static void key(GLFWwindow* window, int key, int scancode, int action, int mods)
{
(void)scancode;
(void)mods;
if (key == GLFW_KEY_ESCAPE && action == GLFW_PRESS)
glfwSetWindowShouldClose(window, GL_TRUE);
if (key == GLFW_KEY_E && action == GLFW_PRESS)
expandAtlas(fs);
if (key == GLFW_KEY_R && action == GLFW_PRESS) {
resetAtlas(fs);
}
if (key == 265 && action == GLFW_PRESS) {
size += 10;
}
if (key == 264 && action == GLFW_PRESS) {
size -= 10;
if (size < 20) size = 20;
}
}
/**********************************************************************
* Function: doMasterSM
* @return None.
* @remark Executes one cycle of the boat's master state machine.
* @author David Goodman
* @date 2013.03.28
**********************************************************************/
static void doMasterSM() {
checkEvents();
#ifdef USE_TILTCOMPASS
TiltCompass_runSM();
#endif
#ifdef USE_GPS
GPS_runSM();
#endif
#ifdef USE_NAVIGATION
Navigation_runSM();
#ifdef USE_ERROR_CORRECTION
gpsCorrectionUpdate();
#endif
#endif
#ifdef USE_DRIVE
Drive_runSM();
#endif
#ifdef USE_XBEE
Xbee_runSM();
#endif
#ifdef USE_BAROMETER
Barometer_runSM();
doBarometerUpdate(); // send barometer data
#endif
switch (state) {
case STATE_SETSTATION:
doSetStationSM();
if (event.flags.haveStartRescueMessage) {
startRescueSM();
}
else if (event.flags.setStationDone) {
if (haveOrigin)
startStationKeepSM();
else
startOverrideSM();
}
break;
case STATE_SETORIGIN:
doSetOriginSM();
if (event.flags.setOriginDone)
startOverrideSM();
break;
case STATE_STATIONKEEP:
doStationKeepSM();
if (event.flags.haveStartRescueMessage)
startRescueSM();
else if (!haveStation)
setError(ERROR_NO_STATION);
break;
case STATE_OVERRIDE:
if (!wantOverride) {
//setError(ERROR_NO_ORIGIN);
if (!haveOrigin)
startSetOriginSM(); // do we ant infinite startup loop?
else if (event.flags.haveStartRescueMessage)
startRescueSM();
else if (event.flags.haveSetStationMessage )
startSetStationSM();
else if (haveOrigin && haveStation)
startStationKeepSM();
// Use autonomous controls
if (haveOrigin && (haveStation
|| event.flags.haveStartRescueMessage)) {
Override_giveMicroControl();
DBPRINT("Micro has control.\n");
#ifdef USE_SIREN
Siren_blueLightOff();
#endif
}
}
break;
case STATE_RESCUE:
doRescueSM();
if (event.flags.haveStartRescueMessage) {
startRescueSM();
}
else if (event.flags.haveReturnStationMessage) {
if (haveStation)
startStationKeepSM();
else
setError(ERROR_NO_STATION);
}
// Turn off rescue siren (red)
if (event.flags.haveError || state != STATE_RESCUE) {
#ifdef USE_SIREN
Siren_redLightOff();
#endif
}
break;
}
// ------- Caught by most states -----------
if (state != STATE_RESCUE) {
if (event.flags.haveSetStationMessage)
startSetStationSM();
}
if (state != STATE_OVERRIDE) {
if (event.flags.haveError) {
startOverrideSM();
overrideShutdown = TRUE;
}
if (wantOverride)
startOverrideSM();
}
if (event.flags.haveResetMessage)
resetAtlas();
}
