FlashIPAddrBehavior.cc

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#include "Shared/RobotInfo.h"
#ifdef TGT_HAS_LEDS

#include "Shared/ERS210Info.h"
#include "Shared/ERS220Info.h"
#include "Shared/ERS7Info.h"

#include "FlashIPAddrBehavior.h"
#include "Events/EventRouter.h"
#include "Motion/MMAccessor.h"
#include "Motion/LedEngine.h"
#include "Shared/WorldState.h"
#include "Shared/Config.h"
#include "Sound/SoundManager.h"
#include "Wireless/Wireless.h"

REGISTER_BEHAVIOR_MENU_OPT(FlashIPAddrBehavior,"Background Behaviors/System Daemons",BEH_NONEXCLUSIVE|BEH_START);

void FlashIPAddrBehavior::doStart() {
  BehaviorBase::doStart(); // do this first
  if(config->behaviors.flash_on_start) {
    setupSequence();
    loadSounds();
    ms_id = motman->addPrunableMotion(ms,MotionManager::kEmergencyPriority+1);
    erouter->addListener(this,EventBase::motmanEGID,ms_id,EventBase::deactivateETID);
  }
#ifdef TGT_HAS_BUTTONS
  erouter->addListener(this,EventBase::buttonEGID,button1);
  erouter->addListener(this,EventBase::buttonEGID,button2);
#endif
}

void FlashIPAddrBehavior::doStop() {
  erouter->removeListener(this);
  motman->removeMotion(ms_id);
  ms_id=MotionManager::invalid_MC_ID;
  releaseSounds();
  BehaviorBase::doStop(); // do this last
}

void FlashIPAddrBehavior::doEvent() {
  if(event->getGeneratorID()==EventBase::timerEGID) {

    if(event->getSourceID()==ACTIVATE_TIMER) {
      //buttons have been held down long enough, time to run display
      if(ms_id!=MotionManager::invalid_MC_ID) {
        //there's already one running, have to check it out to clear it
        MMAccessor<MSMC_t> ms_acc(ms_id);
        setupSequence();
      } else
        setupSequence();
      loadSounds();
      ms_id = motman->addPrunableMotion(ms);
      erouter->addListener(this,EventBase::motmanEGID,ms_id,EventBase::deactivateETID);
        
    } else { //its time to play a digit sound file
      //the source id was set to correspond to an element of the sounds vector
      if(event->getSourceID()>=sounds.size())
        serr->printf("ERROR: %s received invalid timer event %s\n",getName().c_str(),event->getName().c_str());
      else {
        sndman->playFile(sounds[event->getSourceID()]);
        if(event->getSourceID()==sounds.size()-1)
          releaseSounds();
      }
        
    }

#ifdef TGT_HAS_BUTTONS
  } else if(event->getGeneratorID()==EventBase::buttonEGID) {
    //if it's an activate, start a timer to expire in a few seconds
    //if it's a deactivate, cancel that timer
    if(event->getTypeID()==EventBase::activateETID) {
      if(state->buttons[button1] && state->buttons[button2])
        erouter->addTimer(this,ACTIVATE_TIMER,2000,false);
    } else if(event->getTypeID()==EventBase::deactivateETID)
      erouter->removeTimer(this,ACTIVATE_TIMER);
#endif

  } else if(event->getGeneratorID()==EventBase::motmanEGID) {
    // display has completed, mark it as such
    if(event->getSourceID()!=ms_id)
      serr->printf("WARNING: %s received event %s, doesn't match ms_id (%d)\n",getName().c_str(),event->getName().c_str(),ms_id);
    ms_id=MotionManager::invalid_MC_ID;
    erouter->removeListener(this,EventBase::motmanEGID);
      
  }
}

void FlashIPAddrBehavior::loadSounds() {
  for(unsigned int i=0; i<sounds.size(); i++)
    sndman->loadFile(sounds[i]);
}

void FlashIPAddrBehavior::releaseSounds() {
  for(unsigned int i=0; i<sounds.size(); i++)
    sndman->releaseFile(sounds[i]);
  sounds.clear();
}

void FlashIPAddrBehavior::setupSequence() {
  const unsigned int DISP_TIME=600;
  const unsigned int GROUP_TIME=500;
  const unsigned int DOT_TIME=400;
  const unsigned int FADE_TIME=1;
  const unsigned int BLANK_TIME=100-FADE_TIME*2;
  erouter->removeTimer(this);
  ms->clear();
  releaseSounds();
  unsigned int a=wireless->getIPAddress();
  unsigned int n=config->behaviors.flash_bytes;
  if(n>4)
    n=4;
  LedEngine disp;
  for(unsigned int i=n-1; i!=-1U; i--) {
    unsigned int b=(a>>(i*8))&0xFF;
    unsigned int digits=1;
    if(b>=10)
      digits++;
    if(b>=100)
      digits++;
    //cout << "byte " << i << " is " << b << " -- " << digits << " digits" << endl;
    //cout << "Setting LEDs: ";
    for(unsigned int d=0; d<digits; d++) {
      unsigned int digit=b;
      for(unsigned int j=d;j<digits-1;j++)
        digit/=10;
      digit-=(digit/10)*10;
      disp.displayNumber(digit,LedEngine::onedigit);
      std::string soundfile="numbers/";
      soundfile+=(digit+'0');
      soundfile+=".wav";
      erouter->addTimer(this,sounds.size(),ms->getTime()+delay,false);
      sounds.push_back(soundfile);
      for(unsigned int j=0; j<NumLEDs; j++)
        if(FaceLEDMask&(1<<j)) {
          //if(disp.getValue(static_cast<LEDOffset_t>(LEDOffset+j)))
          //cout << j << ' ';
          ms->setOutputCmd(LEDOffset+j,disp.getValue(static_cast<LEDOffset_t>(LEDOffset+j)));
        }
      ms->advanceTime(DISP_TIME);
      for(unsigned int j=0; j<NumLEDs; j++)
        if(FaceLEDMask&(1<<j))
          ms->setOutputCmd(LEDOffset+j,disp.getValue(static_cast<LEDOffset_t>(LEDOffset+j)));
      ms->advanceTime(FADE_TIME);
      for(unsigned int j=0; j<NumLEDs; j++)
        if(FaceLEDMask&(1<<j))
          ms->setOutputCmd(LEDOffset+j,0);
      ms->advanceTime(BLANK_TIME);
      if(d==digits-1)
        ms->advanceTime(GROUP_TIME);
      for(unsigned int j=0; j<NumLEDs; j++)
        if(FaceLEDMask&(1<<j))
          ms->setOutputCmd(LEDOffset+j,0);
      ms->advanceTime(FADE_TIME);
    }
    //cout << endl;
    if(i!=0) {
      LEDBitMask_t dot=LedEngine::defaultCountNumMasks[10]; //default in case we don't recognize model
#ifdef TGT_HAS_LED_PANEL
      if(RobotName == ERS210Info::TargetName) {
        dot=LedEngine::defaultMimicNumMasks[10];
      } else if(RobotName == ERS220Info::TargetName) {
        dot=LedEngine::ERS220numMasks[10];
      } else if(RobotName == ERS7Info::TargetName) {
        dot=LedEngine::ERS7numMasks[10];
      }
#endif
      erouter->addTimer(this,sounds.size(),ms->getTime()+delay,false);
      sounds.push_back("numbers/dot.wav");
      for(unsigned int j=0; j<NumLEDs; j++)
        if(FaceLEDMask&(1<<j))
          ms->setOutputCmd(LEDOffset+j,(dot>>j)&1);
      ms->advanceTime(DOT_TIME);
      for(unsigned int j=0; j<NumLEDs; j++)
        if(FaceLEDMask&(1<<j))
          ms->setOutputCmd(LEDOffset+j,(dot>>j)&1);
      ms->advanceTime(FADE_TIME);
      for(unsigned int j=0; j<NumLEDs; j++)
        if(FaceLEDMask&(1<<j))
          ms->setOutputCmd(LEDOffset+j,0);
      ms->advanceTime(BLANK_TIME);
      for(unsigned int j=0; j<NumLEDs; j++)
        if(FaceLEDMask&(1<<j))
          ms->setOutputCmd(LEDOffset+j,0);
      ms->advanceTime(FADE_TIME);
    }
  }
  ms->play();
}

#endif

/*! @file
 * @brief Implements FlashIPAddrBehavior, which displays IP address by flashing a series of numbers on the LED face panel
 * @author ejt (Creator)
 */