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#include "trackhat.hpp"
namespace trackhat_impl {
void led_updater::update_(trackHat_Device_t* device, trackHat_SetLeds_t leds)
{
if (leds_.ledRedState == leds.ledRedState &&
leds_.ledGreenState == leds.ledGreenState &&
leds_.ledBlueState == leds.ledBlueState)
return;
(void)trackHat_SetLeds(device, &leds);
leds_ = leds;
}
trackHat_SetLeds_t led_updater::next_state(led_mode mode, led_state new_state)
{
switch (mode)
{
case led_mode::off:
state_ = led_state::stopped;
timer_ = std::nullopt;
return LED_off;
default:
case led_mode::constant:
state_ = led_state::stopped;
timer_ = std::nullopt;
return LED_idle;
case led_mode::dynamic:
break;
}
if (new_state <= led_state::stopped)
{
state_ = new_state;
timer_ = std::nullopt;
return LED_idle;
}
else if (new_state == state_)
{
timer_ = std::nullopt;
return leds_;
}
else if (!timer_)
{
timer_ = Timer{};
return leds_;
}
else if (timer_->elapsed_ms() > SWITCH_TIME_MS)
{
state_ = new_state;
timer_ = std::nullopt;
return new_state == led_state::not_tracking
? LED_not_tracking
: LED_tracking;
}
else
return leds_;
}
void led_updater::update(trackHat_Device_t* device, led_mode mode, led_state new_state)
{
auto leds = next_state(mode, new_state);
update_(device, leds);
}
} // namespace trackhat_impl
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