static void resetDecoder()
{
// reset whatever requires reseting at
// any point in the ADB subsystem
__BEGIN_CRITICAL_SECTION
// reset Timer 3 counter
TCNT3 = 0;
__END_CRITICAL_SECTION
// abort/disable input capture interrupt
cbi(TIMSK3, ICIE3);
// configure "falling edge" for the next capture
cbi(TCCR3B, ICES3);
// abort/disable timeout timer
stopTimeout();
}
void GameControl::stepTime()
{
double tNew = getCurrentTime();
double dt = tNew - _tLast;
_tLast = tNew;
/** printf("game state %i\n", _gameInfo.game.state); */
/** save restore file */
_gameInfo.save(_saveName);
/** update game time */
_gameInfo.game.time += dt;
if (_gameInfo.isTimeout()) {
_gameInfo.game.timeouts[_gameInfo.game.timeoutTeam] -= dt;
if (_gameInfo.isTimeoutComplete()) {
stopTimeout();
}
} else {
if ((_gameInfo.game.stage == HALF_TIME) ||
!_gameInfo.isHalted()) {
_gameInfo.game.timeTaken += dt;
for (int x = 0; x < NUM_TEAMS; ++x) {
if (_gameInfo.game.timePenalty[x] > 0) {
_gameInfo.game.timePenalty[x] -= dt;
} else {
_gameInfo.game.timePenalty[x] = 0;
}
}
}
if (_gameInfo.isTimeComplete()) {
switch (_gameInfo.game.stage) {
case PREGAME:
case PRESECONDHALF:
case PREOVERTIME1:
case PREOVERTIME2:
break;
case FIRST_HALF:
beginHalfTime();
break;
case HALF_TIME:
beginSecondHalf();
break;
case SECOND_HALF:
if (_gameInfo.isGameTied())
beginOvertime1();
break;
case OVER_TIME1:
beginOvertime2();
break;
case OVER_TIME2:
if (_gameInfo.isGameTied())
beginPenaltyShootout();
break;
case PENALTY_SHOOTOUT:
break;
}
}
}
/** repeat last command (if someone missed it) */
ethernetSendCommand(_lastCommand, _lastCommandCounter);
}
