/*!
Adjusts preCondition to \a preCondition.
*/
void QUmlProtocolTransition::setPreCondition(QUmlConstraint *preCondition)
{
// This is a read-write association end
if (_preCondition != preCondition) {
// Adjust subsetted properties
_preCondition = preCondition;
if (preCondition && preCondition->asQModelingObject() && this->asQModelingObject())
QObject::connect(preCondition->asQModelingObject(), SIGNAL(destroyed()), this->asQModelingObject(), SLOT(setPreCondition()));
preCondition->asQModelingObject()->setParent(this->asQModelingObject());
// Adjust subsetted properties
setGuard(preCondition);
}
}
void Kicker::process() {
// do sensors imply that the state should end?
bool sensor_end;
switch (state) {
case kKickInactive:
turnKicker(0.0);
setGuard(false);
break;
case kKickOpenGuard:
printf("OPENING GUARDS\n");
turnKicker(0.0);
// guardsSet could be true iff the controls previously set it true
if (timer.Get() > OPEN_GUARD_TIME || guardsSet) {
printf("Guards satisfactory at %f with guards %c\n", timer.Get(),
guardsSet ? 'T' : 'F');
timer.Reset();
timer.Start();
state = kKickWaitForIntake;
}
setGuard(true);
break;
case kKickWaitForIntake:
printf("WAITING for INTAKE\n");
turnKicker(0.0);
setGuard(true);
if (timer.Get() > INTAKE_WAIT_TIME || intake.isRaised()
|| sensorsBroken) {
printf("INTAKE wait was %f\n", timer.Get());
timer.Reset();
timer.Start();
state = kKickSpinning;
}
break;
case kKickSpinning:
// these two can be broken
bool d_encoder = kicker_encoder.Get() >= ENCODER_HIGH_LIMIT;
// guaranteed to work ;-)
bool d_highflag = getHighFlag();
bool d_timer = timer.Get() > SAFETY_WAIT_TIME;
sensor_end = d_encoder;
if ((sensor_end && !sensorsBroken) || d_highflag || d_timer) {
timer.Reset();
timer.Start();
turnKicker(0.0);
state = kKickStopping;
low_counter.Reset();
low_counter.Start();
setGuard(false);
kickPostMortem();
printf("ENC: %d >= %.0f\n", (int) kicker_encoder.Get(),
ENCODER_HIGH_LIMIT);
printf("END: encoder %d; high flag %d; timer %d\n", d_encoder,
d_highflag, d_timer);
} else {
printf("SPINNING %f with intake at %f\n", startKickPower,
intake.getLocation());
turnKicker(startKickPower);
setGuard(true);
}
break;
case kKickStopping:
turnKicker(0.0);
setGuard(false);
if (timer.Get() > STOP_TIME) {
timer.Reset();
timer.Start();
state = kKickResetting;
}
break;
case kKickResetting:
setGuard(false);
sensor_end = low_counter.Get() != 0;
if (timer.Get() > RESET_SAFETY_TIME || (sensor_end && !sensorsBroken)) {
printf("On reset conclusion: encoder at %d; beam at %c\n",
(int) kicker_encoder.Get(), sensor_end ? 'T' : 'F');
turnKicker(0.0); //stop the kicker
kicker_encoder.Reset();
kicker_encoder.Start();
timer.Reset();
timer.Start();
state = kKickInactive;
} else {
turnKicker(-KICKER_RESET_SPEED);
}
break;
}
processGuard();
}
