SPQR-Team-2019-REVAMPED/src/system/lines/linesys_camera_keeper.cpp

#include "systems/lines/linesys_camera_keeper.h"
#include "systems/position/positionsys_camera.h"
#include "sensors/sensors.h"
#include "strategy_roles/games.h"
#include "behaviour_control/status_vector.h"

LineSysCameraKeeper::LineSysCameraKeeper(){}
LineSysCameraKeeper::LineSysCameraKeeper(vector<DataSource*> in_, vector<DataSource*> out_){
    this->in = in_;
    this->out = out_;

    fboundsX = false;
    fboundsY = false;
    slow = false;

    linesensOldX = 0;
    linesensOldY = 0;

    tookLine = false;

    for(int i = 0; i < 4; i++){
      linetriggerI[i] = 0;
      linetriggerO[i] = 0;
    }

    exitTimer = 0;
    linesens = 0;
}


void LineSysCameraKeeper ::update() {
  CURRENT_INPUT_WRITE.lineByte = 0;
    inV = 0;
    outV = 0;
    tookLine = false;

    for (DataSource *d : in)
        d->readSensor();
    for (DataSource *d : out)
        d->readSensor();

    for (auto it = in.begin(); it != in.end(); it++)
    {
        i = it - in.begin();
        ds = *it;
        linetriggerI[i] = ds->getValue() > LINE_THRESH_CAM;
        CURRENT_INPUT_WRITE.lineByte |= linetriggerI[i] << i;
    }
    for (auto it = out.begin(); it != out.end(); it++)
    {
        i = it - out.begin();
        ds = *it;
        linetriggerO[i] = ds->getValue() > LINE_THRESH_CAM;
        CURRENT_INPUT_WRITE.lineByte |= linetriggerO[i] << (4+i);
    }

    for (int i = 0; i < 4; i++)
    {
        inV = inV | (linetriggerI[i] << i);
        outV = outV | (linetriggerO[i] << i);
    }

    if (inV > 0 || outV > 0)
    {
        if (millis() - exitTimer > EXIT_TIME)
        {
            fboundsX = true;
            fboundsY = true;
        }
        exitTimer = millis();
    }

    linesens |= inV | outV;
    CURRENT_DATA_WRITE.lineActive = linesens;
    outOfBounds();
}

void LineSysCameraKeeper::outOfBounds(){
  // digitalWriteFast(BUZZER, LOW);
  if(fboundsX == true) {
    if(linesens & 0x02) linesensOldX = 2;
    else if(linesens & 0x08) linesensOldX = 8;
    if(linesensOldX != 0) fboundsX = false;
  }
  if(fboundsY == true) {
    if(linesens & 0x01) linesensOldY = 1;
    else if(linesens & 0x04) linesensOldY = 4;
    if(linesensOldY != 0) fboundsY = false;
  }

  if (millis() - exitTimer < EXIT_TIME){
    // CURRENT_DATA_READ.game->ps->centerGoal();
    tookLine = true;
    tone(BUZZER, 220.00, 250);
  }else{
    // drive->canUnlock = true;
    linesens = 0;
    linesensOldY = 0;
    linesensOldX = 0;
  }
}

void LineSysCameraKeeper::test(){
  update();
  DEBUG.print("In: ");
  for(DataSource* d : in){
      d->update();
      DEBUG.print(d->getValue());
      DEBUG.print(" | ");
  }
  DEBUG.print(" |---| ");
  DEBUG.print("Out: ");
  for(DataSource* d : out){
      d->update();
      DEBUG.print(d->getValue());
      DEBUG.print(" | ");
  }
  DEBUG.println();
  for(int i = 0; i < 4; i++){
    DEBUG.print(linetriggerI[i]);
    DEBUG.print(" | ");
    DEBUG.println(linetriggerO[i]);
  }

  DEBUG.println(inV);
  DEBUG.println(outV);
  DEBUG.println();
}