QVariant Server::rpcLifeSign(const QVariant &requesterVar){
QString requester = requesterVar.toString();
if (!isRunning){
std::cout << std::endl << "starting the clock..." << std::endl;
startTime = time(0);
isRunning = true;
}
if (checkElapsedTime()) {
stoppedRequester++;
if (stoppedRequester == glb::connectedNodes.size() - 1) broadCastCheckConcat();
return QVariant::fromValue(QString("stop"));
}
if (critSectionBusy) {
requestQueue.push_back(requester);
return QVariant::fromValue(QString("wait"));
}
else {
if (requestQueue.size() == 0 || requestQueue[requestQueue.size()-1] == requester) {
if (requestQueue.size()>0)
requestQueue.pop_back();
return QVariant::fromValue(QString("goOn"));
}
return QVariant::fromValue(QString("wait"));
}
//TODO catch every possible scenario
}
void Tracking::centerBall() {
ballScreenParameters tempBall = ball->getScreenParameters();
if(tempBall.onScreen) {
if(FRAME_WIDTH/3 < tempBall.x && tempBall.x < FRAME_WIDTH*2/3 && FRAME_HEIGHT/3 < tempBall.y && tempBall.y < FRAME_HEIGHT*2/3) {
//std::cout<<"Center"<<std::endl;
//head.stopHead();
}
else {
clock_t timeStart = clock();
if(tempBall.x<FRAME_WIDTH*2/5) {
std::cout<<"Left"<<std::endl;
head.moveHead(DIRECTION_LEFT);
while(tempBall.x<FRAME_WIDTH/3 && !checkElapsedTime(timeStart) && tempBall.onScreen) {
tempBall = ball->getScreenParameters();
}
head.stopHead();
}
else if (tempBall.x>FRAME_WIDTH*2/5) {
std::cout<<"Right"<<std::endl;
head.moveHead(DIRECTION_RIGHT);
while(tempBall.x>FRAME_WIDTH*2/3 && !checkElapsedTime(timeStart) && tempBall.onScreen) {
tempBall = ball->getScreenParameters();
}
head.stopHead();
}
else if(tempBall.y<FRAME_HEIGHT*2/5) {
std::cout<<"Up"<<std::endl;
head.moveHead(DIRECTION_UP);
while(tempBall.y<FRAME_HEIGHT/3 && !checkElapsedTime(timeStart) && tempBall.onScreen) {
tempBall = ball->getScreenParameters();
}
head.stopHead();
}
else if (tempBall.y>FRAME_HEIGHT*2/5) {
std::cout<<"Down"<<std::endl;
head.moveHead(DIRECTION_DOWN);
while(tempBall.y>FRAME_HEIGHT*2/3 && !checkElapsedTime(timeStart) && tempBall.onScreen) {
tempBall = ball->getScreenParameters();
}
head.stopHead();
}
}
}
}
void updateAGCDisplay()
{
static bool displayTimeout = false;
static int clockCounter = 0;
if(checkElapsedTime(2)) displayTimeout = true;
if(MON::FCLK)
{
if(MON::RUN)
{
// update every 2 seconds at the start of a new instruction
if(displayTimeout || dskyChanged)
{
clockCounter++;
if(
(TPG::register_SG.read() == TP12 && SEQ::register_SNI.read() == 1) ||
(TPG::register_SG.read() == STBY) ||
clockCounter > 500 ||
dskyChanged)
{
MON::displayAGC();
displayTimeout = false;
clockCounter = 0;
dskyChanged = false;
}
}
}
else
{
static bool displayOnce = false;
if(TPG::register_SG.read() == WAIT)
{
if(displayOnce == false)
{
MON::displayAGC();
displayOnce = true;
clockCounter = 0;
}
}
else
{
displayOnce = false;
}
}
}
else
MON::displayAGC(); // When the clock is manual or slow, always update.
}
