Diff: HumanInterface.cpp

Revision:

0:ccf47494061b

Child:

1:9b2455659c7d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HumanInterface.cpp	Thu Sep 19 13:13:10 2013 +0000
@@ -0,0 +1,111 @@
+#include "HumanInterface.h"
+
+HumanInterface::HumanInterface (Serial *pc, PCA9555 *ioExt,
+    unsigned int yellowLedPin, unsigned int blueLedPin, unsigned int redLedPin,
+    unsigned int goalButtonPin, unsigned int startButtonPin, unsigned int ballSensePin):
+    extIO(ioExt), yellowLed(ioExt, yellowLedPin), blueLed(ioExt, blueLedPin), redLed(ioExt, redLedPin),// blue,yellow,red 12,11,13
+    goalButton(ioExt, goalButtonPin), startButton(ioExt, startButtonPin), ballSense(ioExt, ballSensePin) { 
+        redBlinking = false;
+        blueBlinking = false;
+        yellowBlinking = false;
+
+        goalLastState = goalButton.read();
+        startLastState = startButton.read();
+        ballLastState = ballSense.read();
+
+        ioExt->change(this, &HumanInterface::extChangedCallback);
+
+        setGoal(UNSET);
+
+        ledTicker.attach(this, &HumanInterface::blinkLeds, 0.2);
+}
+
+void HumanInterface::setError(bool state) {
+    if (state) {
+        redBlinking = true;
+    } else {
+        redBlinking = false;
+        redLed.clear();
+    }
+}
+
+
+void HumanInterface::setGoal(Goal goal) {
+    if (goal == YELLOW) {
+        yellowLed.set();
+        blueLed.clear();
+        blueBlinking = false;
+        yellowBlinking = false;
+    } else if (goal == BLUE) {
+        yellowLed.clear();
+        blueLed.set();
+        blueBlinking = false;
+        yellowBlinking = false;
+    } else if (goal == UNSET) {
+        yellowLed.clear();
+        blueLed.clear();
+        blueBlinking = true;
+        yellowBlinking = true;
+    }
+}
+
+void HumanInterface::blinkLeds(void) {
+    if (redBlinking)
+        redLed.toggle();
+    if (blueBlinking)
+        blueLed.toggle();
+    if (yellowBlinking)
+        yellowLed.toggle();
+}
+
+bool HumanInterface::getBallState() {
+    return ballLastState;
+}
+
+void HumanInterface::extChangedCallback(void) {
+    //pc->printf("Callback!");
+    
+    bool goalState = goalButton.read();
+    bool startState = startButton.read();
+    bool ballState = ballSense.read();
+
+    if (goalLastState != goalState) {
+        //pc->printf("goal button change!");
+        if (goalState) {
+            goalRiseCallback.call();
+        }
+    }
+    if (startLastState != startState) {
+        //pc->printf("start button change!");
+        if (startState) {
+            startRiseCallback.call();
+        }
+    }
+    if (ballLastState != ballState) {
+        //pc->printf("ball change!");
+        //Todo: if new state is "true" -> button was released
+        ballChangeCallback.call();
+    }
+    
+    goalLastState = goalState;
+    startLastState = startState;
+    ballLastState = ballState;
+    
+    changeCallback.call();
+}
+
+void HumanInterface::change(void (*function)(void)) { 
+    changeCallback.attach(function);
+}
+
+void HumanInterface::goalRise(void (*function)(void)) { 
+    goalRiseCallback.attach(function);
+}
+
+void HumanInterface::startRise(void (*function)(void)) { 
+    startRiseCallback.attach(function);
+}
+
+void HumanInterface::ballChange(void (*function)(void)) { 
+    ballChangeCallback.attach(function);
+}
\ No newline at end of file