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Dependencies:   mbed FreeRTOS

globalFlags.cpp@56:f363a6877c6a, 2019-03-06 (annotated)

Committer:
MasashiNomura
Date:
Wed Mar 06 02:18:47 2019 +0000
Revision:
56:f363a6877c6a
Parent:
53:b09c062cc31c
Child:
59:6b4dcd964d0f
2019/03/05 change SW etc

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MasashiNomura 45:3b51dd26b579 1 /**
MasashiNomura 45:3b51dd26b579 2 * @file globalFlags.cpp
MasashiNomura 45:3b51dd26b579 3 * @brief コマンド解析<-->ホバーバイク制御タスク間及びホバーバイク制御タスク内で使用する共用フラグを使用する変数宣言と関数定義
MasashiNomura 45:3b51dd26b579 4 * @author Shirota, Nomura
MasashiNomura 45:3b51dd26b579 5 * @date 2018/10/01 ?
MasashiNomura 45:3b51dd26b579 6 */
MasashiNomura 48:71aec693a7dc 7 #include "typedef.h"
takeru0x1103 16:05b9e44889f1 8 #include "globalFlags.h"
takeru0x1103 16:05b9e44889f1 9
MasashiNomura 45:3b51dd26b579 10 DigitalOut led1(LED1); //!< モニタ用LED1用変数
MasashiNomura 45:3b51dd26b579 11 DigitalOut led2(LED2); //!< モニタ用LED2用変数
MasashiNomura 45:3b51dd26b579 12 DigitalOut led3(LED3); //!< モニタ用LED3用変数
MasashiNomura 45:3b51dd26b579 13 DigitalOut led4(LED4); //!< モニタ用LED4用変数
takeru0x1103 8:1ca49cb18290 14
MasashiNomura 45:3b51dd26b579 15 DigitalOut DO_01(p21); //!< 状態表示用LED1(R)用変数
MasashiNomura 45:3b51dd26b579 16 DigitalOut DO_02(p22); //!< 状態表示用LED2(G)用変数
MasashiNomura 45:3b51dd26b579 17 DigitalOut DO_03(p23); //!< 状態表示用LED3(B)用変数
MasashiNomura 40:debe99e228d3 18
MasashiNomura 45:3b51dd26b579 19 AnalogIn AinAxl(p20); //!< モーターアクセル用アナログ入力
MasashiNomura 45:3b51dd26b579 20
takeru0x1103 21:78302ecdb661 21
MasashiNomura 45:3b51dd26b579 22 char g_CmdBuf[G_CMD_BUF_SIZ]; //!< コマンド受け渡しバッファ
MasashiNomura 45:3b51dd26b579 23 bool gf_CmdPrs; //!< コマンドパーサー実行要求フラグ
MasashiNomura 36:2cc739c7e4cb 24
MasashiNomura 45:3b51dd26b579 25 bool gf_Armed; //!< アーミングフラグ
MasashiNomura 45:3b51dd26b579 26 bool gf_Dbg; //!< デバッグタスク起動フラグ
takeru0x1103 19:4b0fe9a5ec38 27
MasashiNomura 45:3b51dd26b579 28 bool gf_StopMot; //!< モーターの強制停止 サーボ全閉
MasashiNomura 45:3b51dd26b579 29 bool gf_FromActiveStat; //!< モーターの強制停止 サーボ全閉が動作時に発生したかどうか
MasashiNomura 25:f3a6e7eec9c3 30
MasashiNomura 43:156199c2f9b6 31 bool gf_BlinkLED;
MasashiNomura 43:156199c2f9b6 32
MasashiNomura 45:3b51dd26b579 33 typPrintFlg gf_Print; //!< デバッグプリントフラグ（１回表示）
MasashiNomura 45:3b51dd26b579 34 typPrintFlg gf_Mon; //!< デバッグモニタフラグ（繰り返し表示）
MasashiNomura 45:3b51dd26b579 35 typCalFlag gf_Cal; //!< キャリブレーションフラグ
MasashiNomura 32:7f4145cc3551 36
MasashiNomura 45:3b51dd26b579 37 typAccel gf_AxReq[2]; //!< エンジンアクセル値更新フラグ
MasashiNomura 45:3b51dd26b579 38 typAccel gf_AxReqH[2]; //!< 浮上時エンジンアクセル値更新フラグ
MasashiNomura 45:3b51dd26b579 39 typAccel gf_AxStepReq[2]; //!< エンジンアクセル用サーボ動作ステップ値更新フラグ
MasashiNomura 53:b09c062cc31c 40 typAccel gf_AxAdjStepReq[2]; //!< エンジンアクセル調整用サーボ動作ステップ値更新フラグ
MasashiNomura 53:b09c062cc31c 41
MasashiNomura 45:3b51dd26b579 42 typAxlRpm gf_MtReq[4]; //!< モーター姿勢制御値更新
MasashiNomura 50:76413e8e073d 43 typAxlRpm gf_MtAttOfs[4]; //!< モーター姿勢制御オフセット値更新
MasashiNomura 45:3b51dd26b579 44 typAxlRpm gf_MtReqOfs[4]; //!< モーターオフセット値更新
MasashiNomura 45:3b51dd26b579 45 typAxlRpm gf_MtReqU[4]; //!< モーターユーザー値更新
MasashiNomura 56:f363a6877c6a 46 typAxlRpm gf_MtBrk; //!< モーターブレーキ時のRPM値更新
MasashiNomura 45:3b51dd26b579 47 typAxlRpm gf_MtReqDct[8]; //!< ダイレクト(FPGA関数直接呼び出し)モーター値更新フラグ
takeru0x1103 19:4b0fe9a5ec38 48
MasashiNomura 45:3b51dd26b579 49 typSWCmd gf_SwCmd; //!< スイッチが押されたことを模擬するフラグ
MasashiNomura 45:3b51dd26b579 50
MasashiNomura 45:3b51dd26b579 51 enmHbState gf_State = SLEEP; //!< 現在のステートを格納する変数
MasashiNomura 45:3b51dd26b579 52 bool gf_StateEnt; //!< 状態遷移後、最初であることを示す
MasashiNomura 45:3b51dd26b579 53
MasashiNomura 45:3b51dd26b579 54 bool gf_PidParaUpdate; //!< PID Pp,P,I,Dの係数アップデートフラグ
MasashiNomura 45:3b51dd26b579 55 typPidPara g_PidPara; //!< PID Pp,P,I,Dの係数の外部設定用
MasashiNomura 45:3b51dd26b579 56
MasashiNomura 25:f3a6e7eec9c3 57
MasashiNomura 22:24c9c2dedca9 58 void initFlags(){
MasashiNomura 22:24c9c2dedca9 59 memset(g_CmdBuf,0x0,sizeof(g_CmdBuf));
MasashiNomura 22:24c9c2dedca9 60 gf_CmdPrs = false;
MasashiNomura 22:24c9c2dedca9 61 gf_Armed = false;
MasashiNomura 22:24c9c2dedca9 62 gf_Dbg = false;
MasashiNomura 25:f3a6e7eec9c3 63 gf_StopMot = false;
MasashiNomura 43:156199c2f9b6 64
MasashiNomura 43:156199c2f9b6 65 gf_BlinkLED = false;
MasashiNomura 25:f3a6e7eec9c3 66
MasashiNomura 41:45c982b1c5b6 67 // gf_Print.flg = 0;
MasashiNomura 41:45c982b1c5b6 68 // gf_Mon.flg = 0;
MasashiNomura 41:45c982b1c5b6 69 gf_Print.d1.flg = 0;
MasashiNomura 41:45c982b1c5b6 70 gf_Print.d2.flg = 0;
MasashiNomura 39:1b76f7df8804 71
MasashiNomura 22:24c9c2dedca9 72 gf_Cal.flg = 0;
MasashiNomura 26:732bc37fbefd 73
MasashiNomura 41:45c982b1c5b6 74 //gf_DbgPrint.flg = 0;
MasashiNomura 26:732bc37fbefd 75
MasashiNomura 43:156199c2f9b6 76 // engine
MasashiNomura 43:156199c2f9b6 77 for(int i = 0; i < 2; ++i){
MasashiNomura 43:156199c2f9b6 78 gf_AxReq[i].dt = 0;
MasashiNomura 43:156199c2f9b6 79 gf_AxReqH[i].dt = 0;
MasashiNomura 43:156199c2f9b6 80 gf_AxStepReq[i].bf.req = false;
MasashiNomura 50:76413e8e073d 81 gf_AxStepReq[i].bf.val = 30;
MasashiNomura 53:b09c062cc31c 82 gf_AxAdjStepReq[i].bf.req = false;
MasashiNomura 53:b09c062cc31c 83 gf_AxAdjStepReq[i].bf.val = 20;
MasashiNomura 43:156199c2f9b6 84 }
MasashiNomura 43:156199c2f9b6 85
MasashiNomura 27:ff63c23bc689 86 for(int i=0; i<4;++i){
MasashiNomura 32:7f4145cc3551 87 gf_MtReq[i].req = false;
MasashiNomura 32:7f4145cc3551 88 gf_MtReq[i].val = 0;
MasashiNomura 32:7f4145cc3551 89 gf_MtReqOfs[i].req = false;
MasashiNomura 32:7f4145cc3551 90 gf_MtReqOfs[i].val = 0;
MasashiNomura 32:7f4145cc3551 91 gf_MtReqU[i].req = false;
MasashiNomura 32:7f4145cc3551 92 gf_MtReqU[i].val = 0;
MasashiNomura 50:76413e8e073d 93 gf_MtAttOfs[i].req = false;
MasashiNomura 50:76413e8e073d 94 gf_MtAttOfs[i].val = 0;
MasashiNomura 27:ff63c23bc689 95 }
MasashiNomura 56:f363a6877c6a 96 gf_MtBrk.req = false;
MasashiNomura 56:f363a6877c6a 97 gf_MtBrk.val = DEF_BRK_RPM;
MasashiNomura 56:f363a6877c6a 98
MasashiNomura 27:ff63c23bc689 99 for(int i = 0; i < 8; ++i){
MasashiNomura 32:7f4145cc3551 100 gf_MtReqDct[i].req = false;
MasashiNomura 32:7f4145cc3551 101 gf_MtReqDct[i].val = 0;
MasashiNomura 27:ff63c23bc689 102 }
MasashiNomura 42:cc8501b824ba 103
MasashiNomura 42:cc8501b824ba 104 gf_SwCmd.dt = 0;
MasashiNomura 42:cc8501b824ba 105
MasashiNomura 22:24c9c2dedca9 106 gf_State = SLEEP;
MasashiNomura 36:2cc739c7e4cb 107 gf_StateEnt = false;
MasashiNomura 27:ff63c23bc689 108 g_PidPara.PP = 2;
MasashiNomura 32:7f4145cc3551 109 g_PidPara.P = 0;
MasashiNomura 25:f3a6e7eec9c3 110 g_PidPara.I = 0;
MasashiNomura 24:c5945aaae777 111 g_PidPara.D = 0;
MasashiNomura 24:c5945aaae777 112 g_PidPara.IMax = 2000;
MasashiNomura 24:c5945aaae777 113 g_PidPara.IMin = -2000;
MasashiNomura 50:76413e8e073d 114 g_PidPara.mode = PID_0_OFF;
MasashiNomura 50:76413e8e073d 115
MasashiNomura 36:2cc739c7e4cb 116 // for(int i = 0; i < 4; ++i){
MasashiNomura 36:2cc739c7e4cb 117 // gf_MotParaUpdate[i] = false;
MasashiNomura 36:2cc739c7e4cb 118 // g_MotPara[i].limit_hi = LIM_MOT_INP_MAX;
MasashiNomura 36:2cc739c7e4cb 119 // g_MotPara[i].limit_low = LIM_MOT_INP_MIN;
MasashiNomura 36:2cc739c7e4cb 120 // }
MasashiNomura 22:24c9c2dedca9 121 }
MasashiNomura 35:3779201b4c73 122
MasashiNomura 41:45c982b1c5b6 123 void setDOCol(eLedCol col)
MasashiNomura 41:45c982b1c5b6 124 {
MasashiNomura 41:45c982b1c5b6 125 switch(col){
MasashiNomura 41:45c982b1c5b6 126 case WHITE:
MasashiNomura 42:cc8501b824ba 127 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 128 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 129 DO_03 = 1;
MasashiNomura 41:45c982b1c5b6 130 break;
MasashiNomura 41:45c982b1c5b6 131 case RED:
MasashiNomura 42:cc8501b824ba 132 DO_01 = 1;
MasashiNomura 41:45c982b1c5b6 133 DO_02 = 0;
MasashiNomura 41:45c982b1c5b6 134 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 135 break;
MasashiNomura 41:45c982b1c5b6 136 case GREEN:
MasashiNomura 41:45c982b1c5b6 137 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 138 DO_02 = 1;
MasashiNomura 41:45c982b1c5b6 139 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 140 break;
MasashiNomura 41:45c982b1c5b6 141 case BLUE:
MasashiNomura 41:45c982b1c5b6 142 DO_01 = 0;
MasashiNomura 41:45c982b1c5b6 143 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 144 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 145 break;
MasashiNomura 42:cc8501b824ba 146 case YELLOW:
MasashiNomura 42:cc8501b824ba 147 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 148 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 149 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 150 break;
MasashiNomura 42:cc8501b824ba 151 case PURPLE:
MasashiNomura 42:cc8501b824ba 152 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 153 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 154 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 155 break;
MasashiNomura 42:cc8501b824ba 156 case LIGHT_BLUE:
MasashiNomura 42:cc8501b824ba 157 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 158 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 159 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 160 break;
MasashiNomura 42:cc8501b824ba 161 case BLK_WHITE:
MasashiNomura 42:cc8501b824ba 162 DO_01 = !DO_01;
MasashiNomura 42:cc8501b824ba 163 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 164 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 165 break;
MasashiNomura 42:cc8501b824ba 166 case BLK_RED:
MasashiNomura 42:cc8501b824ba 167 DO_01 = !DO_01;
MasashiNomura 42:cc8501b824ba 168 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 169 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 170 break;
MasashiNomura 42:cc8501b824ba 171 case BLK_GREEN:
MasashiNomura 42:cc8501b824ba 172 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 173 DO_02 = !DO_02;
MasashiNomura 42:cc8501b824ba 174 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 175 break;
MasashiNomura 42:cc8501b824ba 176 case BLK_BLUE:
MasashiNomura 42:cc8501b824ba 177 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 178 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 179 DO_03 = !DO_03;
MasashiNomura 42:cc8501b824ba 180 break;
MasashiNomura 42:cc8501b824ba 181 case BLK_YELLOW:
MasashiNomura 41:45c982b1c5b6 182 DO_01 = !DO_01;
MasashiNomura 41:45c982b1c5b6 183 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 184 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 185 break;
MasashiNomura 42:cc8501b824ba 186 case BLK_PURPLE:
MasashiNomura 41:45c982b1c5b6 187 DO_01 = !DO_01;
MasashiNomura 41:45c982b1c5b6 188 DO_02 = 0;
MasashiNomura 41:45c982b1c5b6 189 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 190 break;
MasashiNomura 42:cc8501b824ba 191 case BLK_LIGHT_BLUE:
MasashiNomura 41:45c982b1c5b6 192 DO_01 = 0;
MasashiNomura 41:45c982b1c5b6 193 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 194 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 195 break;
MasashiNomura 41:45c982b1c5b6 196 case OFF:
MasashiNomura 41:45c982b1c5b6 197 default:
MasashiNomura 41:45c982b1c5b6 198 DO_01 = 0;//R
MasashiNomura 41:45c982b1c5b6 199 DO_02 = 0;//G
MasashiNomura 41:45c982b1c5b6 200 DO_03 = 0;//B
MasashiNomura 41:45c982b1c5b6 201 break;
MasashiNomura 41:45c982b1c5b6 202 }
MasashiNomura 41:45c982b1c5b6 203 }
MasashiNomura 41:45c982b1c5b6 204
MasashiNomura 41:45c982b1c5b6 205 void setDO4LED(enmHbState stat)
MasashiNomura 41:45c982b1c5b6 206 {
MasashiNomura 41:45c982b1c5b6 207 if(stat == NONE)
MasashiNomura 41:45c982b1c5b6 208 {// 消灯
MasashiNomura 41:45c982b1c5b6 209 setDOCol(OFF);
MasashiNomura 41:45c982b1c5b6 210 }
MasashiNomura 41:45c982b1c5b6 211 else if(stat == SLEEP)
MasashiNomura 41:45c982b1c5b6 212 {//YELLOW
MasashiNomura 41:45c982b1c5b6 213 setDOCol(YELLOW);
MasashiNomura 41:45c982b1c5b6 214 }
MasashiNomura 41:45c982b1c5b6 215 else if(stat == WAKEUP || stat == STANDBY)
MasashiNomura 41:45c982b1c5b6 216 {//BLUE
MasashiNomura 41:45c982b1c5b6 217 setDOCol(BLUE);
MasashiNomura 41:45c982b1c5b6 218 }
MasashiNomura 41:45c982b1c5b6 219 else if(stat == IDLE)
MasashiNomura 41:45c982b1c5b6 220 {//GREEN
MasashiNomura 41:45c982b1c5b6 221 setDOCol(GREEN);
MasashiNomura 41:45c982b1c5b6 222 }
MasashiNomura 48:71aec693a7dc 223 else if(stat == UPPER_IDLE)
MasashiNomura 48:71aec693a7dc 224 {//WHITE
MasashiNomura 48:71aec693a7dc 225 setDOCol(WHITE);
MasashiNomura 48:71aec693a7dc 226 }
MasashiNomura 41:45c982b1c5b6 227 else if(stat == TAKE_OFF || stat == HOVER || stat == DRIVE || stat == GROUND || stat == EMGGND)
MasashiNomura 41:45c982b1c5b6 228 {//PURPLE
MasashiNomura 43:156199c2f9b6 229 if(gf_BlinkLED){
MasashiNomura 43:156199c2f9b6 230 setDOCol(BLK_PURPLE);
MasashiNomura 43:156199c2f9b6 231 gf_BlinkLED = false;
MasashiNomura 43:156199c2f9b6 232 }
MasashiNomura 43:156199c2f9b6 233 else{
MasashiNomura 43:156199c2f9b6 234 setDOCol(PURPLE);
MasashiNomura 43:156199c2f9b6 235 }
MasashiNomura 41:45c982b1c5b6 236 }
MasashiNomura 42:cc8501b824ba 237 else if(stat == CHK_EG_ENT || stat == CHK_EG_MID || stat == CHK_EG_EXIT)
MasashiNomura 41:45c982b1c5b6 238 {//LIGHT BLUE
MasashiNomura 41:45c982b1c5b6 239 setDOCol(LIGHT_BLUE);
MasashiNomura 41:45c982b1c5b6 240 }
MasashiNomura 42:cc8501b824ba 241 else if(stat == CHK_EG_F || stat == CHK_EG_R )
MasashiNomura 42:cc8501b824ba 242 {//BLK_LIGHT BLUE
MasashiNomura 42:cc8501b824ba 243 setDOCol(BLK_LIGHT_BLUE);
MasashiNomura 42:cc8501b824ba 244 }
MasashiNomura 41:45c982b1c5b6 245 else if(stat == CHK_ENT || stat == CHK_MOT || stat == CHK_AXL || stat == CHK_ATT || stat == CHK_EXIT)
MasashiNomura 41:45c982b1c5b6 246 {//WHITE
MasashiNomura 41:45c982b1c5b6 247 setDOCol(WHITE);
MasashiNomura 41:45c982b1c5b6 248 }
MasashiNomura 41:45c982b1c5b6 249 else/* if(stat == MOT_STOP)*/
MasashiNomura 41:45c982b1c5b6 250 {
MasashiNomura 41:45c982b1c5b6 251 setDOCol(RED);
MasashiNomura 41:45c982b1c5b6 252 }
MasashiNomura 41:45c982b1c5b6 253 }
MasashiNomura 41:45c982b1c5b6 254
MasashiNomura 22:24c9c2dedca9 255 void setState(enmHbState stat){
MasashiNomura 22:24c9c2dedca9 256 // ありえない遷移を排除
MasashiNomura 22:24c9c2dedca9 257 if(gf_State == SLEEP){if(stat != WAKEUP) return;}
MasashiNomura 22:24c9c2dedca9 258 if(gf_State == WAKEUP){if(stat != STANDBY) return;}
MasashiNomura 22:24c9c2dedca9 259 if(gf_State == STANDBY){if(stat !=IDLE) return;}
MasashiNomura 23:79e20be4bc5b 260 if(gf_State == IDLE){if(stat != TAKE_OFF && stat != SLEEP) return;}
MasashiNomura 23:79e20be4bc5b 261 if(gf_State == TAKE_OFF){if(stat != HOVER && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 262 if(gf_State == GROUND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 263 if(gf_State == HOVER){if(stat != DRIVE && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 264 if(gf_State == DRIVE){if(stat != HOVER && stat != EMGGND) return;}
MasashiNomura 22:24c9c2dedca9 265 if(gf_State == EMGGND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 266
MasashiNomura 23:79e20be4bc5b 267 sp.printf("state: %d\r\n",stat);
MasashiNomura 22:24c9c2dedca9 268 gf_State = stat;
MasashiNomura 36:2cc739c7e4cb 269 gf_StateEnt = true;
MasashiNomura 22:24c9c2dedca9 270 }
MasashiNomura 23:79e20be4bc5b 271 void setStateF(enmHbState stat){
MasashiNomura 23:79e20be4bc5b 272 sp.printf("state: %d\r\n",stat);
MasashiNomura 23:79e20be4bc5b 273 enmHbState tmp;
MasashiNomura 25:f3a6e7eec9c3 274 if((UINT16)stat > MOT_STOP){
MasashiNomura 23:79e20be4bc5b 275 tmp = SLEEP;
MasashiNomura 23:79e20be4bc5b 276 }
MasashiNomura 23:79e20be4bc5b 277 else
MasashiNomura 23:79e20be4bc5b 278 {
MasashiNomura 23:79e20be4bc5b 279 tmp = stat;
MasashiNomura 23:79e20be4bc5b 280 }
MasashiNomura 23:79e20be4bc5b 281 gf_State = tmp;
MasashiNomura 36:2cc739c7e4cb 282 gf_StateEnt = true;
MasashiNomura 23:79e20be4bc5b 283 }
MasashiNomura 37:d51dacb4c30f 284
MasashiNomura 37:d51dacb4c30f 285 bool isActiveState(){
MasashiNomura 37:d51dacb4c30f 286 if(gf_State >= IDLE && gf_State <= EMGGND){
MasashiNomura 37:d51dacb4c30f 287 return true;
MasashiNomura 37:d51dacb4c30f 288 }
MasashiNomura 37:d51dacb4c30f 289 else {
MasashiNomura 37:d51dacb4c30f 290 return false;
MasashiNomura 37:d51dacb4c30f 291 }
MasashiNomura 37:d51dacb4c30f 292 }
MasashiNomura 37:d51dacb4c30f 293
MasashiNomura 33:eb260dbfc22a 294