/// <summary>
/// Starts and runs the main logic
/// </summary>
/// <returns></returns>
public async Task StartLogic()
{
// Initialize shared data
MutualData mutualData = new MutualData(_robot);
// Initialize concurrent objects
MovementFunctionality movementFunctions = new MovementFunctionality(_robot, mutualData);
SensorReader sensorReader = new SensorReader(mutualData);
EmergencyStopObserver observer = new EmergencyStopObserver(_robot, mutualData);
Task.Run(() => movementFunctions.StartLogic());
Task.Run(() => sensorReader.StartLogic());
Task.Run(() => observer.StartLogic());
ledControl(movementFunctions);
// Background loop for everything, always running
while (true)
{
try
{
// Emergency stop handling
if (observer.IsEmergencyStopEncountered && _state != Enums.MainLogicStates.Emergency)
{
_state = Enums.MainLogicStates.Emergency;
// Shut down / reset the threads
movementFunctions.Stop();
//sensorReader.Stop();
observer.Stop();
}
// Delay each loop if robot is running normally
else
{
await Task.Delay(LOOP_WAIT_TIME);
}
// Waits for user to press run or stop button
if (_state == Enums.MainLogicStates.Stopped)
{
bool[] pinStates = await _robot.readPins();
// Start-button pressed
// When button is pressed, pin changes to false
if (!pinStates[DeviceConstants.BUTTON_MIDDLE_PIN])
{
_state = Enums.MainLogicStates.Run;
// Start up the threads etc
movementFunctions.Run();
sensorReader.Run();
observer.Run();
continue;
}
}
if (_state == Enums.MainLogicStates.Run)
{
bool[] pinStates = await _robot.readPins();
// Stop-button pressed
if (!pinStates[DeviceConstants.BUTTON_RIGHT_PIN])
{
_state = Enums.MainLogicStates.Stopped;
// Shut down / reset the threads
movementFunctions.Stop();
//sensorReader.Stop();
observer.Stop();
continue;
}
}
if (_state == Enums.MainLogicStates.Emergency)
{
bool[] pinStates = await _robot.readPins();
// Emergency-stop is validated with right-button
if (!pinStates[DeviceConstants.BUTTON_RIGHT_PIN])
{
_state = Enums.MainLogicStates.Stopped;
Debug.WriteLine("EMERGENCYSTOP RESETED");
}
continue;
}
}
// Random exception handling
catch (Exception e)
{
//
Debug.WriteLine("Encountered exception: " + e);
}
}
}
private async Task ledControl(MovementFunctionality movementFunctions)
{
bool leftLedState = false;
bool rightLedState = false;
while (true)
{
try
{
bool[] pinStates = await _robot.readPins();
// Run -mode -> constant left led on + right led by substates
if (_state == Enums.MainLogicStates.Run)
{
leftLedState = true;
// FollowWall -mode -> right led on
if (movementFunctions.RunMode == Enums.RobotRunMode.FollowWall)
{
rightLedState = true;
}
// Idle -mode -> right led on
else if (movementFunctions.RunMode == Enums.RobotRunMode.Idle)
{
rightLedState = false;
}
// FindWall -mode right led blinking
else
{
if (rightLedState)
{
rightLedState = false;
}
else
{
rightLedState = true;
}
}
}
// Emergency -mode -> left & right led alternately blinking
else if (_state == Enums.MainLogicStates.Emergency)
{
if (leftLedState)
{
leftLedState = false;
rightLedState = true;
}
else
{
leftLedState = true;
rightLedState = false;
}
}
// Stopped -mode -> left led blinking, right off
else if (_state == Enums.MainLogicStates.Stopped)
{
if (leftLedState)
{
leftLedState = false;
}
else
{
leftLedState = true;
}
rightLedState = false;
}
pinStates[DeviceConstants.LED_LEFT_PIN] = leftLedState;
pinStates[DeviceConstants.LED_RIGHT_PIN] = rightLedState;
await _robot.writePins(pinStates);
await Task.Delay(400);
}
catch (Exception e)
{
Debug.WriteLine("Encountered exception: " + e);
}
}
}