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manual_control_controller.cpp
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manual_control_controller.cpp
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#include "conveyor_motor.h"
#include "display_service.h"
#include "keypad_service.h"
#include "log_service.h"
#include "rail_motor.h"
#include "state_manager.h"
#include "string.h"
#include "manual_control_controller.h"
ManualControlController::ManualControlController() {
LogService::getInstance().log(MANUAL_CONTROL_START);
}
void ManualControlController::handle() {
MovingDirection movingDirection = StateManager::getInstance().getMovingDirection();
bool conveyorsMoving = FrontConveyor::getInstance().getSpeed() != 0 || BackConveyor::getInstance().getSpeed() != 0;
displayManualControlScreen(movingDirection == MOVING_IDLE && !conveyorsMoving);
}
void ManualControlController::escape() {
// Stop all motors
RailMotor::getInstance().stop();
FrontConveyor::getInstance().stop();
BackConveyor::getInstance().stop();
LogService::getInstance().log(MANUAL_CONTROL_END);
// Go back to main menu
StateManager::getInstance().changeState(ManualMenu);
return;
}
// PRIVATE
void ManualControlController::displayManualControlScreen(bool showInvite) {
const static char title[] PROGMEM = "CONTROLE MANUEL";
DisplayService::getInstance().clearScreen();
DisplayService::getInstance().printTitle(getString(title));
DisplayService::getInstance().addBorder();
if (showInvite) {
displayInvite();
} else {
MovingDirection movingDirection = StateManager::getInstance().getMovingDirection();
displayMovingDirection(movingDirection);
bool frontConveyorMoving = FrontConveyor::getInstance().getSpeed() != 0;
bool backConveyorMoving = BackConveyor::getInstance().getSpeed() != 0;
displayConveyorsState(frontConveyorMoving, backConveyorMoving);
}
int selection = KeypadService::getInstance().waitForSelection();
handleCommand(selection);
}
void ManualControlController::handleCommand(int key) {
MovingDirection movingDirection = StateManager::getInstance().getMovingDirection();
switch(key) {
case 1:
if (movingDirection == MOVING_FORWARD) {
RailMotor::getInstance().stop();
displayMovingDirection(MOVING_IDLE);
} else if (movingDirection == MOVING_BACKWARD) {
RailMotor::getInstance().inverseMovingDirection();
displayMovingDirection(MOVING_FORWARD);
} else {
RailMotor::getInstance().moveForward();
displayMovingDirection(MOVING_FORWARD);
}
break;
case 2:
if (movingDirection == MOVING_BACKWARD) {
RailMotor::getInstance().stop();
displayMovingDirection(MOVING_IDLE);
} else if (movingDirection == MOVING_FORWARD) {
RailMotor::getInstance().inverseMovingDirection();
displayMovingDirection(MOVING_BACKWARD);
} else {
RailMotor::getInstance().moveBackward();
displayMovingDirection(MOVING_BACKWARD);
}
break;
case 7: {
bool frontConveyorMoving = FrontConveyor::getInstance().getSpeed() != 0;
bool backConveyorMoving = BackConveyor::getInstance().getSpeed() != 0;
if (frontConveyorMoving) {
FrontConveyor::getInstance().stop();
frontConveyorMoving = false;
} else {
FrontConveyor::getInstance().start(CONVEYOR_SIDE_RIGHT, 100);
frontConveyorMoving = true;
}
displayConveyorsState(frontConveyorMoving, backConveyorMoving);
break;
}
case 8: {
bool frontConveyorMoving = FrontConveyor::getInstance().getSpeed() != 0;
bool backConveyorMoving = BackConveyor::getInstance().getSpeed() != 0;
if (backConveyorMoving) {
BackConveyor::getInstance().stop();
backConveyorMoving = false;
} else {
BackConveyor::getInstance().start(CONVEYOR_SIDE_RIGHT, 100);
backConveyorMoving = true;
}
displayConveyorsState(frontConveyorMoving, backConveyorMoving);
break;
}
default:
Serial.print("Key: ");
Serial.println(key);
if (key == KeypadService::EscapeKey) {
escape();
}
break;
}
}
void ManualControlController::displayInvite() {
const static char line1[] PROGMEM = "1/2: Avancer/Reculer";
const static char line2[] PROGMEM = "7/8: Conv. av/arr.";
DisplayService::getInstance().print(getString(line1), 2);
DisplayService::getInstance().print(getString(line2), 3);
}
void ManualControlController::displayMovingDirection(MovingDirection direction) {
const static char frontDirection[] PROGMEM = ">>> AVANT >>>";
const static char backDirection[] PROGMEM = "<<< ARRIERE <<<";
const static char stopped[] PROGMEM = "<ARRET>";
if (direction == MOVING_FORWARD) {
DisplayService::getInstance().printCenter(getString(frontDirection), 2);
} else if (direction == MOVING_BACKWARD) {
DisplayService::getInstance().printCenter(getString(backDirection), 2);
} else {
DisplayService::getInstance().printCenter(getString(stopped), 2);
}
}
void ManualControlController::displayConveyorsState(bool frontConveyorMoving, bool backConveyorMoving) {
const static char moving[] PROGMEM = ">>>";
const static char stopped[] PROGMEM = "[-]";
char frontConveyorState[4];
if (frontConveyorMoving) {
strcpy(frontConveyorState, getString(moving));
} else {
strcpy(frontConveyorState, getString(stopped));
}
char backConveyorState[4];
if (backConveyorMoving) {
strcpy(backConveyorState, getString(moving));
} else {
strcpy(backConveyorState, getString(stopped));
}
char line[21];
sprintf(line, "C.AV %s | C.ARR %s", frontConveyorState, backConveyorState);
DisplayService::getInstance().printCenter(line, 3);
}