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FencingStateMachine.cpp
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//Copyright (c) Piet Wauters 2022 <[email protected]>
#include "FencingStateMachine.h"
#include <iostream>
#include <Preferences.h>
#include "esp_task_wdt.h"
using namespace std;
#define FIGHTING_MINUTES 3
#define FIGHTING_SECONDS 0
#define BREAK_MINUTES 1
#define BREAK_SECONDS 0
#define ADDITIONAL_TIME_MINUTES 1
#define ADDITIONAL_TIME_SECONDS 0
#define TIME_TO_REARM 10000 //Time in milliseconds
#define IDLE_TIME_MS 1000*66*3 // 3 minute in milliseconds
#define TIME_TO_DEEP_SLEEP 1000*66*6 // 6 minutes in milliseconds
volatile SemaphoreHandle_t timerSemaphore_FSMPeriod;
void IRAM_ATTR onTimer_FSMPeriod()
{
// Give a semaphore that we can check in the loop
xSemaphoreGiveFromISR(timerSemaphore_FSMPeriod, NULL);
}
TaskHandle_t StateMachineTask;
void StateMachineHandler(void *parameter)
{
FencingStateMachine &MyLocalStatemachine= FencingStateMachine::getInstance();
while(true)
{
MyLocalStatemachine.DoStateMachineTick();
esp_task_wdt_reset();
}
}
FencingStateMachine::FencingStateMachine(int hw_timer_nr, int tickPeriod)
{
//ctor
// Create semaphore to inform us when the timer has fired
// Semaphore in Counting mode to allow some jitter if some tasks take a bit longer than the FSMPeriod
timerSemaphore_FSMPeriod = xSemaphoreCreateCounting(10,0);
// Use 2nd timer of 4 (counted from zero). It seems timer0 is already in use (with a different scaler?)
// Set 8 divider for prescaler (see ESP32 Technical Reference Manual for more info).
timer_FSMPeriod = timerBegin(hw_timer_nr, 8, true);
// Attach onTimer function to our timer.
timerAttachInterrupt(timer_FSMPeriod, &onTimer_FSMPeriod, true);
// Set alarm to call onTimer function every x microsecond microseconds.
// Repeat the alarm (third parameter)
timerAlarmWrite(timer_FSMPeriod, 10000 * tickPeriod, true);
// Start an alarm
timerAlarmEnable(timer_FSMPeriod);
m_nrOfRounds = 1;
ResetAll();
m_Timer.SetTicksPeriod(tickPeriod);
//m_Timer.SetDisplayResolution(100);
m_low_prio_divider = m_low_prio_divider_init;
}
void FencingStateMachine::begin()
{
if(m_HasBegun)
return;
xTaskCreatePinnedToCore(
StateMachineHandler, /* Task function. */
"StateMachineHandler", /* String with name of task. */
24576, /* Stack size in words. 65535*/
NULL, /* Parameter passed as input of the task */
5, /* Priority of the task. */
&StateMachineTask, /* Task handle. */
1);
esp_task_wdt_add(StateMachineTask);
}
FencingStateMachine::~FencingStateMachine()
{
//dtor
}
void FencingStateMachine::update (MultiWeaponSensor *subject, uint32_t eventtype)
{
//SetMachineLights(subject->get_Lights());
uint32_t maineventtype = eventtype & MAIN_TYPE_MASK ;
if(EVENT_LIGHTS == maineventtype)
SetMachineLights(eventtype); // I'm doing an implicit type cast from uint32_t to uint8_t
if(EVENT_WEAPON == maineventtype)
SetMachineWeapon(subject->GetActualWeapon());
}
void FencingStateMachine::update (CyranoHandler *subject, string eventtype)
{
//Serial.print("received message =");
//Serial.println(eventtype.c_str());
EFP1Message input(eventtype);
ProcessDisplayMessage (input);
}
void FencingStateMachine::ProcessSpecialSetting (uint32_t eventtype)
{
uint32_t event_data = eventtype & SPECIAL_SETTING_DATA_MASK;
uint32_t eventsubtype = eventtype & SPECIAL_SETTING_SUBTYPE_MASK ;
if(UI_SET_PISTE_NR == eventsubtype)
{
Preferences networkpreferences;
networkpreferences.begin("credentials", false);
networkpreferences.putInt("U", event_data);
networkpreferences.end();
}
}
void FencingStateMachine::TransmitFullStateToDisplay (RepeaterSender *TheRepeater){
StateChanged(EVENT_LIGHTS | m_Lights);
m_low_prio_divider--;
if(!m_low_prio_divider){
m_low_prio_divider = m_low_prio_divider_init;
}
else
return;
yield();
if(m_Timer.IsRunning())
return;
TheRepeater->update(this,EVENT_SCORE_LEFT | m_ScoreLeft);
TheRepeater->update(this,m_YellowCardLeft | EVENT_YELLOW_CARD_LEFT );
TheRepeater->update(this,m_RedCardLeft | EVENT_RED_CARD_LEFT );
TheRepeater->update(this,EVENT_P_CARD | m_PCardLeft | m_PCardRight << 8);
yield();
TheRepeater->update(this,EVENT_SCORE_RIGHT | m_ScoreRight);
TheRepeater->update(this,m_YellowCardRight | EVENT_YELLOW_CARD_RIGHT );
TheRepeater->update(this,m_RedCardRight | EVENT_RED_CARD_RIGHT );
yield();
TheRepeater->update(this,EVENT_ROUND | m_currentRound | m_nrOfRounds<<8);
TheRepeater->update(this,MakeTimerEvent());
//TheRepeater->update(this,EVENT_UW2F_TIMER | (m_UW2FSeconds/60)<<16 | (m_UW2FSeconds%60)<<8);
}
void FencingStateMachine::update (UDPIOHandler *subject, uint32_t eventtype)
{
uint32_t event_data = eventtype & UI_SUB_TYPE_MASK;
uint32_t maineventtype = eventtype & MAIN_TYPE_MASK ;
uint32_t card_event;
m_IsConnectedToRemote = true;
if(EVENT_UI_INPUT_SPECIAL_SETTINGS == maineventtype)
ProcessSpecialSetting(eventtype);
if(EVENT_UI_INPUT != maineventtype)
return;
if(m_Timer.IsRunning())
{
if(UI_INPUT_TOGGLE_TIMER == event_data)
{
event_data = UI_INPUT_STOP_TIMER;
}
if(UI_INPUT_STOP_TIMER != event_data) // Ignore all buttons except stop timer
return;
}
else
{
if(UI_INPUT_TOGGLE_TIMER == event_data)
{
event_data = UI_INPUT_START_TIMER;
}
}
switch(event_data)
{
case UI_INPUT_START_TIMER:
if(m_Timerstate != MATCH_ENDED)
{
m_Timer.StartTimer();
StateChanged(EVENT_TIMER_STATE | 0x00000001);
if((FIGHTING == m_Timerstate) && (m_nrOfRounds > 1)) // We only deal with unwillingness to fight in direct eleminiation and team events
{
if(m_Timer.GetMinutes() * 60 + m_Timer.GetSeconds() > 60) // don't start a new period if there is less than a minute left
{
m_UW2FTimer.Start();
}
else
{
if(m_UW2FTimer.GetIntermediateTime() > 0) // The timer had already been running without reset, so continue
{
m_UW2FTimer.Start();
}
}
}
if(m_TheSensor)
{
if(m_NoHitsAllowed)
{
m_TheSensor->AllowAllNewHits();
m_NoHitsAllowed = false;
}
}
}
break;
case UI_INPUT_STOP_TIMER:
m_Timer.StopTimer();
m_UW2FTimer.Stop();
StateChanged(EVENT_TIMER_STATE );
break;
case UI_INPUT_RESET:
ResetAll();
break;
case UI_INPUT_INCR_SCORE_LEFT:
//m_ScoreLeft++;
incrementScoreAndCheckForMinuteBreak(true);
StateChanged(EVENT_SCORE_LEFT | m_ScoreLeft);
break;
case UI_INPUT_INCR_SCORE_RIGHT:
//m_ScoreRight++;
incrementScoreAndCheckForMinuteBreak(false);
StateChanged(EVENT_SCORE_RIGHT | m_ScoreRight);
break;
case UI_INPUT_DECR_SCORE_LEFT:
if(m_ScoreLeft)
{
m_ScoreLeft--;
StateChanged(EVENT_SCORE_LEFT | m_ScoreLeft);
}
break;
case UI_INPUT_DECR_SCORE_RIGHT:
if(m_ScoreRight)
{
m_ScoreRight--;
StateChanged(EVENT_SCORE_RIGHT | m_ScoreRight);
}
break;
case UI_INPUT_PRIO:
if(m_Priority != NO_PRIO)
{
m_Priority = NO_PRIO;
StateChanged(EVENT_PRIO);
}
else
{
uint32_t rnd = millis();
if(rnd & 1)
{
m_Priority = PRIO_LEFT;
StateChanged(EVENT_PRIO | 1);
}
else
{
m_Priority = PRIO_RIGHT;
StateChanged(EVENT_PRIO | 2);
}
}
break;
case UI_INPUT_ROUND:
switch(m_nrOfRounds)
{
case 1:
m_nrOfRounds = 3;
break;
case 3:
m_nrOfRounds = 9;
break;
default:
m_nrOfRounds = 1;
break;
}
m_currentRound = 1;
StateChanged(EVENT_ROUND | m_currentRound | m_nrOfRounds<<8);
break;
case UI_NEXT_PERIOD:
SetNextTimerStateAndRoundAndNewTimeOnTimerZero();
StateChanged(EVENT_TIMER_STATE);
StateChanged(EVENT_ROUND | m_currentRound | m_nrOfRounds<<8);
StateChanged(MakeTimerEvent());
break;
case UI_INPUT_YELLOW_CARD_LEFT:
if(m_RedCardLeft == 0)
{
m_YellowCardLeft=1;
card_event = m_YellowCardLeft | EVENT_YELLOW_CARD_LEFT;
StateChanged(card_event );
}
break;
case UI_INPUT_YELLOW_CARD_RIGHT:
if(m_RedCardRight == 0)
{
m_YellowCardRight = 1;
card_event = m_YellowCardRight | EVENT_YELLOW_CARD_RIGHT;
StateChanged(card_event );
}
break;
case UI_INPUT_RED_CARD_LEFT:
m_RedCardLeft++;
card_event = m_RedCardLeft | EVENT_RED_CARD_LEFT;
StateChanged(card_event );
m_UW2FTimer.Reset();
m_UW2FSeconds = 0;
StateChanged(EVENT_UW2F_TIMER);
//m_ScoreRight++;
incrementScoreAndCheckForMinuteBreak(false);
StateChanged(EVENT_SCORE_RIGHT | m_ScoreRight);
break;
case UI_INPUT_RED_CARD_RIGHT:
m_RedCardRight++;
card_event = m_RedCardRight | EVENT_RED_CARD_RIGHT;
StateChanged(card_event );
m_UW2FTimer.Reset();
m_UW2FSeconds = 0;
StateChanged(EVENT_UW2F_TIMER);
//m_ScoreLeft++;
incrementScoreAndCheckForMinuteBreak(true);;
StateChanged(EVENT_SCORE_LEFT | m_ScoreLeft);
break;
case UI_INPUT_YELLOW_CARD_LEFT_DECR:
if(m_YellowCardLeft == 1)
{
m_YellowCardLeft=0;
card_event = m_YellowCardLeft | EVENT_YELLOW_CARD_LEFT;
StateChanged(card_event );
}
break;
case UI_INPUT_YELLOW_CARD_RIGHT_DECR:
if(m_YellowCardRight == 1)
{
m_YellowCardRight = 0;
card_event = m_YellowCardRight | EVENT_YELLOW_CARD_RIGHT;
StateChanged(card_event );
}
break;
case UI_INPUT_RED_CARD_LEFT_DECR:
if(m_RedCardLeft)
{
m_RedCardLeft--;
card_event = m_RedCardLeft | EVENT_RED_CARD_LEFT;
StateChanged(card_event );
//m_UW2FTimer.Reset();
//StateChanged(EVENT_UW2F_TIMER);
m_ScoreRight--;
StateChanged(EVENT_SCORE_RIGHT | m_ScoreRight);
}
break;
case UI_INPUT_RED_CARD_RIGHT_DECR:
if(m_RedCardRight)
{
m_RedCardRight--;
card_event = m_RedCardRight | EVENT_RED_CARD_RIGHT;
StateChanged(card_event );
//m_UW2FTimer.Reset();
//StateChanged(EVENT_UW2F_TIMER);
m_ScoreLeft--;
StateChanged(EVENT_SCORE_LEFT | m_ScoreLeft);
}
break;
case UI_INPUT_P_CARD:
ProcessUW2F();
StateChanged(EVENT_P_CARD | m_PCardLeft | m_PCardRight << 8);
m_UW2FTimer.Reset();
StateChanged(EVENT_UW2F_TIMER);
break;
case UI_BUZZ:
StateChanged(EVENT_TOGGLE_BUZZER);
break;
case UI_INPUT_RESTORE_UW2F_TIMER:
m_UW2FTimer.RestorePreviousState();
m_UW2FSeconds = m_UW2FTimer.GetIntermediateTime();
StateChanged(EVENT_UW2F_TIMER | (m_UW2FSeconds/60)<<16 | (m_UW2FSeconds%60)<<8);
break;
case UI_CYCLE_BRIGHTNESS:
StateChanged(eventtype);
break;
case UI_INPUT_CYCLE_WEAPON:
switch(m_MachineWeapon)
{
case SABRE:
m_MachineWeapon = FOIL;
StateChanged(EVENT_WEAPON | WEAPON_MASK_FOIL);
m_TheSensor->SetActualWeapon(FOIL);
m_TheSensor->Setweapon_detection_mode(MANUAL);
break;
case FOIL:
m_MachineWeapon = EPEE;
StateChanged(EVENT_WEAPON | WEAPON_MASK_EPEE);
m_TheSensor->SetActualWeapon(EPEE);
m_TheSensor->Setweapon_detection_mode(MANUAL);
break;
case EPEE:
m_MachineWeapon = UNKNOWN;
StateChanged(EVENT_WEAPON | WEAPON_MASK_UNKNOWN);
m_TheSensor->SetActualWeapon(EPEE);
m_TheSensor->Setweapon_detection_mode(AUTO);
break;
case UNKNOWN:
m_MachineWeapon = SABRE;
StateChanged(EVENT_WEAPON | WEAPON_MASK_SABRE);
m_TheSensor->SetActualWeapon(SABRE);
m_TheSensor->Setweapon_detection_mode(MANUAL);
break;
default:
m_MachineWeapon = EPEE;
StateChanged(EVENT_WEAPON | WEAPON_MASK_EPEE);
m_TheSensor->SetActualWeapon(EPEE);
m_TheSensor->Setweapon_detection_mode(AUTO);
}
break;
}
}
/*
void FencingStateMachine::ProcessUW2F()
{
if(m_ScoreLeft != m_ScoreRight)
{
if(m_ScoreLeft > m_ScoreRight)
{
if(m_PCardRight < 3)
{
m_PCardRight++;
if(m_PCardRight > 1)
{
m_ScoreLeft++;
StateChanged(EVENT_SCORE_LEFT | m_ScoreLeft);
}
}
}
else
{
if(m_PCardLeft < 3)
{
m_PCardLeft++;
if(m_PCardLeft > 1)
{
m_ScoreRight++;
StateChanged(EVENT_SCORE_RIGHT | m_ScoreRight);
}
}
}
}
else
{
if(m_PCardLeft < 3)
{
m_PCardLeft++;
if(m_PCardLeft > 1)
{
m_ScoreRight++;
StateChanged(EVENT_SCORE_RIGHT | m_ScoreRight);
}
}
if(m_PCardRight < 3)
{
m_PCardRight++;
if(m_PCardRight > 1)
{
m_ScoreLeft++;
StateChanged(EVENT_SCORE_LEFT | m_ScoreLeft);
}
}
}
}*/
// New Rule after FIE Congress 26/11/2022
void FencingStateMachine::ProcessUW2F()
{
if(m_PCardLeft == 2)
{
if(m_ScoreLeft > m_ScoreRight)
{
m_PCardRight++;
return;
}
if(m_ScoreLeft < m_ScoreRight)
{
m_PCardLeft++;
return;
}
// I don't know how to deal with the black P-Card in case of equal score
return;
}
if(m_PCardLeft < 2)
{
m_PCardLeft++;
if(m_PCardLeft == 2)
{
//m_ScoreRight++;
incrementScoreAndCheckForMinuteBreak(false);
StateChanged(EVENT_SCORE_RIGHT | m_ScoreRight);
}
}
if(m_PCardRight < 2)
{
m_PCardRight++;
if(m_PCardRight == 2)
{
//m_ScoreLeft++;
incrementScoreAndCheckForMinuteBreak(true);;
StateChanged(EVENT_SCORE_LEFT | m_ScoreLeft);
}
}
}
uint32_t FencingStateMachine::MakeTimerEvent()
{
uint32_t temp = (m_Timer.GetMinutes()<<16 | m_Timer.GetSeconds()<<8 | m_Timer.GetHundredths());
temp |= EVENT_TIMER;
return temp;
}
void FencingStateMachine::ClearAllCards()
{
m_YellowCardLeft =0;
m_YellowCardRight =0;
m_RedCardLeft =0;
m_RedCardRight =0;
m_BlackCardLeft =0;
m_BlackCardRight =0;
m_YellowPCardLeft =0;
m_YellowPCardRight =0;
m_RedPCardLeft =0;
m_RedPCardRight =0;
m_BlackPCardLeft =0;
m_BlackPCardRight =0;
m_PCardLeft = 0;
m_PCardRight = 0;
StateChanged(EVENT_P_CARD);
StateChanged(EVENT_YELLOW_CARD_RIGHT);
StateChanged(EVENT_RED_CARD_RIGHT);
StateChanged(EVENT_BLACK_CARD_RIGHT);
StateChanged(EVENT_YELLOW_CARD_LEFT);
StateChanged(EVENT_RED_CARD_LEFT);
StateChanged(EVENT_BLACK_CARD_LEFT);
}
void FencingStateMachine::ResetAll()
{
m_Timer.StopTimer();
m_UW2FTimer.Stop();
m_UW2FTimer.Reset();
StateChanged(EVENT_TIMER_STATE);
StateChanged(EVENT_UW2F_TIMER);
m_Timer.SetMinutes(FIGHTING_MINUTES);
m_Timer.SetSeconds(FIGHTING_SECONDS);
m_Timerstate = FIGHTING;
StateChanged(MakeTimerEvent());
m_currentRound = 1;
//m_nrOfRounds = 1; // a "simple reset should not change the nr of rounds"
m_Priority = NO_PRIO;
ClearAllCards();
m_ScoreLeft =0;
m_ScoreRight =0;
//StateChanged(EVENT_LIGHTS | m_Lights);
StateChanged(EVENT_SCORE_LEFT | m_ScoreLeft);
StateChanged(EVENT_SCORE_RIGHT | m_ScoreRight);
StateChanged(EVENT_ROUND | m_currentRound | m_nrOfRounds<<8);
StateChanged(EVENT_PRIO);
StateChanged(EVENT_RED_CARD_RIGHT);
StateChanged(EVENT_YELLOW_CARD_RIGHT);
StateChanged(EVENT_RED_CARD_LEFT);
StateChanged(EVENT_YELLOW_CARD_LEFT);
StateChanged(EVENT_P_CARD);
if(m_TheSensor)
{
m_TheSensor->AllowAllNewHits();
m_NoHitsAllowed = false;
}
}
bool FencingStateMachine::ShouldBlockHitsOnTimerZero()
{
switch(m_Timerstate )
{
case FIGHTING :
case ADDITIONAL_MINUTE :
return true;
break;
default:
return false;
}
}
//enum TimerState_t{FIGHTING, BREAK, INJURY, ADDITIONAL_MINUTE, UNDEFINED};
void FencingStateMachine::SetNextTimerStateAndRoundAndNewTimeOnTimerZero()
{
switch(m_Timerstate )
{
case FIGHTING :
if(m_currentRound < m_nrOfRounds)
{
if(9 != m_nrOfRounds)
{
m_Timerstate = BREAK;
m_Timer.SetMinutes(BREAK_MINUTES);
m_Timer.SetSeconds(BREAK_SECONDS);
m_UW2FTimer.Reset();
m_UW2FSeconds = 0;
StateChanged(EVENT_UW2F_TIMER);
}
else
{
m_Timer.SetMinutes(FIGHTING_MINUTES);
m_Timer.SetSeconds(FIGHTING_SECONDS);
m_UW2FTimer.Reset();
m_UW2FSeconds = 0;
StateChanged(EVENT_UW2F_TIMER);
ClearAllCards();
m_currentRound++;
}
}
else
{
if(m_ScoreLeft == m_ScoreRight)
{
m_Timerstate = ADDITIONAL_MINUTE;
m_Timer.SetMinutes(ADDITIONAL_TIME_MINUTES);
m_Timer.SetSeconds(ADDITIONAL_TIME_SECONDS);
m_currentRound = 255;
StateChanged(MakeTimerEvent());
m_UW2FTimer.Reset();
m_UW2FSeconds = 0;
StateChanged(EVENT_UW2F_TIMER);
// here I could add the automatic priority determination
}
else
{
m_Timerstate = MATCH_ENDED;
}
}
break;
case BREAK :
m_Timerstate = FIGHTING;
m_Timer.SetMinutes(FIGHTING_MINUTES);
m_Timer.SetSeconds(FIGHTING_SECONDS);
m_UW2FTimer.Reset();
m_UW2FSeconds = 0;
StateChanged(EVENT_UW2F_TIMER | (m_UW2FSeconds/60)<<16 | (m_UW2FSeconds%60)<<8);
if(m_currentRound < m_nrOfRounds)
m_currentRound++;
break;
case ADDITIONAL_MINUTE :
m_Timerstate = MATCH_ENDED;
break;
default: // keep state unchanged
break;
}
}
// As a minimum we should perform a timer tick
char ChronoString[32];
int RestartTimerTime;
void FencingStateMachine::DoStateMachineTick()
{
bool idle = true;
while (!xSemaphoreTake(timerSemaphore_FSMPeriod, 1 / (portTICK_PERIOD_MS)) == pdTRUE); // check with 1 ms timeout
//while(xSemaphoreTake(timerSemaphore_FSMPeriod, 0) == pdTRUE)
{
if(m_NoHitsAllowed)
{
if(millis() > m_timeToRearm)
{
m_TheSensor->AllowAllNewHits();
m_NoHitsAllowed = false;
}
}
if(m_Timer.DoTick())
{
// So something interesting because the timer changed
m_Timer.GetFormattedStringTime(ChronoString, 1, 1);
idle = false;
if(m_GlobalIdle){
StateChanged(EVENT_IDLE | EVENT_GO_OUT_OF_IDLE);
m_GlobalIdle = false;
}
m_LastLightEventTime = millis();
if(m_Timer.ReachedZero())
{
if(m_TheSensor)
{
if(ShouldBlockHitsOnTimerZero())
{
m_TheSensor->BlockAllNewHits();
m_NoHitsAllowed = true;
m_timeToRearm = millis() + TIME_TO_REARM;
}
}
// we should do something to send only an event on change;
m_Timer.StopTimer();
StateChanged(EVENT_TIMER_STATE);
StateChanged(MakeTimerEvent());
SetNextTimerStateAndRoundAndNewTimeOnTimerZero();
StateChanged(EVENT_ROUND | m_currentRound | m_nrOfRounds<<8);
}
StateChanged(MakeTimerEvent());
}
}
if(m_UW2FTimer.IsRunning())
{
if(m_UW2FSeconds != m_UW2FTimer.GetIntermediateTime())
{
m_UW2FSeconds = m_UW2FTimer.GetIntermediateTime();
StateChanged(EVENT_UW2F_TIMER | (m_UW2FSeconds/60)<<16 | (m_UW2FSeconds%60)<<8);
}
}
if(m_LightsChanged)
{
m_LightsChanged = false;
idle = false;
if(m_GlobalIdle){
StateChanged(EVENT_IDLE | EVENT_GO_OUT_OF_IDLE);
m_GlobalIdle = false;
}
m_LastLightEventTime = millis();
if((FIGHTING == m_Timerstate) || (ADDITIONAL_MINUTE == m_Timerstate))
{
if(GetRed() || GetGreen())
{
if(m_Timer.IsRunning())
{
m_UW2FTimer.Reset();
StateChanged(EVENT_UW2F_TIMER);
}
m_Timer.StopTimer();
StateChanged(EVENT_TIMER_STATE);
// Make sure you show the the score for a bit longer than normal
}
if(m_MachineWeapon == FOIL)
{
if(GetWhiteL() || GetWhiteR())
{
if(m_Timer.IsRunning())
{
m_UW2FTimer.Reset();
StateChanged(EVENT_UW2F_TIMER);
}
m_Timer.StopTimer();
StateChanged(EVENT_TIMER_STATE);
}
}
}
StateChanged(EVENT_LIGHTS | m_Lights);
}
else {
if(!m_GlobalIdle){
if(m_LastLightEventTime + IDLE_TIME_MS < millis()){
StateChanged(EVENT_IDLE | EVENT_GO_INTO_IDLE);
m_GlobalIdle = true;
}
}
else{
if(m_LastLightEventTime + IDLE_TIME_MS + TIME_TO_DEEP_SLEEP< millis()){
m_GoToSleep = true;
}
}
}
if(m_WeaponChanged)
{
m_WeaponChanged = false;
idle = false;
switch(m_MachineWeapon)
{
case FOIL:
StateChanged(EVENT_WEAPON | WEAPON_MASK_FOIL);
break;
case EPEE:
StateChanged(EVENT_WEAPON | WEAPON_MASK_EPEE);
break;
case SABRE:
StateChanged(EVENT_WEAPON | WEAPON_MASK_SABRE);
break;
default:
StateChanged(EVENT_WEAPON | WEAPON_MASK_UNKNOWN);
}
}
}
#define emptystring ""
void FencingStateMachine::ProcessDisplayMessage (const EFP1Message &input)
{
m_UW2FTimer.Reset();
StateChanged(EVENT_UW2F_TIMER);
if(input[Start_time] != emptystring)
{
//Do Something with input[Start_time];
}
if(input[StopWatch] != emptystring)
{
//Do Something with input[StopWatch];
uint8_t minutes = 3;
uint8_t seconds = 0;
sscanf(input[StopWatch].c_str(),"%d:%d",& minutes, & seconds);
m_Timer.SetMinutes(minutes);
m_Timer.SetSeconds(seconds);
m_Timer.SetHundredths(0);
StateChanged(MakeTimerEvent());
}
if(input[CompetitionType] != emptystring)
{
//Do Something with input[CompetitionType];
if("T" == input[CompetitionType])
{
m_nrOfRounds = 9;
}
}
if(input[RoundNumber] != emptystring)
{
//Do Something with input[RoundNumber];
sscanf(input[RoundNumber].c_str(),"%d",& m_currentRound);
StateChanged(EVENT_ROUND | m_currentRound | m_nrOfRounds<<8);
}
if(input[Weapon] != emptystring)
{
//Do Something with input[Weapon];
m_TheSensor->Setweapon_detection_mode(MANUAL);
if("F" == input[Weapon])
{
m_MachineWeapon = FOIL;
StateChanged(EVENT_WEAPON | WEAPON_MASK_FOIL);
m_TheSensor->SetActualWeapon(FOIL);
}
if("E" == input[Weapon])
{
m_MachineWeapon = EPEE;
StateChanged(EVENT_WEAPON | WEAPON_MASK_EPEE);
m_TheSensor->SetActualWeapon(EPEE);
}
if("S" == input[Weapon])
{
m_MachineWeapon = SABRE;
StateChanged(EVENT_WEAPON | WEAPON_MASK_SABRE);
m_TheSensor->SetActualWeapon(SABRE);
}
}
if(input[Priority] != emptystring)
{
//Do Something with input[Priority];
if("L" == input[Priority])
{
m_Priority = PRIO_LEFT;
StateChanged(EVENT_PRIO | 1);
}
if("R" == input[Priority])
{
m_Priority = PRIO_RIGHT;
StateChanged(EVENT_PRIO | 2);
}
if("N" == input[Priority])
{
m_Priority = NO_PRIO;
StateChanged(EVENT_PRIO);
}
}
if(input[State] != emptystring)
{
//Do Something with input[State];
}
if(input[RightFencerId] != emptystring)
{
//Do Something with input[RightFencerId];
}
if(input[RightFencerName] != emptystring)
{
//Do Something with input[RightFencerName];
}
if(input[RightFencerNation] != emptystring)
{
//Do Something with input[RightFencerNation];
}
if(input[RightScore] != emptystring)
{
//Do Something with input[RightScore];
sscanf(input[RightScore].c_str(),"%d",&m_ScoreRight);
StateChanged(EVENT_SCORE_RIGHT | m_ScoreRight);
}