public void Open()
{
state = GateStates.Stutter;
originalPosition = transform.position;
basePosition = originalPosition;
targetPosition = originalPosition + new Vector2(0, stutterDistance);
currentDuration = stutterDuration;
}
// Constructor for leaf node
public Node(string name)
{
Name = name;
GateState = GateStates.Undefined;
Left = null;
Right = null;
IsLeaf = true;
Balls = new List <Ball>();
}
private void Update()
{
if (state == GateStates.Closed || state == GateStates.Open)
{
return;
}
elapsed += Time.deltaTime;
if (elapsed >= currentDuration)
{
if (state != GateStates.Holding)
{
transform.position = new Vector3(targetPosition.x, targetPosition.y, ZValue);
}
elapsed -= currentDuration;
switch (state)
{
case GateStates.Stutter:
state = GateStates.Holding;
currentDuration = holdTime;
break;
case GateStates.Holding:
state = GateStates.Opening;
basePosition = targetPosition;
targetPosition = originalPosition + new Vector2(0, height);
currentDuration = openDuration;
break;
case GateStates.Opening:
state = GateStates.Open;
return;
}
}
if (state != GateStates.Holding)
{
float amount = elapsed / currentDuration;
EaseTypes easeType = state == GateStates.Stutter ? EaseTypes.CubicOut : EaseTypes.CubicIn;
Vector2 p = Vector2.Lerp(basePosition, targetPosition, EaseFunctions.Ease(amount, easeType));
// Adding a small Z value causes gates to render behind the tilemap as they open.
transform.position = new Vector3(p.x, p.y, ZValue);
}
}
// Constructor for non-leaf node
public Node(GateStates gateState, Node left, Node right)
{
if (gateState == GateStates.Undefined)
{
throw new ArgumentException("A non-leaf node cannot have 'Undefined' gate state");
}
GateState = gateState;
Left = left;
Right = right;
IsLeaf = false;
Balls = null;
}
public void GetStateOf_DoesNotContainRequestedGate_ThrowsKeyNotFoundException()
{
// Arrange
var someNonexistingGatenr = 75159;
var dut = new GateStates();
// Act
var actual = Assert.Throws <KeyNotFoundException>(() => dut.GetStateOf(someNonexistingGatenr));
// Assert
actual.Message.Should()
.Contain($"{someNonexistingGatenr}");
}
public void Add_AlreadyContainsGateWithSameGatenr_ThrowsArgumentException()
{
// Arrange
var someNonuniqueGatenr = 3263827;
var dut = new GateStates();
dut.Add(NewGate(), someNonuniqueGatenr);
// Act
var actual = Assert.Throws <ArgumentException>(() => dut.Add(NewGate(), someNonuniqueGatenr));
// Assert
actual.Message.Should()
.Contain($"{someNonuniqueGatenr}");
}
public void Add_Empty_CanBeRetrievedByGatenr()
{
// Arrange
var mockGate = new Mock <IGateState>();
var someGatenr = 4711;
var dut = new GateStates();
var expected = mockGate.Object;
// Act
dut.Add(expected, someGatenr);
var actual = dut.GetStateOf(someGatenr);
// Assert
Assert.Same(expected, actual);
}
public void Add_ContainsOtherGates_CanBeRetrievedByGatenr()
{
// Arrange
var mockGate = new Mock <IGateState>();
var someGatenr = 2187;
var dut = new GateStates();
// Add other gates - gate numbers are not significant, except that they be unique.
dut.Add(NewGate(), 1138);
dut.Add(NewGate(), 4711);
var expected = mockGate.Object;
// Act
dut.Add(expected, someGatenr);
var actual = dut.GetStateOf(someGatenr);
// Assert
Assert.Same(expected, actual);
}
public async Task InitializeHardware()
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
var pmwProvider = LightningPwmProvider.GetPwmProvider();
// var pwmControllers = await Windows.Devices.Pwm.PwmController.GetControllersAsync(pmwProvider);
var pwmControllers = Windows.Devices.Pwm.PwmController.GetControllersAsync(pmwProvider).GetAwaiter().GetResult();
var pwmController = pwmControllers[1]; // the on-device controller
// This seems to go bad
//pwmController.SetDesiredFrequency(100);
_gpioController = await GpioController.GetDefaultAsync();
IPin GetInputPin(int pinNr)
{
return(new GpioPinWrapper(_gpioController.OpenPin(pinNr, GpioSharingMode.Exclusive), GpioPinDriveMode.InputPullUp));
}
_gateStates = new GateStates();
_gateStates.Add(
// Center switches (on bread board)
new GateState(
// Yellow button, Closed
GetInputPin(27),
// Red button, Open
GetInputPin(22)),
1);
_gateStates.Add(
// Top switches (on bread board)
new GateState(
// Yellow button, Closed
GetInputPin(4),
// Red button, Open
GetInputPin(17)),
2);
IPwmPin GetPwmPin(int pinNr)
{
//var pin = _gpioController.OpenPin(pinNr);
//pin.SetDriveMode(GpioPinDriveMode.Output);
return(new PwmPinWrapper(pwmController.OpenPin(pinNr)));
}
GateController =
new GateController(
// TODO : pins in settings, selector: 6, 13, 19
new Selector(GetOutputPins(6, 13, 19)),
new PwmController(
// TODO : pins in settings: 20, 21
GetPwmPin(20),
GetPwmPin(21),
// TODO : steps per change in settings
3),
_gateStates);
// TODO : pins in settings: 24
_heartBeatPin = GetOutputPins(24).First();
_heartBeatTimer = new Timer(HandleHeartBeat, _heartBeatState, 100, Timeout.Infinite);
}
}
