47 lines
1.1 KiB
Go
47 lines
1.1 KiB
Go
// Copyright 2017 Google Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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//
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package pipoint
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import (
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"juju.nz/x/pipoint/param"
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)
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// LocateState runs initially to locate the base unit.
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type LocateState struct {
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name string
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pi *PiPoint
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}
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func (s *LocateState) Name() string {
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return "Locate"
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}
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// Update is called when a param is updated.
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func (s *LocateState) Update(param *param.Param) {
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switch param {
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case s.pi.neu:
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s.pi.rover.Set(param.Get())
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s.pi.base.Set(param.Get())
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s.pi.base.Finalise()
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case s.pi.attitude:
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s.pi.offset.Set(&Attitude{
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Yaw: s.pi.attitude.Get().(*Attitude).Yaw,
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})
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case s.pi.mark:
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s.pi.state.Inc()
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}
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}
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