void GalleryScroll::setProgress(float value) {
if (value * _progress < 0.0f) {
value = 0.0f;
}
float p = _primaryId + value;
if (value <= -1.0f) {
// move back
_progress = 0.0f;
if (!_secondary) {
_secondaryId = _primaryId - 1;
_secondary = construct<GalleryImage>(_images.at(_secondaryId), _imageCallback);
_secondary->setAnchorPoint(Vec2(0.5f, 0.5f));
_secondary->setPosition(Vec2(_contentSize.width/2.0f, _contentSize.height/2.0f));
_secondary->setContentSize(_contentSize);
addChild(_secondary, int(_images.size() - _secondaryId));
}
_primary->removeFromParent();
_primaryId = _secondaryId;
_primary = _secondary;
_secondary = nullptr;
_primary->setPositionX(_contentSize.width/2.0f + - _progress * _contentSize.width);
_primary->setOpacity(255);
_primary->setScale(1.0f);
stopActionByTag("GalleryScrollProgress"_tag);
} else if (value >= 1.0f) {
//move forvard
_progress = 0.0f;
if (!_secondary) {
_secondaryId = _primaryId + 1;
if (_secondaryId < _images.size()) {
_secondary = construct<GalleryImage>(_images.at(_secondaryId), _imageCallback);
_secondary->setAnchorPoint(Vec2(0.5f, 0.5f));
_secondary->setPosition(Vec2(_contentSize.width/2.0f, _contentSize.height/2.0f));
_secondary->setContentSize(_contentSize);
addChild(_secondary, int(_images.size() - _secondaryId));
}
}
_primary->removeFromParent();
_primaryId = _secondaryId;
_primary = _secondary;
_secondary = nullptr;
_primary->setPositionX(_contentSize.width/2.0f + - _progress * _contentSize.width);
_primary->setOpacity(255);
_primary->setScale(1.0f);
stopActionByTag("GalleryScrollProgress"_tag);
} else if (value == 0.0f) {
_progress = value;
if (_secondary) {
_secondary->removeFromParent();
_secondary = nullptr;
}
_primary->setPositionX(_contentSize.width/2.0f + - _progress * _contentSize.width);
_primary->setOpacity(255);
_primary->setScale(1.0f);
} else {
if (_progress == 0) {
if (_secondary) {
_secondary->removeFromParent();
_secondary = nullptr;
}
if (value > 0) {
_secondaryId = _primaryId + 1;
} else {
_secondaryId = _primaryId - 1;
}
if (_secondaryId < _images.size()) {
_secondary = construct<GalleryImage>(_images.at(_secondaryId), _imageCallback);
_secondary->setAnchorPoint(Vec2(0.5f, 0.5f));
_secondary->setPosition(Vec2(_contentSize.width/2.0f, _contentSize.height/2.0f));
_secondary->setContentSize(_contentSize);
addChild(_secondary, int(_images.size() - _secondaryId));
}
}
_progress = value;
if (_progress > 0) {
_primary->setPositionX(_contentSize.width/2.0f + - _progress * _contentSize.width);
if (_secondary) {
_secondary->setPositionX(_contentSize.width/2.0);
_secondary->setOpacity(progress(0, 255, _progress));
_secondary->setScale(progress(0.75f, 1.0f, _progress));
}
} else {
if (_secondary) {
_secondary->setPositionX(_contentSize.width/2.0f + ((-1.0 - _progress) * _contentSize.width));
}
_primary->setPositionX(_contentSize.width/2.0);
_primary->setOpacity(progress(0, 255, 1.0f + _progress));
_primary->setScale(progress(0.75f, 1.0f, 1.0f + _progress));
}
}
if (_positionCallback) {
_positionCallback(p);
}
}
void WildThumperCom::_parseValidMessage() {
byte teamNumber = _rxMessageBuffer[TEAM_NUMBER_BYTE];
// if (teamNumber != _teamNumber
// && !(_rxMessageBuffer[COMMAND_BYTE] == COMMAND_TEAM_NUMBER_REQUEST ||
// _rxMessageBuffer[COMMAND_BYTE] == COMMAND_TEAM_NUMBER_REPLY ||
// _rxMessageBuffer[COMMAND_BYTE] == COMMAND_TEAM_NUMBER_CHANGE_REQUEST)) {
// // Silently do nothing if it's not our team.
// return;
// }
switch (_rxMessageBuffer[COMMAND_BYTE]) {
case COMMAND_WHEEL_SPEED:
if (_wheelSpeedCallback != NULL) {
_wheelSpeedCallback(_rxMessageBuffer[WHEEL_SPEED_LEFT_MODE],
_rxMessageBuffer[WHEEL_SPEED_RIGHT_MODE],
_rxMessageBuffer[WHEEL_SPEED_LEFT_DUTY_CYCLE],
_rxMessageBuffer[WHEEL_SPEED_RIGHT_DUTY_CYCLE]);
}
break;
case COMMAND_SET_ARM_POSITION:
if (_positionCallback != NULL) {
int joint1Angle = _rxMessageBuffer[SET_ARM_POSITION_JOINT_1_MSB];
joint1Angle = joint1Angle << 8;
joint1Angle += _rxMessageBuffer[SET_ARM_POSITION_JOINT_1_LSB];
int joint2Angle = _rxMessageBuffer[SET_ARM_POSITION_JOINT_2_MSB];
joint2Angle = joint2Angle << 8;
joint2Angle += _rxMessageBuffer[SET_ARM_POSITION_JOINT_2_LSB];
int joint3Angle = _rxMessageBuffer[SET_ARM_POSITION_JOINT_3_MSB];
joint3Angle = joint3Angle << 8;
joint3Angle += _rxMessageBuffer[SET_ARM_POSITION_JOINT_3_LSB];
int joint4Angle = _rxMessageBuffer[SET_ARM_POSITION_JOINT_4_MSB];
joint4Angle = joint4Angle << 8;
joint4Angle += _rxMessageBuffer[SET_ARM_POSITION_JOINT_4_LSB];
int joint5Angle = _rxMessageBuffer[SET_ARM_POSITION_JOINT_5_MSB];
joint5Angle = joint5Angle << 8;
joint5Angle += _rxMessageBuffer[SET_ARM_POSITION_JOINT_5_LSB];
_positionCallback(joint1Angle, joint2Angle, joint3Angle,
joint4Angle, joint5Angle);
}
break;
case COMMAND_SET_JOINT_ANGLE:
if (_jointAngleCallback != NULL) {
int jointAngle = _rxMessageBuffer[SET_JOINT_ANGLE_ANGLE_MSB];
jointAngle = jointAngle << 8;
jointAngle += _rxMessageBuffer[SET_JOINT_ANGLE_ANGLE_LSB];
_jointAngleCallback(_rxMessageBuffer[SET_JOINT_ANGLE_JOINT_NUMBER],
jointAngle);
}
break;
case COMMAND_SET_GRIPPER_DISTANCE:
if (_gripperCallback != NULL) {
int gripperDistance = _rxMessageBuffer[SET_GRIPPER_DISTANCE_MSB];
gripperDistance = gripperDistance << 8;
gripperDistance += _rxMessageBuffer[SET_GRIPPER_DISTANCE_LSB];
_gripperCallback(gripperDistance);
}
break;
case COMMAND_BATTERY_VOLTAGE_REQUEST:
if (_batteryVoltageRequestCallback != NULL) {
_batteryVoltageRequestCallback();
}
break;
case COMMAND_BATTERY_VOLTAGE_REPLY:
if (_batteryVoltageReplyCallback != NULL) {
int batteryVoltageMillivolts =
_rxMessageBuffer[BATTERY_VOLTAGE_REPLY_MSB];
batteryVoltageMillivolts = batteryVoltageMillivolts << 8;
batteryVoltageMillivolts +=
_rxMessageBuffer[BATTERY_VOLTAGE_REPLY_LSB];
_batteryVoltageReplyCallback(batteryVoltageMillivolts);
}
break;
case COMMAND_WHEEL_CURRENT_REQUEST:
if (_wheelCurrentRequestCallback != NULL) {
_wheelCurrentRequestCallback();
}
break;
case COMMAND_WHEEL_CURRENT_REPLY:
if (_wheelCurrentReplyCallback != NULL) {
int leftWheelMotorsMilliamps =
_rxMessageBuffer[WHEEL_CURRENT_REPLY_LEFT_MSB];
leftWheelMotorsMilliamps = leftWheelMotorsMilliamps << 8;
leftWheelMotorsMilliamps +=
_rxMessageBuffer[WHEEL_CURRENT_REPLY_LEFT_LSB];
int rightWheelMotorsMilliamps =
_rxMessageBuffer[WHEEL_CURRENT_REPLY_RIGHT_MSB];
rightWheelMotorsMilliamps = rightWheelMotorsMilliamps << 8;
rightWheelMotorsMilliamps +=
_rxMessageBuffer[WHEEL_CURRENT_REPLY_RIGHT_LSB];
_wheelCurrentReplyCallback(leftWheelMotorsMilliamps, rightWheelMotorsMilliamps);
}
break;
case COMMAND_TEAM_NUMBER_REQUEST:
if (_teamNumberRequestCallback != NULL) {
_teamNumberRequestCallback();
}
break;
case COMMAND_TEAM_NUMBER_REPLY:
if (_teamNumberReplyCallback != NULL) {
_teamNumberReplyCallback(_rxMessageBuffer[TEAM_NUMBER_REPLY_TEAM_NUMBER]);
}
break;
case COMMAND_TEAM_NUMBER_CHANGE_REQUEST:
if (_teamNumberChangeRequestCallback != NULL) {
_teamNumberChangeRequestCallback(_rxMessageBuffer[TEAM_NUMBER_CHANGE_REQUEST_NEW_TEAM_NUMBER]);
}
break;
case COMMAND_ATTACH_SELECTED_SERVOS:
if (_attachSelectedServosCallback != NULL) {
_attachSelectedServosCallback(_rxMessageBuffer[ATTACH_SELECTED_SERVOS_ENABLE_BYTE]);
}
break;
default:
// Silently do nothing with unknown commands
break;
}
}
