State * TeleKarma::DoAction(Action * a, State * s)
{
if (a == NULL) return s;
State * result = s;
// process "global" (turn-independent) actions independant of turn #
switch (a->id) {
case ACTION_QUIT:
result = Quit(a, s);
break;
case ACTION_PLAY_SOUND:
result = PlaySound(a, s);
break;
case ACTION_SEND_TONE:
result = SendTone(a, s);
break;
default:
// process turn-independent actions if applicable
if (a->turn == s->turn) {
switch (a->id) {
case ACTION_INITIALIZE:
result = Initialize(a, s);
break;
case ACTION_REGISTER:
result = Register(a, s);
break;
case ACTION_DIAL:
result = Dial(a, s);
break;
case ACTION_HOLD:
result = Hold(a, s);
break;
case ACTION_AUTOHOLD:
result = AutoHold(a, s);
break;
case ACTION_MUTE:
result = MuteAutoHold(a, s);
break;
case ACTION_RETRIEVE:
result = Retrieve(a, s);
break;
case ACTION_DISCONNECT:
result = Disconnect(a, s);
break;
default:
// simply ignore unknown actions
// (and global actions)
break;
}
} else {
if (s != NULL) {
result = SetState(new State(s->id, s->turn, STATUS_TURN_MISMATCH));
}
}
break;
}
delete a;
return result;
}
void Holder::TeleopPeriodic(){
AutoHold();
}
void Holder::AutonomousPeriodic(){
AutoHold();
}
void Holder::TestPeriodic(){
AutoHold();
}