ShootingSystem.cpp

00001 #include "mbed.h"
00002 #include "ShootingSystem.h"
00003 #include "Command.h"
00004 #include "I2CServo.h"
00005 #include "Shooter.h"
00006 #include "AmmoPusher.h"
00007 #include "AmmoSupplier.h"
00008 
00009 bool ShootingSystem::mIsShootable = false;
00010 
00011 ShootingSystem::ShootingSystem(
00012         I2CServo* angleManagerServo, AmmoPusher* ammoPusher,
00013         AmmoSupplier* ammoSupplier, Shooter* shooter,
00014         I2CServo* positionManager ){
00015     
00016     mShooterAngleServo  = angleManagerServo;
00017     mShooter            = shooter;
00018     mAmmoPusher         = ammoPusher;
00019     mAmmoSupplier       = ammoSupplier;
00020     mPositionManager    = positionManager;
00021     mState              = SHOOT_PREPARATION;
00022 }
00023 
00024 void ShootingSystem::update( Command command ){
00025     bool isChangeable = ( mState != SHOOTING );
00026     isChangeable &= ( mState != SHOOT_PREPARATION );
00027     
00028     if ( isChangeable ){
00029         // 発射中でないなら角度と電圧が変更可能
00030         mShooterAngleServo->setTargetPosition( command.getShootingAngleAnalog() );
00031         mPositionManager->setTargetPosition( command.getShooterPosition() );
00032         mShooter->setVoltage( command.getShootVoltage() );
00033     }
00034     
00035     mIsShootable = ( mState == WAITING );
00036     
00037     switch ( mState ){
00038         case WAITING:
00039             waiting( command );
00040             break;
00041             
00042         case SHOOTING:
00043             shooting();
00044             break;
00045             
00046         case SHOOT_WAITING:
00047             shootWaiting();
00048             break;
00049             
00050         case SHOOT_PREPARATION:
00051             shootPreparation();
00052             break;
00053             
00054         case AMMO_SUPPLYING:
00055             ammoSupply();
00056             break;
00057             
00058         default:
00059             break;
00060     }
00061 }
00062 
00063 ShootingSystem::~ShootingSystem(){
00064     delete mShooterAngleServo;
00065     delete mAmmoPusher;
00066     delete mAmmoSupplier;
00067     delete mShooter;
00068     delete mPositionManager;
00069 }
00070 
00071 void ShootingSystem::waiting( Command command ){
00072     if ( command.isSupplying() ){
00073         mAmmoSupplier->supply();
00074         mState = AMMO_SUPPLYING;
00075     } else if ( command.isShooting() ){
00076         mState = SHOOTING;
00077     }
00078 }
00079 
00080 void ShootingSystem::shooting(){
00081     mShooter->launch();
00082     mAmmoPusher->push();
00083     
00084     if ( mAmmoPusher->hasPushed() ){
00085         mState = SHOOT_WAITING;
00086         mTimer.reset();
00087         mTimer.start();
00088     }
00089 }
00090 
00091 void ShootingSystem::shootWaiting(){
00092     mAmmoPusher->draw();
00093     
00094     if ( mTimer.read() > 0.7f ){
00095         mShooter->stop();
00096         mState = SHOOT_PREPARATION;
00097     }
00098 }
00099 
00100 void ShootingSystem::shootPreparation(){
00101     if ( mAmmoPusher->hasDrawn() ){
00102         mState = WAITING;
00103     }
00104 }
00105 
00106 void ShootingSystem::ammoSupply(){
00107     if ( mAmmoSupplier->hasSupplied() ){
00108         mState = WAITING;
00109     }
00110 }