Implemented ColorState to use with TLC callback.

BlueAndi · Nov 24, 2023 · 389666e · 389666e
1 parent 6fdbb3b
commit 389666e
Showing 1 changed file with 148 additions and 0 deletions.
diff --git a/lib/APPEndlessRun/ColorState.cpp b/lib/APPEndlessRun/ColorState.cpp
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+/* MIT License
+ *
+ * Copyright (c) 2023 Andreas Merkle <[email protected]>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+/*******************************************************************************
+    DESCRIPTION
+*******************************************************************************/
+/**
+ * @brief  Remote control state
+ * @author Andreas Merkle <[email protected]>
+ */
+
+/******************************************************************************
+ * Includes
+ *****************************************************************************/
+#include "ColorState.h"
+
+#include <Board.h>
+#include <StateMachine.h>
+
+#include "StartupState.h"
+#include "DrivingState.h"
+
+/******************************************************************************
+ * Compiler Switches
+ *****************************************************************************/
+
+/******************************************************************************
+ * Macros
+ *****************************************************************************/
+
+/******************************************************************************
+ * Types and classes
+ *****************************************************************************/
+
+/******************************************************************************
+ * Prototypes
+ *****************************************************************************/
+
+/******************************************************************************
+ * Local Variables
+ *****************************************************************************/
+
+/******************************************************************************
+ * Public Methods
+ *****************************************************************************/
+
+void ColorState::entry()
+{
+    /* ColorState is marked with Green LED. */
+    Board::getInstance().getGreenLed().enable(true);
+}
+
+void ColorState::process(StateMachine& sm)
+{
+    /* Trigger different functions based on what color the robot received. */
+    switch (m_tlcId)
+    {
+    case COLOR_ID_IDLE:
+    {
+        /* No new color received. */
+        sm.setState(&DrivingState::getInstance());
+        break;
+    }
+    case COLOR_ID_RED:
+    {
+        /* Toggle other speed methods off to avoid bugs. */
+        DrivingState::getInstance().enableSlowdown(false);
+        DrivingState::getInstance().enableSpeedup(false);
+
+        /* Stop motors. */
+        IMotors& motors = Board::getInstance().getMotors();
+        motors.setSpeeds(0, 0);
+        break;
+    }
+    case COLOR_ID_GREEN:
+    {
+        /* Toggle other speed methods off to avoid bugs. */
+        DrivingState::getInstance().enableSlowdown(false);
+        DrivingState::getInstance().enableSpeedup(false);
+
+        /* Keep driving. */
+        sm.setState(&DrivingState::getInstance());
+        break;
+    }
+    case COLOR_ID_YELLOW_GR:
+    {
+        /* Toggle slowdown flag. */
+        DrivingState::getInstance().enableSlowdown(true);
+
+        sm.setState(&DrivingState::getInstance());
+        break;
+    }
+    case COLOR_ID_YELLOW_RG:
+    {
+        /* Toggle speedup flag. */
+        DrivingState::getInstance().enableSpeedup(true);
+
+        sm.setState(&DrivingState::getInstance());
+        break;
+    }
+    default:
+        /* Fatal error */
+        sm.setState(&StartupState::getInstance());
+        break;
+    }
+}
+
+void ColorState::exit()
+{
+    Board::getInstance().getGreenLed().enable(false);
+    Board::getInstance().getYellowLed().enable(false);
+}
+
+/******************************************************************************
+ * Protected Methods
+ *****************************************************************************/
+
+/******************************************************************************
+ * Private Methods
+ *****************************************************************************/
+
+/******************************************************************************
+ * External Functions
+ *****************************************************************************/
+
+/******************************************************************************
+ * Local Functions
+ *****************************************************************************/