File content as of revision 1:9b2455659c7d:

#include "HumanInterface.h"

HumanInterface::HumanInterface (PCA9555 *ioExt,
    unsigned int yellowLedPin, unsigned int blueLedPin, unsigned int redLedPin,
    unsigned int greenLedPin, unsigned int orangeLedPin,
    PinName goalButtonPin, PinName startButtonPin, PinName ballSensePin):
    extIO(ioExt), yellowLed(ioExt, yellowLedPin), blueLed(ioExt, blueLedPin), redLed(ioExt, redLedPin),
    greenLed(ioExt, greenLedPin), orangeLed(ioExt, orangeLedPin),
    interruptGoal(goalButtonPin), interruptStart(startButtonPin), interruptBall(ballSensePin) { 
        redBlinking = false;
        blueBlinking = false;
        yellowBlinking = false;
        greenBlinking = false;
        orangeBlinking = false;

        goalLastState = false;
        startLastState = false;
        ballLastState = false;

        setGoal(UNSET);

        ledTicker.attach(this, &HumanInterface::blinkLeds, 0.2);
        
        interruptGoal.mode(PullUp);
        interruptStart.mode(PullUp);
        
        interruptGoal.rise(this, &HumanInterface::goalRised);
        interruptStart.rise(this, &HumanInterface::startRised);
        interruptBall.fall(this, &HumanInterface::ballFalled);
        interruptBall.rise(this, &HumanInterface::ballRised);
}

void HumanInterface::setError(bool state) {
    if (state) {
        redBlinking = true;
    } else {
        redBlinking = false;
        redLed.clear();
    }
}

void HumanInterface::setGo(bool state) {
    if (state) {
        greenLed.set();
    } else {
        greenLed.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();
    if (greenBlinking)
        greenLed.toggle();
    if (orangeBlinking)
        orangeLed.toggle();
}

bool HumanInterface::getBallState() {
    return ballCurrentState;
}

void HumanInterface::goalRised() {
    goalRiseCallback.call();
}

void HumanInterface::startRised() {
    startRiseCallback.call();
}

void HumanInterface::ballRised() {
    ballRiseCallback.call();
}

void HumanInterface::ballFalled() {
    ballFallCallback.call();
}

void HumanInterface::goalRise(void (*function)(void)) { 
    goalRiseCallback.attach(function);
}

void HumanInterface::startRise(void (*function)(void)) { 
    startRiseCallback.attach(function);
}

void HumanInterface::ballRise(void (*function)(void)) { 
    ballRiseCallback.attach(function);
}

void HumanInterface::ballFall(void (*function)(void)) { 
    ballFallCallback.attach(function);
}