private void CheckMovementRequestedAndAllowed()
{
if (doorState == DoorStateType.Closed && IsToggleRequest)
{
doorState = DoorStateType.Opening;
displacedPosition = transform.position;
}
else if (doorState == DoorStateType.Open && IsToggleRequest)
{
doorState = DoorStateType.Closing;
displacedPosition = transform.position;
}
}
private void CheckMovementCompleted()
{
if (doorState == DoorStateType.Opening && currentDisplacement >= maxDisplacement)
{
IsToggleRequest = false;
doorState = DoorStateType.Open;
currentDisplacement = 0;
}
else if (doorState == DoorStateType.Closing && currentDisplacement >= maxDisplacement)
{
IsToggleRequest = false;
doorState = DoorStateType.Closed;
currentDisplacement = 0;
}
}
public void ToggleDoor()
{
// if we're already in process
if (_operatingDoor)
{
return;
}
// update from physical so we don't break things
_doorState = PhysicalState;
Debug.Print("DoorController.ToggleDoor, current state: " + _doorState.ToString());
if (_doorState == DoorStateType.Closed || _doorState == DoorStateType.Unknown)
{
OperateDoor(true);
}
else
{
OperateDoor(false);
}
}
public DoorController(IContinuousRotationServo doorServo, PushButton openEndStopSwitch, PushButton closeEndStopSwitch)
{
// instantiate all of our peripherals
_doorServo = doorServo;
_openEndStopSwitch = openEndStopSwitch;
_closeEndStopSwitch = closeEndStopSwitch;
// set our end stop trigger events
_openEndStopSwitch.PressStarted += (s, e) => {
_openEndStopTriggered = true; _doorState = DoorStateType.Open;
Debug.Print("open end stop triggered");
};
_openEndStopSwitch.PressEnded += (s, e) => { _openEndStopTriggered = false; };
_closeEndStopSwitch.PressStarted += (s, e) => {
_closeEndStopTriggered = true; _doorState = DoorStateType.Closed;
Debug.Print("close end stop triggered");
};
_closeEndStopSwitch.PressEnded += (s, e) => { _closeEndStopTriggered = false; };
// load our initial state from the physical state
this._doorState = PhysicalState;
}
internal void CopyFrom(AtsSimulationStates source)
{
_vehicleState = source._vehicleState;
_doorState = source._doorState;
}
internal void SetDoorState(DoorStateType doorState)
{
_doorState = doorState;
}
public void OperateDoor(bool open)
{
// if we're already in process
// TODO: maybe we make this cancellable
if (_operatingDoor)
{
return;
}
_operatingDoor = true;
// spin up a new thread so we don't block anything.
// this is especially important with the end stops.
// without a new thread, we don't get those events. :D
Thread th = new Thread(() =>
{
Debug.Print("OperateDoor: " + (open ? "open" : "close"));
// open the door
if (open)
{
// rotate the winch servo until the end stop is triggered
while (!_openEndStopTriggered)
{
// rotate the winch servo in the open direction
_doorServo.Rotate(_openDirection, 0.9f);
}
// stop the winch
_doorServo.Stop();
Debug.Print("Open end stop hit.");
// update our door state
_doorState = DoorStateType.Open;
// raise our event
this.DoorOpened(this, new EventArgs());
}
else
{ // close the door
// rotate the winch servo until the end stop is triggered
while (!_closeEndStopTriggered)
{
// close
_doorServo.Rotate(_closeDirection, 0.75f);
}
// stop the winch
_doorServo.Stop();
Debug.Print("Open end stop hit.");
// update our door state
_doorState = DoorStateType.Closed;
// raise our event
this.DoorClosed(this, new EventArgs());
}
//
_operatingDoor = false;
});
th.Start();
}
