"
#include "SonarSensor.h"
#include "TouchSensor.h"
#include <string>

using namespace ev3api;

#if defined(BUILD_MODULE)
#include "module_cfg.h"
#else
#include "kernel_cfg.h"
#endif

#define DEBUG

#ifdef DEBUG
#define _debug(x) (x)
#else
#define _debug(x)
#endif

static int g_bluetooth_command = 0;  // Bluetoothコマンド 1:リモートスタート
static FILE* g_bluetooth = NULL;     // Bluetoothファイルハンドル

/* メインタスク */
void main_task(intptr_t unused)
{
  /* Open Bluetooth file */
  g_bluetooth = ev3_serial_open_file(EV3_SERIAL_BT);
  assert(g_bluetooth != NULL);

  /* Bluetooth通信タスクの起動 */
  act_tsk(BT_TASK);

  msg_f("Check Colors", 1);
  msg_f(" create from github.com/korosuke613/etrobocon2017", 2);
  ColorSensor colorSensor(PORT_3);
  TouchSensor touchSensor(PORT_1);
  SonarSensor sonarSensor(PORT_2);
  int time_count = 0;
  char msg[32];
  int color_num;
  std::string color_name[8]
      = { "NONE", "BLACK", "BLUE", "GREEN", "YELLOW", "RED", "WHITE", "BROWN" };
  rgb_raw_t rgb;
  while(1) {
    color_num = (int)colorSensor.getColorNumber();
    colorSensor.getRawColor(rgb);
    // sprintf(msg, "LightValue: %d", colorSensor.getBrightness());
    // msg_f(msg, 4);

    sprintf(msg, "ColorNumber: %s", color_name[color_num].c_str());
    msg_f(msg, 5);
    sprintf(msg, "    R:%3d G:%3d B:%3d", rgb.r, rgb.g, rgb.b);
    msg_f(msg, 6);

    sprintf(msg, "DistanceEye: %d", sonarSensor.getDistance());
    msg_f(msg, 7);

    if(sonarSensor.getDistance() < 10) {
      time_count++;
    }

    sprintf(msg, "DistanceTime: %d", time_count);
    msg_f(msg, 8);

    if(touchSensor.isPressed() == 1) {
      break; /* タッチセンサが押された */
    }
    tslp_tsk(4);
  }

  ter_tsk(BT_TASK);
  fclose(g_bluetooth);

  ext_tsk();
}

void bt_task(intptr_t unused)
{
  while(1) {
    uint8_t c = fgetc(g_bluetooth); /* 受信 */
    switch(c) {
      case '1':
        g_bluetooth_command = 1;
        break;
      default:
        break;
    }
    fputc(c, g_bluetooth); /* エコーバック */
  }
}