ExoTestMachine.cpp

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#include "ExoTestMachine.h"

#define OWNER ((ExoTestMachine *)owner)

ExoTestMachine::ExoTestMachine() {
    trajectoryGenerator = new DummyTrajectoryGenerator(6); /*<! \todo Pilot Parameters would be set in constructor here*/
    robot = new ExoRobot(trajectoryGenerator);

    // Create PRE-DESIGNED State Machine events and state objects.
    isAPressed = new IsAPressed(this);
    endTraj = new EndTraj(this);
    startButtonsPressed = new StartButtonsPressed(this);
    startExo = new StartExo(this);
    startSit = new StartSit(this);
    startStand = new StartStand(this);
    initState = new InitState(this, robot, trajectoryGenerator);
    standing = new Standing(this, robot, trajectoryGenerator);
    sitting = new Sitting(this, robot, trajectoryGenerator);
    standingUp = new StandingUp(this, robot, trajectoryGenerator);
    sittingDwn = new SittingDwn(this, robot, trajectoryGenerator);

    NewTransition(initState, startExo, sitting);
    NewTransition(sitting, startStand, standingUp);
    NewTransition(standingUp, endTraj, standing);
    NewTransition(standing, startSit, sittingDwn);
    NewTransition(sittingDwn, endTraj, sitting);
    //Initialize the state machine with first state of the designed state machine, using baseclass function.
    StateMachine::initialize(initState);
}
void ExoTestMachine::init() {
    DEBUG_OUT("ExoTestMachine::init()")
    robot->initialise();
    running = true;
}

// Events ------------------------------------------------------------

bool ExoTestMachine::EndTraj::check() {
    return OWNER->trajectoryGenerator->isTrajectoryFinished();
}
bool ExoTestMachine::IsAPressed::check(void) {
    if (OWNER->robot->keyboard.getA() == true) {
        return true;
    }
    return false;
}
bool ExoTestMachine::StartButtonsPressed::check(void) {
    if (OWNER->robot->keyboard.getW() == true) {
        return true;
    }
    return false;
}
bool ExoTestMachine::StartExo::check(void) {
    if (OWNER->robot->keyboard.getS() == true) {
        std::cout << "LEAVING INIT and entering Sitting" << endl;
        return true;
    }
    return false;
}
bool ExoTestMachine::StartStand::check(void) {
    if (OWNER->robot->keyboard.getW() == true) {
        return true;
    }
    return false;
}

bool ExoTestMachine::StartSit::check(void) {
    if (OWNER->robot->keyboard.getW()) {
        return true;
    }
    return false;
}
void ExoTestMachine::hwStateUpdate(void) {
    robot->updateRobot();
}