40 lines
686 B
C++
40 lines
686 B
C++
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#include "setup.h"
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// local includes
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#include "globals.h"
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namespace setup {
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bool currently_locked;
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ModeInterface* oldMode;
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IgnoreInputMode setup_mode{0, bobbycar::protocol::ControlType::FieldOrientedControl, bobbycar::protocol::ControlMode::Torque};
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void lock()
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{
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if (currently_locked)
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return;
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oldMode = currentMode;
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currentMode = &setup_mode;
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}
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void unlock()
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{
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if (!currently_locked)
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return;
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if (currentMode == &setup_mode)
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{
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// to avoid crash after deconstruction
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setup_mode.stop();
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lastMode = nullptr;
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currentMode = oldMode;
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}
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}
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bool isLocked()
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{
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return currently_locked;
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}
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} // namespace setup
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