NerfUS / Mbed 2 deprecated NerfUSTarget

NerfUS mobile node that manages a target for the Nerf gun firing range

Dependencies:   LedController mbed-rtos mbed NerfUSXbee Servomotor TargetManager

Fork of NerfUS by NerfUS

source/Target.cpp@23:fb47bceb61da, 2017-03-11 (annotated)

Committer:
Maxime Dupuis
Date:
Sat Mar 11 13:25:00 2017 -0500
Revision:
23:fb47bceb61da
Parent:
22:d9df16225df3
Child:
24:801271795da0
Implement Target method timeout



Will transmit message containing the target number,

result being a miss, and the time taken in ms

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Maxime Dupuis 18:353fb432c03c 1 #include "Target.hpp"
Maxime Dupuis 18:353fb432c03c 2
Maxime Dupuis 18:353fb432c03c 3
Maxime Dupuis 22:d9df16225df3 4 Target::Target(ServomotorInterface& servomotor,
Maxime Dupuis 22:d9df16225df3 5 LedControllerInterface& ally_leds,
Maxime Dupuis 22:d9df16225df3 6 LedControllerInterface& enemy_leds,
Maxime Dupuis 23:fb47bceb61da 7 XbeeTransmitterInterface& xbee_transmitter,
Maxime Dupuis 23:fb47bceb61da 8 const int target_number):
Maxime Dupuis 18:353fb432c03c 9 servomotor(servomotor),
Maxime Dupuis 22:d9df16225df3 10 ally_leds(ally_leds),
Maxime Dupuis 22:d9df16225df3 11 enemy_leds(enemy_leds),
Maxime Dupuis 23:fb47bceb61da 12 xbee_transmitter(xbee_transmitter),
Maxime Dupuis 23:fb47bceb61da 13 target_number(target_number)
Maxime Dupuis 18:353fb432c03c 14 {
Maxime Dupuis 18:353fb432c03c 15 }
Maxime Dupuis 18:353fb432c03c 16
Maxime Dupuis 18:353fb432c03c 17 void Target::execute_command(Mode mode, int timeout_ms)
Maxime Dupuis 18:353fb432c03c 18 {
Maxime Dupuis 18:353fb432c03c 19 if(mode == Ally)
Maxime Dupuis 18:353fb432c03c 20 {
Maxime Dupuis 18:353fb432c03c 21 ally_command();
Maxime Dupuis 18:353fb432c03c 22 }
Maxime Dupuis 18:353fb432c03c 23 else
Maxime Dupuis 18:353fb432c03c 24 {
Maxime Dupuis 18:353fb432c03c 25 enemy_command();
Maxime Dupuis 18:353fb432c03c 26 }
Maxime Dupuis 18:353fb432c03c 27 }
Maxime Dupuis 18:353fb432c03c 28
Maxime Dupuis 18:353fb432c03c 29
Maxime Dupuis 18:353fb432c03c 30 void Target::ally_command()
Maxime Dupuis 18:353fb432c03c 31 {
Maxime Dupuis 18:353fb432c03c 32 servomotor.set_position_up();
Maxime Dupuis 22:d9df16225df3 33 ally_leds.turn_on();
Maxime Dupuis 18:353fb432c03c 34 }
Maxime Dupuis 18:353fb432c03c 35
Maxime Dupuis 18:353fb432c03c 36 void Target::enemy_command()
Maxime Dupuis 18:353fb432c03c 37 {
Maxime Dupuis 18:353fb432c03c 38 servomotor.set_position_up();
Maxime Dupuis 22:d9df16225df3 39 enemy_leds.turn_on();
Maxime Dupuis 18:353fb432c03c 40 }
Maxime Dupuis 18:353fb432c03c 41
Maxime Dupuis 20:05e2c4941285 42 std::vector<uint8_t> Target::generate_message(uint8_t target_number, Result result, uint16_t time_taken_ms) const
Maxime Dupuis 19:377887760869 43 {
Maxime Dupuis 20:05e2c4941285 44 const uint8_t time_taken_msb = time_taken_ms >> 8;
Maxime Dupuis 20:05e2c4941285 45 const uint8_t time_taken_lsb = (time_taken_ms << 8) >> 8;
Maxime Dupuis 19:377887760869 46
Maxime Dupuis 19:377887760869 47 std::vector<uint8_t> message;
Maxime Dupuis 23:fb47bceb61da 48 message.push_back(target_number);
Maxime Dupuis 23:fb47bceb61da 49 message.push_back(result);
Maxime Dupuis 20:05e2c4941285 50 message.push_back(time_taken_msb);
Maxime Dupuis 20:05e2c4941285 51 message.push_back(time_taken_lsb);
Maxime Dupuis 19:377887760869 52
Maxime Dupuis 19:377887760869 53 return message;
Maxime Dupuis 19:377887760869 54 }
Maxime Dupuis 23:fb47bceb61da 55
Maxime Dupuis 23:fb47bceb61da 56 void Target::timeout(const int time_taken_ms)
Maxime Dupuis 23:fb47bceb61da 57 {
Maxime Dupuis 23:fb47bceb61da 58 const std::vector<uint8_t> message = generate_message(target_number, Target::RESULT_MISSED, time_taken_ms);
Maxime Dupuis 23:fb47bceb61da 59 xbee_transmitter.transmit(message);
Maxime Dupuis 23:fb47bceb61da 60 }