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