bool WG021::unpackState(unsigned char *this_buffer, unsigned char *prev_buffer)
{
bool rv = true;
pr2_hardware_interface::ProjectorState &state = projector_.state_;
WG021Status *this_status, *prev_status;
this_status = (WG021Status *)(this_buffer + command_size_);
prev_status = (WG021Status *)(prev_buffer + command_size_);
if (!verifyChecksum(this_status, status_size_))
{
status_checksum_error_ = true;
rv = false;
goto end;
}
digital_out_.state_.data_ = this_status->digital_out_;
state.timestamp_us_ = this_status->timestamp_;
state.falling_timestamp_us_ = this_status->output_stop_timestamp_;
state.rising_timestamp_us_ = this_status->output_start_timestamp_;
state.output_ = (this_status->output_status_ & 0x1) == 0x1;
state.falling_timestamp_valid_ = (this_status->output_status_ & 0x8) == 0x8;
state.rising_timestamp_valid_ = (this_status->output_status_ & 0x4) == 0x4;
state.A_ = ((this_status->config0_ >> 4) & 0xf);
state.B_ = ((this_status->config0_ >> 0) & 0xf);
state.I_ = ((this_status->config1_ >> 4) & 0xf);
state.M_ = ((this_status->config1_ >> 0) & 0xf);
state.L1_ = ((this_status->config2_ >> 4) & 0xf);
state.L0_ = ((this_status->config2_ >> 0) & 0xf);
state.pulse_replicator_ = (this_status->general_config_ & 0x1) == 0x1;
state.last_executed_current_ = this_status->programmed_current_ * config_info_.nominal_current_scale_;
state.last_measured_current_ = this_status->measured_current_ * config_info_.nominal_current_scale_;
state.max_current_ = max_current_;
max_board_temperature_ = max(max_board_temperature_, this_status->board_temperature_);
max_bridge_temperature_ = max(max_bridge_temperature_, this_status->bridge_temperature_);
if (!verifyState((WG0XStatus *)(this_buffer + command_size_), (WG0XStatus *)(prev_buffer + command_size_)))
{
rv = false;
}
end:
return rv;
}
bool Board::invalidate()
{
Figure::Color ocolor = Figure::otherColor(color_);
int ki_pos = kingPos(color_);
int oki_pos = kingPos(ocolor);
state_ = Ok;
if ( isAttacked(color_, oki_pos) )
{
state_ = Invalid;
return false;
}
if ( isAttacked(ocolor, ki_pos) )
state_ |= UnderCheck;
verifyChessDraw();
if ( drawState() )
return true;
int cnum = findCheckingFigures(ocolor, ki_pos);
if ( cnum > 2 )
{
state_ = Invalid;
return false;
}
else if ( cnum > 0 )
{
state_ |= UnderCheck;
}
verifyState();
return true;
}
