void Button::pointerMotion(Event& event)
{
/* Check if the new pointer position is still inside the button: */
if(event.getTargetWidget()==this)
{
/* Arm the button: */
setArmed(true);
}
else
{
/* Disarm the button: */
setArmed(false);
}
}
RocketSystem::RocketSystem(
Accelerometer& accel,
optional<Accelerometer *> accelH,
optional<Barometer *> bar,
optional<Geiger *> ggr,
optional<GPS *> gps,
Gyroscope& gyr,
optional<Magnetometer *> mag,
WorldEstimator& estimator, InputSource& inputSource,
MotorMapper& motorMapper, Communicator& communicator, Logger& logger,
Platform& platform)
: VehicleSystem(communicator), MessageListener(communicator),
params(params),
accel(accel), accelH(accelH), bar(bar), ggr(ggr), gps(gps), gyr(gyr), mag(mag),
estimator(estimator), inputSource(inputSource),
motorMapper(motorMapper), platform(platform),
systemStream(communicator, 10),
logger(logger),
state(RocketState::DISARMED) {
// Disarm by default. A set_arm_state_message_t message is required to enable
// the control pipeline.
setArmed(false);
gyr.setAxisConfig(unit_config::GYR_AXES);
accel.setAxisConfig(unit_config::ACC_AXES);
(*accelH)->setAxisConfig(unit_config::ACCH_AXES);
gyr.setOffsets(unit_config::GYR_OFFSETS);
accel.setOffsets(unit_config::ACC_OFFSETS);
(*accelH)->setOffsets(unit_config::ACCH_OFFSETS);
}
void Button::mousePressed(MouseEventDetails* const e)
{
if(getEnabled())
{
if(e->getButton()==MouseEventDetails::BUTTON1){
this->setActive(true);
setArmed(true);
if(getParentWindow() != NULL && getParentWindow()->getParentDrawingSurface()!=NULL&& getParentWindow()->getParentDrawingSurface()->getEventProducer() != NULL)
{
_ArmedMouseReleasedConnection.disconnect();
_ArmedMouseReleasedConnection = getParentWindow()->getParentDrawingSurface()->getEventProducer()->connectMouseReleased(boost::bind(&Button::handleArmedMouseReleased, this, _1));
if(getEnableActionOnMouseDownTime())
{
produceMousePressedActionPerformed();
resetArmed();
_ArmedUpdateEventConnection.disconnect();
_ArmedUpdateEventConnection = getParentWindow()->getParentDrawingSurface()->getEventProducer()->connectUpdate(boost::bind(&Button::handleArmedUpdate, this, _1));
}
}
}
}
Component::mousePressed(e);
}
void OnsetMeterView::onButtonEvent(ofxDatGuiButtonEvent e) {
MeterView::onButtonEvent(e);
if (e.target->getLabel() == MTR_ARM){
setArmed(e.enabled);
} else if(e.target->getLabel() == MTR_RESET){
onsets->reset();
}
}
void Button::pointerButtonUp(Event& event)
{
/* Select if the event is for us: */
if(event.getTargetWidget()==this)
select();
/* Disarm the button: */
setArmed(false);
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
void CommandButton::cursorExited( void )
{
// only clear ourselves if we have do not have a containing menu
// only stay armed if we have a sub menu
// the buttons only unarm themselves when another button is armed instead
if ( !getParentMenu() || !GetSubMenu() )
{
setArmed( false );
}
}
void DropdownButton::pointerButtonUp(Event& event)
{
/* "Repair" the incoming event: */
event.overrideTargetWidget(foundChild);
/* Disarm the armed child: */
if(armedChild!=0)
{
armedChild->pointerButtonUp(event);
armedChild=0;
}
setArmed(false);
}
void DropdownButton::pointerButtonDown(Event& event)
{
/* "Repair" the incoming event: */
event.overrideTargetWidget(foundChild);
/* Arm the button: */
setArmed(true);
/* Find a potential event recipient in the popup: */
if(popup->findRecipient(event))
{
armedChild=event.getTargetWidget();
armedChild->pointerButtonDown(event);
}
else
armedChild=0;
}
void Button::mouseReleased(MouseEventDetails* const e)
{
if(getEnabled())
{
if(e->getButton() == MouseEventDetails::BUTTON1 && getArmed())
{
this->setActive(false);
produceActionPerformed();
setArmed(false);
//Consume the event
e->consume();
return;
}
}
Component::mouseReleased(e);
}
//-----------------------------------------------------------------------------
// Purpose: Highlights the current button, and all it's parent menus
//-----------------------------------------------------------------------------
void CommandButton::cursorEntered( void )
{
// unarm all the other buttons in this menu
CCommandMenu *containingMenu = getParentMenu();
if ( containingMenu )
{
containingMenu->ClearButtonsOfArmedState();
// make all our higher buttons armed
CCommandMenu *pCParent = containingMenu->GetParentMenu();
if ( pCParent )
{
CommandButton *pParentButton = pCParent->FindButtonWithSubmenu( containingMenu );
pParentButton->cursorEntered();
}
}
// arm ourselves
setArmed( true );
}
void Button::handleArmedMouseReleased(MouseEventDetails* const e)
{
if(e->getButton() == MouseEventDetails::BUTTON1)
{
_ArmedMouseReleasedConnection.disconnect();
if(getEnableActionOnMouseDownTime())
{
_ArmedUpdateEventConnection.disconnect();
}
if(getParentWindow() &&
getParentWindow()->getParentDrawingSurface())
{
Pnt2f MousePos = ViewportToDrawingSurface(e->getLocation(), getParentWindow()->getParentDrawingSurface(), e->getViewport());
//If the Mouse is not within the button
if(!isContained(MousePos))
{
setArmed(false);
}
}
}
}
/****************************************************************************
Function
RunDisarmFSM
Parameters
ES_Event : the event to process
Returns
ES_Event, ES_NO_EVENT if no error ES_ERROR otherwise
Description
The state machine for the overall disarming process - state machine for
keypad, etc. are elsewhere
Notes
****************************************************************************/
ES_Event RunDisarmFSM( ES_Event ThisEvent )
{
ES_Event ReturnEvent;
ReturnEvent.EventType = ES_NO_EVENT; // assume no errors
// initial state: all the LEDs are off.
static char LEDs[8] = {OFF, OFF, OFF, OFF, OFF, OFF , OFF, OFF};
static bool tower_rotate_direction = true;
switch ( CurrentState )
{
case Armed :
switch ( ThisEvent.EventType ) {
case ES_INIT :
// intializing timer to be at 2mS rate (for 60 second count down)
ES_Timer_Init(ES_Timer_RATE_2mS);
printf("Arming...\r\n");
// sets the armed line to +5V
setArmed();
printf(" Setting all tower LEDS off...\r\n");
LEDShiftRegInit();
// all LEDs are off when armed
setLED (LEDs);
printf(" Generating random passwords...\r\n");
// generate random password for keyboard input
randomizePasswords();
printArmedMessage();
printf(" Lowering flag...\r\n");
// lower the flag when armed
lowerFlag();
printf(" Locking the keys\r\n");
// lock the key when armed
lockKeys();
printf(" Setting tower to 0...\r\n\r\n");
// the tower doesn't lean when armed
setTowerToZero();
printf("STATE: Armed\r\n\r\n");
rotateTowerLeft();
ES_Timer_InitTimer(PANIC_TIMER, 350);
// demonstrate panic and start timing
ES_Timer_StartTimer(PANIC_TIMER);
break;
case THREE_HANDS_ON :
printf("EVENT: Three hands detected.\r\n");
printf(" Setting Tower Tier 1 LED on...\r\n");
LEDs[Tier1] = ON;
// light up the LED for bottom layer to show success in task 1
setLED(LEDs);
printf(" Begin printing LCD passcode...\r\n");
resetLCDmessage();
printLCDmessage();
// sends out a message every 2 seconds (2mS timer rate)
ES_Timer_InitTimer(MESSAGE_TIMER, 1000);
ES_Timer_StartTimer(MESSAGE_TIMER);
printf(" Starting 60s disarm timer...\r\n");
//the timer can only go up to 32000
ES_Timer_InitTimer(DISARM_TIMER, 30000);
ES_Timer_StartTimer(DISARM_TIMER);
//begins to run the timing motor
unwindTimingMotor();
// grabs current time to store for rewinding the timer motor
startTime = ES_Timer_GetTime();
ES_Event ThisEvent;
ThisEvent.EventType = PLAY_TRACK;
// play sound track 01
ThisEvent.EventParam = 1;
PostAdafruitAudioService(ThisEvent);
printf(" Transitioning to Stage 1...\r\n\r\n");
CurrentState = Stage1;
printf("STATE: Stage1\r\n\r\n");
break;
case ES_TIMEOUT :
// if panic timer expires
if (ThisEvent.EventParam == PANIC_TIMER) {
if (tower_rotate_direction) {
tower_rotate_direction = false;
rotateTowerRight();
} else {
tower_rotate_direction = true;
rotateTowerLeft();
}
ES_Timer_InitTimer(PANIC_TIMER, 350);
ES_Timer_StartTimer(PANIC_TIMER);
}
// if timing motor rewind timer expires
if (ThisEvent.EventParam == REWIND_TIMER) {
// stop timing motor when the ball reaches the top
stopTimingMotor();
}
default:
;
}
break;
case Stage1 :
switch ( ThisEvent.EventType )
{
case ES_TIMEOUT :
if (ThisEvent.EventParam == DISARM_TIMER) {
// if the disarm timer expires
printf("EVENT: Time has run out!\r\n");
printTimeUp();
// gets the time when the game ended
endTime = ES_Timer_GetTime();
// calculate how much rewinding needs to be done
ES_Timer_InitTimer(REWIND_TIMER, (endTime-startTime)/2);
ES_Timer_StartTimer(REWIND_TIMER);
// begins rewinding the clock motor
rewindTimingMotor();
ThisEvent.EventType = ES_INIT;
PostDisarmFSM(ThisEvent);
// go back to armed state
CurrentState = Armed;
}
// if vibration timer expires
if (ThisEvent.EventParam == VIBRATION_TIMER) {
printf(" Turning off vibration pulse...\r\n\r\n");
vibrationMotorOff();
}
// if message timer expires
if (ThisEvent.EventParam == MESSAGE_TIMER) {
printf("EVENT: Printing out the next message...\r\n");
printLCDmessage();
ES_Timer_InitTimer(MESSAGE_TIMER, 1000);
ES_Timer_StartTimer(MESSAGE_TIMER);
}
break;
// one or more hands have been released
case THREE_HANDS_OFF :
printf("EVENT: One or more hands have been released.\r\n");
printf(" Clearing the LCD screen\r\n");
printArmedMessage();
printf(" Setting Tower Tier 1 LED off...\r\n");
// task 1 is not completed
LEDs[Tier1] = OFF;
// turn off the LED for bottom layer
setLED(LEDs);
printf(" Transitioning to Stage1_Stagnated...\r\n\r\n");
CurrentState = Stage1_Stagnated;
printf("STATE: Stage1_Stagnated\r\n\r\n");
break;
// if the user entered the correct password
case CORRECT_PASSWORD_ENTERED :
printf("EVENT: The correct password has been entered.\r\n");
printf(" Unlocking the keys\r\n");
// unlock the key and move to task 3
unlockKeys();
printAuthorizedMessage();
printf(" Setting Tower Tier 2 LED on...\r\n");
LEDs[Tier2] = ON;
// turn on LED on the second tier to show success
setLED(LEDs);
printf(" Playing audio: Wahoo!...\r\n");
ES_Event ThisEvent;
ThisEvent.EventType = PLAY_TRACK;
// play sound track 01
ThisEvent.EventParam = 1;
PostAdafruitAudioService(ThisEvent);
printf(" Transitioning to Stage2...\r\n\r\n");
// set the current state to state 2
CurrentState = Stage2;
printf("STATE: Stage2\r\n\r\n");
break;
// if the user entered incorrect password
case INCORRECT_PASSWORD_ENTERED :
printf("EVENT: The incorrect password has been entered.\r\n");
printIncorrectMessage();
ES_Timer_InitTimer(MESSAGE_TIMER, 1000);
ES_Timer_StartTimer(MESSAGE_TIMER);
printf(" Generating vibration pulse...\r\n");
break;
default :
;
}
break;
case Stage1_Stagnated :
switch ( ThisEvent.EventType )
{
case ES_TIMEOUT :
// if disarm timer expires
if (ThisEvent.EventParam == DISARM_TIMER) {
printf("EVENT: Time has run out!\r\n");
printTimeUp();
endTime = ES_Timer_GetTime();
// calculate how much rewinding needs to be done
ES_Timer_InitTimer(REWIND_TIMER, (endTime-startTime)/2);
ES_Timer_StartTimer(REWIND_TIMER);
// begins rewinding the timing motor
rewindTimingMotor();
ThisEvent.EventType = ES_INIT;
PostDisarmFSM(ThisEvent);
// go back to armed state
CurrentState = Armed;
}
break;
// if all three tape sensors are covered
case THREE_HANDS_ON :
printf("EVENT: Three hands detected.\r\n");
printf(" Setting Tower Tier 1 LED on...\r\n");
LEDs[Tier1] = ON;
// light up the LED for bottom layer to show success in task 1
setLED(LEDs);
printf(" Begin printing LCD passcode...\r\n");
resetLCDmessage();
printLCDmessage();
// print message from LCD
ES_Timer_InitTimer(MESSAGE_TIMER, 1000);
ES_Timer_StartTimer(MESSAGE_TIMER);
// play feedback audio wahoo
ES_Event ThisEvent;
ThisEvent.EventType = PLAY_TRACK;
// play sound track 01
ThisEvent.EventParam = 1;
PostAdafruitAudioService(ThisEvent);
printf(" Transitioning to Stage1...\r\n\r\n");
// set current stage to stage 1
CurrentState = Stage1;
printf("STATE: Stage1\r\n\r\n");
break;
default :
;
}
break;
case Stage2 :
switch ( ThisEvent.EventType )
{
case ES_TIMEOUT :
// if the disarm timer expires
if (ThisEvent.EventParam == DISARM_TIMER) {
printf("EVENT: Time has run out!\r\n");
printTimeUp();
// gets the time when the game ended
endTime = ES_Timer_GetTime();
// calculate how much rewinding needs to be done
ES_Timer_InitTimer(REWIND_TIMER, (endTime-startTime)/2);
ES_Timer_StartTimer(REWIND_TIMER);
// begins rewinding the clock moto
rewindTimingMotor(); r
ThisEvent.EventType = ES_INIT;
PostDisarmFSM(ThisEvent);
CurrentState = Armed;
}
break;
// if the key is inserted
case KEY_INSERTED:
printf("EVENT: Key has been inserted.\r\n");
printf(" Setting Tower Tier 3 LED on...\r\n");
LEDs[Tier3] = ON;
// light up LED on tier 3 to show successful completion of task 3
setLED(LEDs);
printf(" Setting Dial LED on...\r\n");
LEDs[pot] = ON;
setLED(LEDs);
printf(" Playing audio: Wahoo!...\r\n");
ES_Event ThisEvent;
ThisEvent.EventType = PLAY_TRACK;
// play sound track 01
ThisEvent.EventParam = 1;
PostAdafruitAudioService(ThisEvent);
printf("Initializing the pot value...\r\n");
setPotZero();
printf(" Transitioning to Stage3...\r\n\r\n");
// set current state to state 3
CurrentState = Stage3;
printf("STATE: Stage3\r\n\r\n");
break;
default :
;
}
break;
case Stage3 :
switch ( ThisEvent.EventType )
{
case ES_TIMEOUT :
// if the disarm timer expires
if (ThisEvent.EventParam == DISARM_TIMER) {
printf("EVENT: Time has run out!\r\n");
printTimeUp();
endTime = ES_Timer_GetTime();
// calculate how much rewinding needs to be done
ES_Timer_InitTimer(REWIND_TIMER, (endTime-startTime)/2);
ES_Timer_StartTimer(REWIND_TIMER);
// begins rewinding the clock motor
rewindTimingMotor();
ThisEvent.EventType = ES_INIT;
PostDisarmFSM(ThisEvent);
// set current state to armed
CurrentState = Armed;
}
if (ThisEvent.EventParam == FAST_LEDS) {
printf("EVENT: \r\n");
ThisEvent.EventType = CORRECT_VALUE_DIALED;
PostDisarmFSM(ThisEvent);
}
break;
// if the pot is dialed to correct value
case CORRECT_VALUE_DIALED :
printf("EVENT: The correct pot value has been dialed.\r\n");
// Sets the armed line to 0V
setUnarmed();
printf(" Setting Tower Tier 4-6 LED on with delay...\r\n");
ES_Timer_InitTimer(FAST_LEDS, 150);
static int i = Tier4;
if (i<=Tier6){
printf("\n\r looping for LED i + %d\n\r", i);
// turn on all the remaining LEDs one by one
LEDs[i] = 0;
setLED(LEDs);
ES_Timer_StartTimer(FAST_LEDS);
i++;
break;
}
printf(" Raising the flag...\r\n");
// raise flag to show hope and joy
raiseFlag();
printf(" Playing audio: victory song...\r\n");
ES_Event ThisEvent;
ThisEvent.EventType = PLAY_TRACK;
// play sound track 03
ThisEvent.EventParam = 3;
PostAdafruitAudioService(ThisEvent);
printf(" Starting 30s post-disarm timer...\r\n");
ES_Timer_InitTimer(POST_DISARM_TIMER, 30000);
printf(" Raising ball and feather...\r\n");
// stop falling ball
stopTimingMotor();
// get the time when the disarment ends and rearm DDM
endTime = ES_Timer_GetTime();
ES_Timer_InitTimer(REWIND_TIMER, (endTime-startTime)/2);
ES_Timer_StartTimer(REWIND_TIMER);
// begins rewinding the clock motor
rewindTimingMotor();
printf(" Transitioning to Stage4...\r\n\r\n");
// set current stage to stage 4
CurrentState = Stage4;
printf("STATE: Stage4\r\n\r\n");
break;
default :
;
}
break;
case Stage4 :
switch ( ThisEvent.EventType )
{
case ES_TIMEOUT :
// if timer expires after successful disarment
if (ThisEvent.EventParam == POST_DISARM_TIMER) {
printf("EVENT: Post-disarm timer expired.\r\n");
ThisEvent.EventType = ES_INIT;
PostDisarmFSM(ThisEvent);
// set current state to armed
CurrentState = Armed;
}
// if rewind timer expires
if (ThisEvent.EventParam == REWIND_TIMER) {
// stop timing motor rewinding
stopTimingMotor();
}
break;
default :
;
}
break;
default :
;
}
return ReturnEvent;
}
void Button::pointerButtonDown(Event&)
{
/* Arm the button: */
setArmed(true);
}
void RocketSystem::on(const protocol::message::set_arm_state_message_t& m) {
if (state == RocketState::DISARMED) {
return;
}
setArmed(m.armed);
}
