Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

StateMachine/StateManager.cpp@81:32bd7a25a699, 2017-04-18 (annotated)

Committer:
hazheng
Date:
Tue Apr 18 19:42:15 2017 +0000
Branch:
Drift
Revision:
81:32bd7a25a699
Parent:
80:c85cb93713b3
Child:
82:992ba6f31e24
Added user interface for running state.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 80:c85cb93713b3 1 #include "StateManager.h"
hazheng 80:c85cb93713b3 2 #include "States.h"
hazheng 80:c85cb93713b3 3 #include "ArduTouch.h"
hazheng 80:c85cb93713b3 4
hazheng 80:c85cb93713b3 5 #ifdef __cplusplus
hazheng 80:c85cb93713b3 6 extern "C" {
hazheng 80:c85cb93713b3 7 #endif
hazheng 80:c85cb93713b3 8
hazheng 80:c85cb93713b3 9 static States* stat_manger_curr_stat = NULL;
hazheng 80:c85cb93713b3 10
hazheng 80:c85cb93713b3 11 void state_manager_touch_pos(int16_t x, int16_t y)
hazheng 80:c85cb93713b3 12 {
hazheng 80:c85cb93713b3 13 stat_manger_curr_stat->TouchPosCallback(x, y);
hazheng 80:c85cb93713b3 14 }
hazheng 80:c85cb93713b3 15
hazheng 80:c85cb93713b3 16 void state_manager_touch_irq()
hazheng 80:c85cb93713b3 17 {
hazheng 80:c85cb93713b3 18 stat_manger_curr_stat->TouchIrqCallback();
hazheng 80:c85cb93713b3 19 }
hazheng 80:c85cb93713b3 20
hazheng 80:c85cb93713b3 21 void state_manager_set_current_state(States* stat)
hazheng 80:c85cb93713b3 22 {
hazheng 80:c85cb93713b3 23 state_manager_clear_current_state();
hazheng 80:c85cb93713b3 24
hazheng 80:c85cb93713b3 25 stat_manger_curr_stat = stat;
hazheng 80:c85cb93713b3 26 if(stat_manger_curr_stat)
hazheng 80:c85cb93713b3 27 {
hazheng 80:c85cb93713b3 28 if(stat_manger_curr_stat->HasTouchPosFunction())
hazheng 80:c85cb93713b3 29 {
hazheng 80:c85cb93713b3 30 ardu_touch_set_pos_function(&state_manager_touch_pos);
hazheng 80:c85cb93713b3 31 }
hazheng 80:c85cb93713b3 32
hazheng 80:c85cb93713b3 33 if(stat_manger_curr_stat->HasTouchIrqFunction())
hazheng 80:c85cb93713b3 34 {
hazheng 80:c85cb93713b3 35 ardu_touch_set_irq_function(&state_manager_touch_irq);
hazheng 80:c85cb93713b3 36 }
hazheng 81:32bd7a25a699 37
hazheng 81:32bd7a25a699 38 stat_manger_curr_stat->DrawUserInterface();
hazheng 80:c85cb93713b3 39 }
hazheng 80:c85cb93713b3 40 }
hazheng 80:c85cb93713b3 41
hazheng 80:c85cb93713b3 42 void state_manager_clear_current_state()
hazheng 80:c85cb93713b3 43 {
hazheng 80:c85cb93713b3 44 if(stat_manger_curr_stat)
hazheng 80:c85cb93713b3 45 {
hazheng 80:c85cb93713b3 46 delete stat_manger_curr_stat;
hazheng 80:c85cb93713b3 47 stat_manger_curr_stat = NULL;
hazheng 80:c85cb93713b3 48 }
hazheng 80:c85cb93713b3 49
hazheng 80:c85cb93713b3 50 ardu_touch_set_irq_function(NULL);
hazheng 80:c85cb93713b3 51 ardu_touch_set_pos_function(NULL);
hazheng 80:c85cb93713b3 52 }
hazheng 80:c85cb93713b3 53
hazheng 80:c85cb93713b3 54 void state_manager_update(float deltaTime)
hazheng 80:c85cb93713b3 55 {
hazheng 80:c85cb93713b3 56 if(stat_manger_curr_stat)
hazheng 80:c85cb93713b3 57 {
hazheng 80:c85cb93713b3 58 stat_manger_curr_stat->Update(deltaTime);
hazheng 80:c85cb93713b3 59 }
hazheng 80:c85cb93713b3 60 }
hazheng 80:c85cb93713b3 61
hazheng 80:c85cb93713b3 62 #ifdef __cplusplus
hazheng 80:c85cb93713b3 63 }
hazheng 80:c85cb93713b3 64 #endif