public MainLogicProcessor()
{
VisionData = new VisionData();
SensorData = new SensorData();
stateMachine = new StateMachine<State, Trigger>(State.LookingForBall);
stateMachine.Configure(State.LookingForBall)
.Permit(Trigger.CameraLockedOnBall, State.ClosingInOnBall)
.Permit(Trigger.BallCaught, State.FindingGoal)
.OnEntry(StopTimer);
stateMachine.Configure(State.ClosingInOnBall)
.Permit(Trigger.CameraLostBall, State.LookingForBall)
.Permit(Trigger.BallCaught, State.FindingGoal)
.Permit(Trigger.Timeout, State.LookingForBall)
.OnEntry(() => StartTimer(10000, Trigger.Timeout))
.OnExit(StopTimer);
stateMachine.Configure(State.FindingGoal)
.Permit(Trigger.CoilgunLaunched, State.LookingForBall)
.Permit(Trigger.BallLost, State.LookingForBall)
.Permit(Trigger.Timeout, State.LookingForBall)
.OnEntry(() => StartTimer(5000, Trigger.Timeout))
.OnExit(StopTimer);
}
public VisionData ToVisionData()
{
var data = new VisionData();
data.TrackingBall = TrackingBall;
data.TrackedBallLocation = TrackWindow.Center();
data.FrontBallPathObstructed = false; // TODO: implement!
if (GoalRectangles != null)
{
var bestGoal = GoalRectangles.OrderByDescending(x => x.Width).FirstOrDefault();
data.OpponentGoalRectangle = bestGoal;
if (bestGoal == Rectangle.Empty)
data.OpponentGoalOffset = null;
else
data.OpponentGoalOffset = (short) ((VisionData.FrameSize.Width / 2) - bestGoal.Center().X);
}
return data;
}
public MainLogicProcessor()
{
VisionData = new VisionData();
SensorData = new SensorData();
LogicState = new LogicState();
stateMachine = new StateMachine<State, Trigger>(State.Idle);
stateMachine.OnUnhandledTrigger((state, trigger) => { });
stateMachine.Configure(State.Idle)
.Permit(Trigger.PoweredUp, State.Starting)
.OnEntry(() => Commander.SetColors(Colors.Yellow));
stateMachine.Configure(State.Starting)
.Permit(Trigger.Finished, State.LookingForBall)
.Permit(Trigger.BallCaught, State.FindingGoal)
.OnEntry(() =>
{
stopwatchTime = stopwatch.ElapsedMilliseconds;
SoundClipPlayer.PlayIntro();
Commander.SetColors(Colors.Cyan);
});
stateMachine.Configure(State.LookingForBall)
.Permit(Trigger.CameraLockedOnBall, State.ClosingInOnBall)
.Permit(Trigger.BallCaught, State.FindingGoal)
.OnEntry(
() =>
{
Commander.SetColors(Colors.Blue);
stopwatchTime = stopwatch.ElapsedMilliseconds;
});
stateMachine.Configure(State.ClosingInOnBall)
.Permit(Trigger.CameraLostBall, State.LookingForBall)
.Permit(Trigger.BallCaught, State.FindingGoal)
.Permit(Trigger.Timeout, State.LookingForBall)
.OnEntry(() =>
{
StartTimer(10000, Trigger.Timeout);
Commander.SetColors(Colors.Red);
})
.OnExit(StopTimer);
stateMachine.Configure(State.FindingGoal)
.Permit(Trigger.CoilgunLaunched, State.LookingForBall)
.Permit(Trigger.BallLost, State.LookingForBall)
.Permit(Trigger.Timeout, State.LookingForBall)
.OnEntry(() =>
{
LogicState.FindingGoal = true;
StartTimer(5000, LaunchBall);
Commander.SetColors(Colors.Magenta);
})
.OnExit(
() =>
{
LogicState.FindingGoal = false;
StopTimer();
});
stopwatch.Start();
}
