File content as of revision 0:987c53b6a212:

#include "ShootingSystem.h"
#include "mbed.h"
#include "AmmoPusher.h"
#include "AmmoSupplier.h"
#include "Command.h"
#include "I2CServo.h"
#include "Shooter.h"

ShootingSystem::ShootingSystem(
        I2CServo* angleManagerServo, I2CServo* positionManagerServo,
        I2CMotor* ammoPusherMotor, I2CMotor** ammoSupplierMotor,
        Shooter* shooter ){
    
    mShooterAngleManager    = angleManagerServo;
    mShooterPositionManager = positionManagerServo;
    mShooter                = shooter;
    mAmmoPusher             = new AmmoPusher( ammoPusherMotor );
    mAmmoSupplier           = new AmmoSupplier( ammoSupplierMotor );
    mIsShooting             = false;
    mIsResetting            = false;
}

void ShootingSystem::update( Command command ){
    if ( mIsResetting ){
        reset();
    } else {
        if ( command.isShootable() && ( !mIsShooting ) ){
            // 射撃態勢に移行し,発射装置を目指すポールにあった角度・位置にする
            mIsShooting = true;
            mShooterAngleManager->setTargetPosition( command.getAngleOfShooting() );
            mShooterPositionManager->setTargetPosition( command.getPositionOfShooting() );
            mShooter->launch();
        }
        
        // 発射装置が目標の角度・位置に移動したら発射
        bool canShooterFire = mIsShooting;
        canShooterFire &= mShooterAngleManager->isStop();
        canShooterFire &= mShooterPositionManager->isStop();
        if ( canShooterFire ){
            mAmmoPusher->push();
            // 発射が終わったら輪を装填するためにリセット状態に遷移する
            mIsResetting = mAmmoPusher->hasPusherFinishedPushing();
        }
    }
    
    mAmmoSupplier->update();
    mAmmoPusher->update();
}

void ShootingSystem::reset(){
    mShooter->stop();
    // 次の弾の装填のため押出機構は引いておく
    mAmmoPusher->draw();
    
    if ( mAmmoPusher->hasPusherFinishedDrawing() ){
        mAmmoSupplier->supply();
        
        if ( mAmmoSupplier->isSupplying() ){
            mIsShooting = false;
        }
    }
}