projects/microb2010/ballboard/state.c

   1 /*
   2  *  Copyright Droids Corporation (2009)
   3  *
   4  *  This program is free software; you can redistribute it and/or modify
   5  *  it under the terms of the GNU General Public License as published by
   6  *  the Free Software Foundation; either version 2 of the License, or
   7  *  (at your option) any later version.
   8  *
   9  *  This program is distributed in the hope that it will be useful,
  10  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  *  GNU General Public License for more details.
  13  *
  14  *  You should have received a copy of the GNU General Public License
  15  *  along with this program; if not, write to the Free Software
  16  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  17  *
  18  *  Revision : $Id: state.c,v 1.5 2009-11-08 17:25:00 zer0 Exp $
  19  *
  20  */
  21
  22 #include <math.h>
  23 #include <string.h>
  24
  25 #include <aversive.h>
  26 #include <aversive/wait.h>
  27 #include <aversive/error.h>
  28
  29 #include <ax12.h>
  30 #include <uart.h>
  31 #include <spi.h>
  32 #include <encoders_spi.h>
  33 #include <pwm_ng.h>
  34 #include <timer.h>
  35 #include <scheduler.h>
  36 #include <clock_time.h>
  37
  38 #include <pid.h>
  39 #include <quadramp.h>
  40 #include <control_system_manager.h>
  41 #include <blocking_detection_manager.h>
  42
  43 #include <rdline.h>
  44 #include <vt100.h>
  45
  46 #include "../common/i2c_commands.h"
  47 #include "main.h"
  48 #include "cmdline.h"
  49 #include "sensor.h"
  50 #include "actuator.h"
  51 #include "state.h"
  52
  53 #define STMCH_DEBUG(args...) DEBUG(E_USER_ST_MACH, args)
  54 #define STMCH_NOTICE(args...) NOTICE(E_USER_ST_MACH, args)
  55 #define STMCH_ERROR(args...) ERROR(E_USER_ST_MACH, args)
  56
  57 static struct vt100 local_vt100;
  58 static volatile uint8_t state_mode;
  59 static volatile uint8_t state_status;
  60 static volatile uint8_t ball_count;
  61
  62 /* short aliases */
  63 #define INIT I2C_BALLBOARD_MODE_INIT
  64 #define OFF I2C_BALLBOARD_MODE_OFF
  65 #define HARVEST I2C_BALLBOARD_MODE_HARVEST
  66 #define EJECT I2C_BALLBOARD_MODE_EJECT
  67 #define PREP_L_FORK I2C_BALLBOARD_MODE_PREP_L_FORK
  68 #define TAKE_L_FORK I2C_BALLBOARD_MODE_TAKE_L_FORK
  69 #define PREP_R_FORK I2C_BALLBOARD_MODE_PREP_R_FORK
  70 #define TAKE_R_FORK I2C_BALLBOARD_MODE_TAKE_R_FORK
  71
  72 uint8_t state_debug = 0;
  73
  74 #if 0
  75 static void state_dump_sensors(void)
  76 {
  77         STMCH_DEBUG("TODO\n");
  78 }
  79 #endif
  80
  81 uint8_t state_get_ball_count(void)
  82 {
  83         return ball_count;
  84 }
  85
  86 #if 0
  87 static void state_debug_wait_key_pressed(void)
  88 {
  89         if (!state_debug)
  90                 return;
  91         printf_P(PSTR("press a key\r\n"));
  92         while (!cmdline_keypressed());
  93 }
  94 #endif
  95
  96 /* set a new state, return 0 on success */
  97 int8_t state_set_mode(uint8_t mode)
  98 {
  99         state_mode = mode;
 100         STMCH_DEBUG("%s(): mode=%x ", __FUNCTION__, mode);
 101
 102 /*      STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d " */
 103 /*                  "r_deploy=%d r_harvest=%d eject=%d", */
 104 /*                  __FUNCTION__, L_DEPLOY(mode), L_HARVEST(mode), */
 105 /*                  R_DEPLOY(mode), R_HARVEST(mode), EJECT(mode)); */
 106
 107         return 0;
 108 }
 109
 110 /* check that state is the one in parameter and that state did not
 111  * changed */
 112 static uint8_t state_want_exit(void)
 113 {
 114         int16_t c;
 115
 116         /* force quit when CTRL-C is typed */
 117         c = cmdline_getchar();
 118         if (c == -1)
 119                 return 0;
 120         if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
 121                 return 1;
 122         printf_P(PSTR("CTRL-C\r\n"));
 123         return 0;
 124 }
 125
 126 uint8_t state_get_status(void)
 127 {
 128         return state_status;
 129 }
 130
 131 /* harvest balls from area */
 132 static void state_do_harvest(void)
 133 {
 134         //state_debug_wait_key_pressed();
 135
 136         if (bd_get(&ballboard.roller.bd)) {
 137                 STMCH_DEBUG("%s(): roller blocked", __FUNCTION__);
 138                 roller_reverse();
 139                 time_wait_ms(500);
 140                 bd_reset(&ballboard.roller.bd);
 141                 STMCH_DEBUG("%s(): roller restart", __FUNCTION__);
 142                 return;
 143         }
 144
 145         /* deduct ball count */
 146         if (sensor_get(S_LOW_BARRIER) && !sensor_get(S_HIGH_BARRIER))
 147                 ball_count = 1;
 148         else if (sensor_get(S_LOW_BARRIER) && sensor_get(S_HIGH_BARRIER))
 149                 ball_count = 3;
 150
 151         if (sensor_get(S_HIGH_BARRIER))
 152                 roller_off();
 153         else
 154                 roller_on();
 155 }
 156
 157 /* eject balls */
 158 static void state_do_eject(void)
 159 {
 160         uint8_t i, blocked;
 161         microseconds us;
 162
 163         for (i = 0; i < 3; i ++) {
 164
 165                 roller_reverse();
 166
 167                 us = time_get_us2();
 168                 blocked = 0;
 169
 170                 while (1) {
 171
 172                         /* no more balls (sensor is heavily filtered) */
 173                         if (!sensor_get(S_LOW_BARRIER)) {
 174                                 STMCH_DEBUG("%s(): no more balls", __FUNCTION__);
 175                                 break;
 176                         }
 177
 178                         /* timeout */
 179                         if ((time_get_us2() - us) > 1000UL * 1000UL) {
 180                                 STMCH_DEBUG("%s(): eject timeout", __FUNCTION__);
 181                                 blocked = 1;
 182                                 break;
 183                         }
 184
 185                         /* blocking ! */
 186                         if (bd_get(&ballboard.roller.bd)) {
 187                                 blocked = 1;
 188                                 break;
 189                         }
 190                 }
 191
 192                 if (!blocked)
 193                         break;
 194
 195                 STMCH_DEBUG("%s(): roller blocked", __FUNCTION__);
 196                 roller_on();
 197                 time_wait_ms(500);
 198                 bd_reset(&ballboard.roller.bd);
 199                 STMCH_DEBUG("%s(): roller restart", __FUNCTION__);
 200         }
 201 }
 202
 203 /* main state machine */
 204 void state_machine(void)
 205 {
 206         uint8_t mode = 0;
 207
 208         while (state_want_exit() == 0) {
 209
 210                 if (state_mode != mode) {
 211                         mode = state_mode;
 212                         STMCH_DEBUG("%s(): mode=%x ", __FUNCTION__, mode);
 213                 }
 214
 215                 switch (state_mode) {
 216
 217                 case INIT:
 218                         state_init();
 219                         state_mode = OFF;
 220                         state_status = I2C_BALLBOARD_STATUS_F_READY;
 221                         break;
 222
 223                 case OFF:
 224                         state_status = I2C_BALLBOARD_STATUS_F_READY;
 225                         roller_off();
 226                         break;
 227
 228                 case HARVEST:
 229                         state_status = I2C_BALLBOARD_STATUS_F_READY;
 230                         state_do_harvest();
 231                         break;
 232
 233                 case EJECT:
 234                         state_status = I2C_BALLBOARD_STATUS_F_BUSY;
 235                         state_do_eject();
 236                         state_status = I2C_BALLBOARD_STATUS_F_READY;
 237                         state_mode = HARVEST;
 238                         break;
 239
 240                 default:
 241                         break;
 242                 }
 243         }
 244 }
 245
 246 void state_init(void)
 247 {
 248         vt100_init(&local_vt100);
 249         state_mode = 0;
 250         state_status = I2C_BALLBOARD_STATUS_F_READY;
 251         ball_count = 0;
 252 }