Diff: UI.cpp

Revision:

0:da168b469315

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/UI.cpp	Mon Feb 15 17:44:04 2016 +0000
@@ -0,0 +1,267 @@
+#include "UI.h"
+
+UI::UI(PinName a,PinName b,PinName c,PinName d,PinName e ,PinName f) : SwWalk1(a), SwWalk2(b), SwWalk3(c), SwSweep(d), SwWater(e), SwEmergency(f)
+{
+#ifdef UI_DEBUG
+    pc = new Serial(USBTX, USBRX);
+    pc->baud(115200);
+#endif
+
+    //LED = new BusOut(LED_WALK1, LED_WALK2, LED_WALK3, LED_SWEEP, LED_WATER, LED_STATUS);
+    LedWalk1 = new DigitalOut(LED_WALK1);
+    LedWalk2 = new DigitalOut(LED_WALK2);
+    LedWalk3 = new DigitalOut(LED_WALK3);
+    LedSweep = new DigitalOut(LED_SWEEP);
+    LedWater = new DigitalOut(LED_WATER);
+    LedStatus = new DigitalOut(LED_STATUS);
+
+    LedWalk1->write(0);
+    LedWalk2->write(0);
+    LedWalk3->write(0);
+    LedSweep->write(0);
+    LedWater->write(0);
+    LedStatus->write(0);
+
+    SwEmergency.rise(this, &UI::SwEmergencyPush);
+    SwEmergency.fall(this, &UI::SwEmergencyRelease);
+
+    VelocityBar = new BusOut(LED_BAR1_1, LED_BAR1_2, LED_BAR1_3, LED_BAR1_4, LED_BAR1_5, LED_BAR1_6, LED_BAR1_7, LED_BAR1_8, LED_BAR1_9, LED_BAR1_10);
+    BatteryBar = new BusOut(LED_BAR2_1, LED_BAR2_2, LED_BAR2_3, LED_BAR2_4, LED_BAR2_5, LED_BAR2_6, LED_BAR2_7, LED_BAR2_8, LED_BAR2_9, LED_BAR2_10);
+
+    count[0] = count[1] = count[2] = 0;
+    last_state = now_state = 0;
+    
+    state[0] = state[1] = false;
+
+    EmergencyCheck = false;
+    
+    SystemState = 0;
+
+    //now = 0;
+    //t.start(); // for LED Status
+    //last = t.read(); // check this again (read or read_ms)
+}
+
+int UI::LEDState()
+{
+#ifdef UI_DEBUG
+    pc->printf("LEDState\n");
+#endif
+    if(1/*Everything Ready*/) {
+        LedStatus->write(1);
+        return 1;
+
+    } else if(1/*Cannot Communicate*/) {
+        LedStatus->write(0);
+        return 0;
+    }
+
+    else if(1/*Communicated but press Emergency button*/) {
+
+        //check communicate by ping
+
+
+
+        LedStatus->write(1);
+        wait_ms(300);
+        LedStatus->write(0);
+        wait_ms(300);
+        /*now = t.read();
+        if((last-now) > 500) {
+            if(LedStatus->read()==0) LedStatus->write(1);
+            else LedStatus->write(0);
+            last = now;
+        }*/
+        return 0;
+    }
+}
+
+void UI::LEDWalkOnOff(int x, int y, int z)
+{
+    if(x==1) LedWalk1->write(1);
+    else LedWalk1->write(0);
+    if(y==1) LedWalk2->write(1);
+    else LedWalk2->write(0);
+    if(z==1) LedWalk3->write(1);
+    else LedWalk3->write(0);
+}
+
+
+void UI::SwWalk1Tick()
+{
+    if(!EmergencyCheck) {
+#ifdef UI_DEBUG
+        pc->printf("SwitchWalk 1 Ticked\n");
+#endif
+        now_state = 1;
+
+        if(last_state != now_state) {
+
+            //Walk Style Command
+
+            //Turn LED on
+            LEDWalkOnOff(1,0,0);
+
+            last_state = 1;
+        }
+    }
+}
+
+void UI::SwWalk2Tick()
+{
+    if(!EmergencyCheck) {
+#ifdef UI_DEBUG
+        pc->printf("SwitchWalk 2 Ticked\n");
+#endif
+
+        now_state = 2;
+
+        if(last_state != now_state) {
+
+            //Walk Style Command
+
+            //Turn LED on
+            LEDWalkOnOff(0,1,0);
+            
+            last_state = 2;
+        }
+    }
+}
+
+void UI::SwWalk3Tick()
+{
+    if(!EmergencyCheck) {
+#ifdef UI_DEBUG
+        pc->printf("SwitchWalk 3 Ticked\n");
+#endif
+        now_state = 3;
+
+        if(last_state != now_state) {
+
+            //Walk Style Command
+
+            //Turn LED on
+            LEDWalkOnOff(0,0,1);
+            last_state = 3;
+        }
+    }
+}
+
+void UI::SwSweepTick()
+{
+    if(!EmergencyCheck) {
+        count[0]++;
+
+#ifdef UI_DEBUG
+        pc->printf("Switch Sweep Ticked\n");
+#endif
+
+        if(count[0]%2!=0) {
+            LedSweep->write(1);
+#ifdef UI_DEBUG
+            pc->printf("Sweep On\n");
+#endif
+        } else {
+            LedSweep->write(0);
+#ifdef UI_DEBUG
+            pc->printf("Sweep Off\n");
+#endif
+        }
+
+        //Send Sweep Command
+
+    }
+}
+
+void UI::SwWaterTick()
+{
+    if(!EmergencyCheck) {
+        count[1]++;
+
+#ifdef UI_DEBUG
+        pc->printf("Switch Water Ticked\n");
+#endif
+
+        if(count[1]%2!=0) {
+            LedWater->write(1);
+#ifdef UI_DEBUG
+            pc->printf("Water On\n");
+#endif
+        } else {
+            LedWater->write(0);
+#ifdef UI_DEBUG
+            pc->printf("Water Off\n");
+#endif
+        }
+
+        //Send Water Command
+
+    }
+}
+
+
+void UI::SwEmergencyPush()
+{
+    EmergencyCheck = true;
+    //Send communication command to 'Stop Walking '
+
+
+    //Turn all LEDs off except 'status LED'
+    LEDWalkOnOff(0,0,0);
+    LedSweep->write(0);
+    LedWater->write(0);
+
+    VelocityBar->write(0b0000000000);
+
+#ifdef UI_DEBUG
+    pc->printf("Emergency Button PUSHING\n");
+#endif
+    count[0] = count[1] = count[2] = 0;
+}
+
+void UI::SwEmergencyRelease()
+{
+    EmergencyCheck = false;
+    //Send communication command to 'Stop Walking '
+
+
+    //Turn all LEDs off except 'status LED'
+
+
+
+#ifdef UI_DEBUG
+    pc->printf("Emergency Button RELEASE\n");
+#endif
+}
+
+void UI::BatteryBarLevel()
+{
+    float value; //Delete this after you get DigitalIn value from battery
+    if(value >= 100)
+        BatteryBar->write(0b1111111111);
+}
+
+void UI::RunSystem()
+{
+    if(SwWalk1==1) SwWalk1Tick();
+    else if(SwWalk2==1) SwWalk2Tick();
+    else if(SwWalk3==1) SwWalk3Tick();
+    
+    if(SwSweep==1){
+        SwSweepTick();
+        state[0] = true;
+    }
+    if(state[0]==true && SwSweep==1){
+        SwSweepTick();
+        state[0] = false;
+    }
+    
+    if(SwWater==1){
+        SwWaterTick();
+        state[1] = true;
+    }
+    if(state[1]==true && SwWater==1){
+        SwWaterTick();
+        state[1] = false;
+    }
+}
\ No newline at end of file