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3 files changed

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‎examples/Controlling_Manually_Braccio/AppState.cpp

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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include "AppState.h"
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#include <Braccio++.h>
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extern lv_obj_t * label;
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extern lv_obj_t * direction_btnm;
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enum BUTTONS {
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BTN_UP = 1,
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BTN_DOWN = 7,
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BTN_LEFT = 3,
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BTN_RIGHT = 5,
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};
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/**************************************************************************************
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* State
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**************************************************************************************/
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State * State::handle_OnButtonDownPressed()
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{
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Braccio.lvgl_lock();
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lv_btnmatrix_set_btn_ctrl(direction_btnm, BTN_DOWN, LV_BTNMATRIX_CTRL_CHECKED);
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Braccio.lvgl_unlock();
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return this;
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}
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State * State::handle_OnButtonDownReleased()
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{
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Braccio.lvgl_lock();
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lv_btnmatrix_clear_btn_ctrl(direction_btnm, BTN_DOWN, LV_BTNMATRIX_CTRL_CHECKED);
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Braccio.lvgl_unlock();
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return this;
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}
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/**************************************************************************************
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* ShoulderState
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**************************************************************************************/
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void ShoulderState::onEnter()
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{
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Braccio.lvgl_lock();
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lv_label_set_text(label, "Shoulder");
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Braccio.lvgl_unlock();
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}
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void ShoulderState::onExit()
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{
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}
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State * ShoulderState::handle_OnButtonDownPressed()
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{
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State::handle_OnButtonDownPressed();
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return this;
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}
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State * ShoulderState::handle_OnButtonDownReleased()
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{
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State::handle_OnButtonDownReleased();
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return this;
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}
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State * ShoulderState::handle_OnButtonUp()
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{
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return this;
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}
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State * ShoulderState::handle_OnButtonLeft()
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{
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return this;
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}
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State * ShoulderState::handle_OnButtonRight()
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{
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return this;
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}
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State * ShoulderState::handle_OnButtonEnter()
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{
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return new ElbowState();
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}
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/**************************************************************************************
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* ElbowState
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**************************************************************************************/
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void ElbowState::onEnter()
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{
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Braccio.lvgl_lock();
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lv_label_set_text(label, "Elbow");
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Braccio.lvgl_unlock();
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}
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void ElbowState::onExit()
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{
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}
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State * ElbowState::handle_OnButtonDownPressed()
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{
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State::handle_OnButtonDownPressed();
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return this;
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}
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State * ElbowState::handle_OnButtonDownReleased()
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{
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State::handle_OnButtonDownReleased();
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return this;
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}
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State * ElbowState::handle_OnButtonUp()
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{
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return new WristState();
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}
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State * ElbowState::handle_OnButtonEnter()
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{
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return new WristState();
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}
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/**************************************************************************************
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* WristState
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**************************************************************************************/
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void WristState::onEnter()
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{
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Braccio.lvgl_lock();
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lv_label_set_text(label, "Wrist");
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Braccio.lvgl_unlock();
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}
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void WristState::onExit()
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{
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}
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State * WristState::handle_OnButtonDownPressed()
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{
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State::handle_OnButtonDownPressed();
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return this;
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}
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State * WristState::handle_OnButtonDownReleased()
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{
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State::handle_OnButtonDownReleased();
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return this;
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}
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State * WristState::handle_OnButtonUp()
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{
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return this;
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}
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State * WristState::handle_OnButtonLeft()
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{
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return this;
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}
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State * WristState::handle_OnButtonRight()
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{
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return this;
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}
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State * WristState::handle_OnButtonEnter()
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{
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return new PinchState();
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}
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/**************************************************************************************
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* PinchState
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**************************************************************************************/
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void PinchState::onEnter()
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{
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Braccio.lvgl_lock();
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lv_label_set_text(label, "Pinch");
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Braccio.lvgl_unlock();
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}
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void PinchState::onExit()
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{
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}
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State * PinchState::handle_OnButtonLeft()
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{
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return this;
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}
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State * PinchState::handle_OnButtonRight()
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{
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return this;
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}
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State * PinchState::handle_OnButtonEnter()
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{
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return new ShoulderState();
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}

‎examples/Controlling_Manually_Braccio/AppState.h

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#ifndef APP_STATE_H_
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#define APP_STATE_H_
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/**************************************************************************************
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* TYPEDEF
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**************************************************************************************/
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enum class EventSource
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{
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Button_DownPressed, Button_DownReleased, Button_Up, Button_Left, Button_Right, Button_Enter
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};
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enum class StateName
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{
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Shoulder, Elbow, Wrist, Pinch
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};
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/**************************************************************************************
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* CLASS DECLARATION
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**************************************************************************************/
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class State
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{
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public:
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virtual ~State() { }
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virtual void onEnter() { }
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virtual void onExit() { }
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virtual StateName name() = 0;
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State * update(EventSource const evt_src)
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{
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State * next_state = this;
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switch (evt_src)
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{
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case EventSource::Button_DownPressed: next_state = handle_OnButtonDownPressed(); break;
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case EventSource::Button_DownReleased: next_state = handle_OnButtonDownReleased(); break;
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case EventSource::Button_Up: next_state = handle_OnButtonUp(); break;
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case EventSource::Button_Left: next_state = handle_OnButtonLeft(); break;
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case EventSource::Button_Right: next_state = handle_OnButtonRight(); break;
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case EventSource::Button_Enter: next_state = handle_OnButtonEnter(); break;
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}
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return next_state;
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}
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protected:
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virtual State * handle_OnButtonDownPressed();
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virtual State * handle_OnButtonDownReleased();
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virtual State * handle_OnButtonUp() { return this; }
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virtual State * handle_OnButtonLeft() { return this; }
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virtual State * handle_OnButtonRight() { return this; }
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virtual State * handle_OnButtonEnter() { return this; }
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};
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class ShoulderState : public State
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{
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public:
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virtual ~ShoulderState() { }
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virtual StateName name() override { return StateName::Shoulder; }
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virtual void onEnter() override;
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virtual void onExit() override;
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protected:
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virtual State * handle_OnButtonDownPressed() override;
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virtual State * handle_OnButtonDownReleased() override;
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virtual State * handle_OnButtonUp() override;
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virtual State * handle_OnButtonLeft() override;
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virtual State * handle_OnButtonRight() override;
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virtual State * handle_OnButtonEnter() override;
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};
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class ElbowState : public State
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{
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public:
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virtual ~ElbowState() { }
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virtual StateName name() override { return StateName::Elbow; }
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virtual void onEnter() override;
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virtual void onExit() override;
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protected:
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virtual State * handle_OnButtonDownPressed() override;
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virtual State * handle_OnButtonDownReleased() override;
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virtual State * handle_OnButtonUp() override;
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virtual State * handle_OnButtonEnter() override;
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};
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class WristState : public State
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{
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public:
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virtual ~WristState() { }
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virtual StateName name() override { return StateName::Wrist; }
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virtual void onEnter() override;
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virtual void onExit() override;
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protected:
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virtual State * handle_OnButtonDownPressed() override;
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virtual State * handle_OnButtonDownReleased() override;
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virtual State * handle_OnButtonUp() override;
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virtual State * handle_OnButtonLeft() override;
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virtual State * handle_OnButtonRight() override;
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virtual State * handle_OnButtonEnter() override;
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};
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class PinchState : public State
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{
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public:
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virtual ~PinchState() { }
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virtual StateName name() override { return StateName::Pinch; }
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virtual void onEnter() override;
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virtual void onExit() override;
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protected:
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virtual State * handle_OnButtonLeft() override;
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virtual State * handle_OnButtonRight() override;
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virtual State * handle_OnButtonEnter() override;
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};
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class ControlApp
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{
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public:
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ControlApp()
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: _state{nullptr}
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{ }
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void update(EventSource const evt_src)
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{
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if (!_state)
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{
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_state = new ShoulderState();
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_state->onEnter();
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}
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State * next_state = _state->update(evt_src);
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if (next_state->name() != _state->name())
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{
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_state->onExit();
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delete _state;
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_state = next_state;
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_state->onEnter();
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}
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}
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private:
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State * _state;
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};
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#endif /* APP_STATE_H_ */

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