void Cell::timerEvent(QTimerEvent * e)
{
if(e->timerId() == rotationTimer)
{
const bool start = rotationProgress ? false : true;
rotate(rotationStep);
if(start)
emit startRotation();
if(((rotationStep > 0) && (rotationProgress > 0) && (rotationProgress < rotationStep)) ||
((rotationStep < 0) && (rotationProgress < 0) && (rotationProgress > rotationStep)) ||
(rotationProgress == 0))
{
killTimer(rotationTimer);
rotationTimer = 0;
rotationProgress = 0;
emit finishRotation();
}
}
else if(e->timerId() == blinkTimer)
{
if(blinkProgress > 2 * width())
{
killTimer(blinkTimer);
blinkTimer = 0;
blinkProgress = 0;
}
else
blinkProgress += BlinkStep;
changed = true;
update();
}
}
void LockSystemController::cmdCalibAtLockedPos()
{
#ifdef LOCK_SYSTEM_CONTROLLER_DEBUG
debugPrintln(F("LSC:cmdCalibAtLockedPos"));
#endif
switch (mainState) {
case Initial:
// regardlesss of calibration start or end, we are at locked position, record it
calibrationData.lockedPosition_xz = laObs->getLockAngleDeg(xz);
calibrationData.lockedPosition_yz = laObs->getLockAngleDeg(yz);
laObs->getCart(&calibrationData.lockCart);
switch (initState) {
case uncalibrated:
case calibratingStartFromLockedPos:
// we are just starting the calibration cycle
#ifdef LOCK_SYSTEM_CONTROLLER_DEBUG
debugPrint(F("LSC:calib start lck xz yz "));
debugPrint(calibrationData.lockedPosition_xz); debugPrint(SPACE);
debugPrintln(calibrationData.lockedPosition_yz);
#endif
calibrationData.lastReading = calibrationData.lockCart;
newInitState(calibratingStartFromLockedPos);
break;
case calibratingStartFromUnlockedPos:
// we've recorded the other side already, do
// all the calibration calculations and store
// the positions
setLockUnlockPositions();
// TBD settings.lockedAngle.setData(lockedPosition);
// TBD settings.unlockedAngle.setData(unlockedPosition);
#ifdef LOCK_SYSTEM_CONTROLLER_DEBUG
debugPrint(F("LSC:calib lck end xz yz "));
debugPrint(calibrationData.lockedPosition_xz); debugPrint(SPACE);
debugPrintln(calibrationData.lockedPosition_yz);
#endif
// TBD settings.lockedAngle.setData(lockedPosition);
// TBD settings.unlockedAngle.setData(unlockedPosition);
#ifdef LOCK_SYSTEM_CONTROLLER_DEBUG
debugPrint(F("LSC:calibration complete lock "));
debugPrint(lockedPosition);
debugPrint(F(" unlock "));
debugPrintln(unlockedPosition);
debugPrintln(F("LSC:testing orientation"));
#endif
startRotation(CW);
newInitState(waitForCW);
break;
}
break;
}
}
void LockSystemController::tsInit()
{
switch (initState) {
case uncalibrated:
return;
break;
case calibratingStartFromUnlockedPos:
case calibratingStartFromLockedPos:
updateCalibData();
break;
case waitForCW:
{
int deltaCW = laObs->getLockAngleDeg() - bearings.checkRotationStartAngle;
if (abs(deltaCW) >= bearings.checkRotationMinProgress)
{
motorCont->cmdStop();
if (deltaCW > 0)
{
angleIncrCW = true;
}
else
{
angleIncrCW = false;
}
#ifdef LOCK_SYSTEM_CONTROLLER_DEBUG
debugPrint(F("LSC:waitForCW "));
debugPrintln(angleIncrCW);
#endif
newInitState(calibrated);
}
else if (millis() - bearings.testStartTime > bearings.testTime)
{
motorCont->cmdStop();
newInitState(waitForCCW);
startRotation(CCW);
}
}
break;
case waitForCCW:
{
int deltaCCW = laObs->getLockAngleDeg() - bearings.checkRotationStartAngle;
if (abs(deltaCCW) >= bearings.checkRotationMinProgress)
{
motorCont->cmdStop();
if (deltaCCW > 0)
{
angleIncrCW = false;
}
else
{
angleIncrCW = true;
}
#ifdef LOCK_SYSTEM_CONTROLLER_DEBUG
debugPrint(F("LSC:waitForCCW "));
debugPrintln(angleIncrCW);
#endif
newInitState(calibrated);
}
else if (millis() - bearings.testStartTime > bearings.testTime)
{
motorCont->cmdStop();
newInitState(failed);
}
}
break;
case calibrated:
debugPrintln(F("calibration success"));
newMainState(Automatic);
cmdLock();
newAutoState(locked);
break;
case failed:
debugPrintln(F("calibration failed"));
break;
}
}
