void CloudsTransitionController::transitionToVisualSystem(float outDuration, float inDuration){
confirmEmpty("transitionToVisualSystem");
cout << "TRANSITION POINTCLOUD --> VISUAL SYSTEM" << endl;
queueState(TRANSITION_INTERVIEW_OUT, outDuration);
queueState(TRANSITION_VISUALSYSTEM_IN, inDuration);
startTransition();
}
void CloudsTransitionController::transitionToInterview(float outDuration, float inDuration){
confirmEmpty("transitionToInterview");
cout << "TRANSITION VISUAL SYSTEM --> POINTCLOUD" << endl;
queueState(TRANSITION_VISUALSYSTEM_OUT, outDuration);
queueState(TRANSITION_INTERVIEW_IN, inDuration);
startTransition();
}
void CloudsTransitionController::transitionFromClusterMap(float transitionDuration){
confirmEmpty("transitionFromClusterMap");
queueState(TRANSITION_CLUSTERMAP_OUT, transitionDuration);
startTransition();
}
void CloudsTransitionController::transitionToFirstVisualSystem(float duration){
confirmEmpty("transitionToFirstVisualSystem");
queueState(TRANSITION_VISUALSYSTEM_IN, duration);
startTransition();
}
void CloudsTransitionController::transitionToIntro(float inDuration){
confirmEmpty("transitionToIntro");
if(previousState == TRANSITION_INTERLUDE_IN){
queueState(TRANSITION_INTERLUDE_OUT, inDuration);
}
else if(previousState == TRANSITION_INTERVIEW_IN){
queueState(TRANSITION_INTERVIEW_OUT, inDuration);
}
else if(previousState == TRANSITION_VISUALSYSTEM_IN){
queueState(TRANSITION_VISUALSYSTEM_OUT, inDuration);
}
queueState(TRANSITION_INTRO_IN, inDuration);
startTransition();
}
void CloudsTransitionController::transitionFromIntro(float outDuration){
confirmEmpty("transitionFromIntro");
queueState(TRANSITION_INTRO_OUT, outDuration);
startTransition();
}
void CloudsTransitionController::transitionFromInterlude(float inDuration){
confirmEmpty("transitionFromInterlude");
queueState(TRANSITION_INTERLUDE_OUT, inDuration);
startTransition();
}
void CloudsTransitionController::transitionToFirstInterview(float duration){
confirmEmpty("transitionToFirstInterview");
queueState(TRANSITION_INTERVIEW_IN, duration);
startTransition();
}
void CloudsTransitionController::transitionWithQuestion(float outDuration, float portalDuration){
confirmEmpty("transitionWithQuestion");
queueState(TRANSITION_INTERVIEW_OUT, outDuration);
//queueState(TRANSITION_QUESTION_IN, portalDuration);
startTransition();
}
void CloudsTransitionController::transitionToInterlude(float inDuration,float outDuration){
confirmEmpty("transitionToInterlude");
//we are in a visual system
if(getPreviousState() == TRANSITION_VISUALSYSTEM_IN){
cout<<"VISUAL SYSTEM --> INTERLUDE MAP"<<endl;
currentState = TRANSITION_VISUALSYSTEM_IN;
queueState(TRANSITION_VISUALSYSTEM_OUT, outDuration);
queueState(TRANSITION_INTERLUDE_IN, inDuration);
}
//we are in an interview
else if(getPreviousState() == TRANSITION_INTERVIEW_IN){
cout<<"INTERVIEW --> INTERLUDE MAP"<<endl;
queueState(TRANSITION_INTERVIEW_OUT, outDuration);
queueState(TRANSITION_INTERLUDE_IN, inDuration);
}
startTransition();
}
void
BasicDeviceDriver::onRequestActivation(void)
{
queueState(SM_ACT_BEGIN);
}
void
BasicDeviceDriver::updateStateMachine(void)
{
switch (dequeueState())
{
// Wait for activation.
case SM_IDLE:
break;
// Begin activation sequence.
case SM_ACT_BEGIN:
setEntityState(IMC::EntityState::ESTA_NORMAL, Status::CODE_ACTIVATING);
m_wdog.setTop(getActivationTime());
queueState(SM_ACT_POWER_ON);
break;
// Turn power on.
case SM_ACT_POWER_ON:
turnPowerOn();
queueState(SM_ACT_POWER_WAIT);
break;
// Wait for power to be on.
case SM_ACT_POWER_WAIT:
if (isPowered())
{
m_power_on_timer.setTop(m_post_power_on_delay);
queueState(SM_ACT_DEV_WAIT);
}
if (m_wdog.overflow())
{
failActivation(DTR("failed to turn power on"));
queueState(SM_IDLE);
}
break;
// Connect to device.
case SM_ACT_DEV_WAIT:
if (m_wdog.overflow())
{
failActivation(DTR("failed to connect to device"));
queueState(SM_IDLE);
}
else if (m_power_on_timer.overflow())
{
if (connect())
queueState(SM_ACT_DEV_SYNC);
}
break;
// Synchronize with device.
case SM_ACT_DEV_SYNC:
if (m_wdog.overflow())
{
failActivation(DTR("failed to synchronize with device"));
queueState(SM_IDLE);
}
else
{
if (synchronize())
queueState(SM_ACT_LOG_REQUEST);
}
break;
// Request log name.
case SM_ACT_LOG_REQUEST:
if (m_wdog.overflow())
{
failActivation(DTR("failed to request current log name"));
queueState(SM_IDLE);
}
else
{
closeLog();
requestLogName();
queueState(SM_ACT_LOG_WAIT);
}
break;
// Wait for log name.
case SM_ACT_LOG_WAIT:
if (m_wdog.overflow())
{
failActivation(DTR("failed to retrieve current log name"));
queueState(SM_IDLE);
}
else
{
if (m_log_opened)
queueState(SM_ACT_DONE);
}
break;
// Activation procedure is complete.
case SM_ACT_DONE:
activate();
queueState(SM_ACT_SAMPLE);
break;
// Read samples.
case SM_ACT_SAMPLE:
readSample();
break;
// Start deactivation procedure.
case SM_DEACT_BEGIN:
setEntityState(IMC::EntityState::ESTA_NORMAL, Status::CODE_DEACTIVATING);
m_wdog.setTop(getDeactivationTime());
queueState(SM_DEACT_DISCONNECT);
break;
// Gracefully disconnect from device.
case SM_DEACT_DISCONNECT:
disconnect();
closeLog();
m_power_off_timer.setTop(m_power_off_delay);
queueState(SM_DEACT_POWER_OFF);
break;
// Turn power off.
case SM_DEACT_POWER_OFF:
if (m_power_off_timer.overflow() || m_wdog.overflow())
{
turnPowerOff();
queueState(SM_DEACT_POWER_WAIT);
}
break;
// Wait for power to be turned off.
case SM_DEACT_POWER_WAIT:
if (!isPowered())
queueState(SM_DEACT_DONE);
break;
// Deactivation is complete.
case SM_DEACT_DONE:
deactivate();
queueState(SM_IDLE);
break;
}
}
