void StateSwitch::updateState()
{
if(newState_ != currentState_)
{
oldState_ = currentState_;
currentState_ = newState_;
}
switch(currentState_)
{
case STATE_IDLE:
handleIdle();
break;
case STATE_WANDER:
handleWander();
break;
case STATE_FOLLOW:
handleFollow();
break;
case STATE_OFFENSIVE:
handleOffensive();
break;
case STATE_DEFENSIVE:
handleDefensive();
break;
case STATE_FLEEING:
handleFleeing();
break;
case STATE_DEATH:
handleDeath();
break;
}
}
void EventHandler::analyze(PupilsFrame& frame){
frames.addData(frame);
switch(state){
case RED_ALERT:
handleRedAlert();
break;
case WAITING_FOR_LEFT_TURN:
handleWaitingForLeftTurn();
break;
case WAITING_FOR_RIGHT_TURN:
handleWaitingForRightTurn();
break;
case TURNED_LEFT:
handleTurnedLeft();
break;
case TURNED_RIGHT:
handleTurnedRight();
break;
case WINK_LEFT:
handleWinkLeft();
break;
case WINK_RIGHT:
handleWinkRight();
break;
case DEACTIVATE:
handleDeactivate();
break;
case IDLE:
handleIdle();
break;
default:
handleActive();
}
frames.getFrameAt(0).state = state;
}
void ServerInstance::run()
{
while(true) {
PacketBase pb;
if(N->recv(pb) == 0) {
continue;
}
if(pb.type == TYPE_SERVER) {
continue;
}
switch(state) {
case Idle:
handleIdle(pb);
break;
case Write:
handleWrite(pb);
break;
case CommitReady:
handleCommitReady(pb);
break;
default:
throw FSException("Unknown server state");
}
}
}
struct StateClass handleRed(enum Event event)
{
if (event == STANDBY)
{
handleStandby();
return states[RED_YELLOW];
}
else if (event == IDLE)
{
handleIdle();
return states[YELLOW_BLINKING];
}
}
/**
* \see trafficlight.h
*/
void runTrafficLight()
{
/* initial state */
enum Event event = NO_EVENT;
enum State state = RED;
toggleLight(RED_LIGHT, ON);
timer(RED_TIME, STANDBY);
/* state machine loop */
while (1)
{
event = checkEvent(); // check if an event has been triggered
switch (event)
{
case STANDBY:
if (state == RED)
{
state = RED_YELLOW;
handleStandby();
}
break;
case GO:
if (state == RED_YELLOW)
{
state = GREEN;
handleGo();
}
break;
case PREPARE_TO_STOP:
if (state == GREEN)
{
state = GREEN_BLINKING;
handlePrepareToStop();
}
break;
case REPEAT:
if (state == GREEN_BLINKING)
{
handleRepeatGreen();
}
else if (state == YELLOW_BLINKING)
{
handleRepeatYellow();
}
break;
case STOP:
if (state == GREEN_BLINKING)
{
state = YELLOW;
handleStop();
}
break;
case WAIT:
if (state == YELLOW)
{
state = RED;
handleWait();
}
break;
case IDLE:
if (state == RED)
{
state = YELLOW_BLINKING;
handleIdle();
}
case RESET:
if (state == YELLOW_BLINKING)
{
state = RED;
handleReset();
}
break;
}
}
}
