int32_t exec_runprogArg(const uint8_t &progNum, const int32_t &arg)
{
int32_t res = exec_runprog(progNum);
if (res<0)
return res;
g_execArg = arg;
return 0;
}
void exec_select()
{
uint8_t prog, progs;
// count number of progs
for (progs=0; g_progTable[progs]; progs++);
// select using button state machine
prog = g_bMachine->selectProgram(progs);
// set it up to run
exec_runprog(prog);
}
int32_t exec_runprogArg(const uint8_t &progNum, const int32_t &arg, Chirp *chirp)
{
int32_t res = exec_runprog(progNum, chirp);
if (res<0)
return res;
if (chirp)
g_execArgChirp = arg;
if (g_programChirp>=0) // if PixyMon is setting program, it overrides
g_execArg = g_execArgChirp;
else
g_execArg = arg;
return 0;
}
void exec_select()
{
uint8_t progs;
prm_get("Startup program", &g_startupProgram, END);
g_program = g_startupProgram;
// count number of progs
for (progs=0; g_progTable[progs]; progs++);
// select using button state machine
g_bMachine->selectProgram(progs, &g_program);
exec_runprog(g_program);
}
void exec_loop()
{
uint8_t state = 0;
bool prevConnected = false;
bool connected;
exec_select();
while(1)
{
connected = g_chirpUsb->connected();
exec_periodic();
switch (state)
{
case 0: // setup state
led_set(0); // turn off any stray led
if ((*g_progTable[g_program]->setup)()<0)
state = 3; // stop state
else
state = 1; // loop state
break;
case 1: // loop state
if (g_override)
{
// need to stop M0 because it's using the same memory and can possibly interfere.
// For example if we try to grab a raw frame while M0 is running (gathering RLS values)
// M0 could overwrite the frame memory with RLS scratch data.
exec_stopM0();
state = 2; // override state
}
else if (!g_run || (*g_progTable[g_program]->loop)()<0)
state = 3; // stop state
else if (prevConnected && !connected) // if we disconnect from pixymon, revert back to default program
{
exec_runprog(0); // run default program
state = 0; // setup state
}
break;
case 2: // override state
if (!g_override)
state = 0; // back to setup state
break;
case 3: // stop state
// set variable to indicate we've stopped
g_run = false;
g_running = false;
// stop M0
exec_stopM0();
state = 4; // wait for run state
break;
case 4: // wait for run state
if (g_run)
{
exec_run();
state = 0; // back to setup state
}
else if (!connected || !USB_Configuration) // if we disconnect from pixy or unplug cable, revert back to default program
{
exec_runprog(0); // run default program
state = 0; // back to setup state
}
break;
default:
state = 3; // stop state
}
prevConnected = connected;
}
}