State struct [14% : 7%]

src/Robot/0_State.ino

@@ -0,0 +1,45 @@
+/* 
+ * States Definition
+ * =====================
+ */
+
+// Decisions state
+struct DECISION_STATE {
+    uint16_t timeSincePreviousDecision = 0;
+};
+
+// Environment state
+struct ENVIRONMENT_STATE {
+  bool isHumanDetected = false;
+  uint16_t timeWhenHumanArrived = 0;
+  uint16_t timeWhenHumanDeparted = 0;
+};
+
+// Eyes state
+struct EYES_STATE {
+    bool isOpen = false;
+    uint8_t pupilsPosition[2] = {0, 0};
+    uint8_t pupilsSize[2] = {2, 2};
+    byte* currentFrame;
+};
+
+// Global state store
+struct STATE {
+  DECISION_STATE Decision = {};
+  ENVIRONMENT_STATE Environment = {};
+  EYES_STATE Eyes = {};
+};
+
+/* 
+ * States Initialization
+ * =====================
+ */
+STATE State = {};
+
+/*
+ * Public Methods
+ */
+
+ uint16_t getTime() {
+  return millis() / 1000;
+ }

src/Robot/3_Eyes.ino

@@ -22,28 +22,12 @@ const uint8_t EYES_CLOSE_ANIMATION_SEQUENCE[5] = {4, 3, 2, 1, 0};
  */
 LEDMatrixDriver lmd(1, PIN_EYES_LED_CS);
 
-/*
- * Eyes state
- */
-struct EYES_STATE {
-    bool isOpen;
-    uint8_t pupilsSize[2];
-    int8_t pupilsPosition[2];
-    byte* currentFrame;
-};
-
-EYES_STATE eyesState = {
-    false,    // I start with my eyes closed
-    {2, 2},   // Pupils size
-    {0, 1},    // Pupils position, center based
-    (byte*)eyeBlinkAnimationBitmap[0]
-};
-
 /*
  * Setup
  * =====
  */
 void initEyes() {
+
     lmd.setEnabled(true);
     lmd.setIntensity(EYES_BRIGHTNESS);
     lmd.clear();
@@ -53,6 +37,7 @@ void initEyes() {
     eyesAnimationThread.setInterval(EYES_ANIMATION_FPS);
 
     /* Start by opening my eyes */
+    State.Eyes.currentFrame = (byte*)eyeBlinkAnimationBitmap[0];
     openEyes();
 }
 
@@ -91,10 +76,10 @@ bool applyPupilMask(uint8_t x, uint8_t y, bool ledPixel) {
         return ledPixel;
     }
 
-    uint8_t xStartPosition = EYES_ORIGIN_POSITION + eyesState.pupilsPosition[0];
-    uint8_t xEndPosition = xStartPosition + eyesState.pupilsSize[0];
-    uint8_t yStartPosition = EYES_ORIGIN_POSITION + eyesState.pupilsPosition[1];
-    uint8_t yEndPosition = yStartPosition + eyesState.pupilsSize[1];
+    uint8_t xStartPosition = EYES_ORIGIN_POSITION + State.Eyes.pupilsPosition[0];
+    uint8_t xEndPosition = xStartPosition + State.Eyes.pupilsSize[0];
+    uint8_t yStartPosition = EYES_ORIGIN_POSITION + State.Eyes.pupilsPosition[1];
+    uint8_t yEndPosition = yStartPosition + State.Eyes.pupilsSize[1];
 
     if (x >= xStartPosition && x < xEndPosition && y >= yStartPosition && y < yEndPosition) {
         return false;
@@ -104,11 +89,11 @@ bool applyPupilMask(uint8_t x, uint8_t y, bool ledPixel) {
 }
 
 void onPupilsMove() {
-    eyesState.pupilsPosition[0] = random(-2, 2);
-    eyesState.pupilsPosition[1] = random(-2, 2);
+    State.Eyes.pupilsPosition[0] = random(-2, 2);
+    State.Eyes.pupilsPosition[1] = random(-2, 2);
 
     if (isAnimationQueueEmpty()) {
-      pushFrameToAnimationQueue(eyesState.currentFrame);
+      pushFrameToAnimationQueue(State.Eyes.currentFrame);
     }
 
 }
@@ -131,7 +116,7 @@ void drawEyes(byte* bitmap) {
         }
     }
 
-    eyesState.currentFrame = bitmap;
+    State.Eyes.currentFrame = bitmap;
     lmd.display();
 }
 
@@ -145,7 +130,6 @@ void runEyesThread() {
     }
 }
 
-
 /*
  * Thread callback
  * ---------------

src/Robot/4_Decisions.ino → src/Robot/5_Decisions.ino

@@ -9,18 +9,6 @@ Thread decisionThread = Thread();
 const uint8_t DECISION_FREQUENCY = 200;   // Decisions frequency, in ms
 const uint8_t DECISION_MAX_WEIGHT = 255;  // Decisions max weight
 
-/*
- * Decisions model state
- * =====================
- */
-struct DECISION_STATE {
-    uint16_t timeSincePreviousDecision;
-};
-
-DECISION_STATE decisionState = {
-    0, // Time since after previous decision made  
-};
-
 /*
  * Decisions
  * =========
@@ -112,7 +100,7 @@ void makeDecision (struct DECISION *decision, void calback()) {
     }
 
     // Positive decision
-    decisionState.timeSincePreviousDecision = 0;
+    State.Decision.timeSincePreviousDecision = 0;
     decision->timeSincePreviousDecision = 0;
     decision->weight = 0;
     calback();
@@ -134,7 +122,7 @@ void runDecisionsThread() {
  */
 void onDecision() {
   // Update decision state
-  decisionState.timeSincePreviousDecision += DECISION_FREQUENCY;
+  State.Decision.timeSincePreviousDecision += DECISION_FREQUENCY;
 
   makeDecisionEyesBlink();
   makeDecisionEyesPupilsMove();