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_FORK I2C_BALLBOARD_MODE_PREP_FORK
  68 #define TAKE_FORK I2C_BALLBOARD_MODE_TAKE_FORK
  69
  70 uint8_t state_debug = 0;
  71
  72 #if 0
  73 static void state_dump_sensors(void)
  74 {
  75         STMCH_DEBUG("TODO\n");
  76 }
  77 #endif
  78
  79 uint8_t state_get_ball_count(void)
  80 {
  81         return ball_count;
  82 }
  83
  84 #if 0
  85 static void state_debug_wait_key_pressed(void)
  86 {
  87         if (!state_debug)
  88                 return;
  89         printf_P(PSTR("press a key\r\n"));
  90         while (!cmdline_keypressed());
  91 }
  92 #endif
  93
  94 /* set a new state, return 0 on success */
  95 int8_t state_set_mode(uint8_t mode)
  96 {
  97         state_mode = mode;
  98         STMCH_DEBUG("%s(): mode=%x ", __FUNCTION__, mode);
  99
 100 /*      STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d " */
 101 /*                  "r_deploy=%d r_harvest=%d eject=%d", */
 102 /*                  __FUNCTION__, L_DEPLOY(mode), L_HARVEST(mode), */
 103 /*                  R_DEPLOY(mode), R_HARVEST(mode), EJECT(mode)); */
 104
 105         return 0;
 106 }
 107
 108 /* check that state is the one in parameter and that state did not
 109  * changed */
 110 static uint8_t state_want_exit(void)
 111 {
 112         int16_t c;
 113
 114         /* force quit when CTRL-C is typed */
 115         c = cmdline_getchar();
 116         if (c == -1)
 117                 return 0;
 118         if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
 119                 return 1;
 120         printf_P(PSTR("CTRL-C\r\n"));
 121         return 0;
 122 }
 123
 124 uint8_t state_get_status(void)
 125 {
 126         return state_status;
 127 }
 128
 129 /* harvest balls from area */
 130 static void state_do_harvest(void)
 131 {
 132         //state_debug_wait_key_pressed();
 133
 134         if (bd_get(&ballboard.roller.bd)) {
 135                 STMCH_DEBUG("%s(): roller blocked", __FUNCTION__);
 136                 roller_reverse();
 137                 time_wait_ms(500);
 138                 bd_reset(&ballboard.roller.bd);
 139                 STMCH_DEBUG("%s(): roller restart", __FUNCTION__);
 140                 return;
 141         }
 142
 143         /* deduct ball count */
 144         if (sensor_get(S_LOW_BARRIER) && !sensor_get(S_HIGH_BARRIER))
 145                 ball_count = 1;
 146         else if (sensor_get(S_LOW_BARRIER) && sensor_get(S_HIGH_BARRIER))
 147                 ball_count = 3;
 148
 149         if (sensor_get(S_HIGH_BARRIER))
 150                 roller_off();
 151         else
 152                 roller_on();
 153 }
 154
 155 /* eject balls */
 156 static void state_do_eject(void)
 157 {
 158         uint8_t i, blocked;
 159         microseconds us;
 160
 161         for (i = 0; i < 3; i ++) {
 162
 163                 roller_reverse();
 164
 165                 us = time_get_us2();
 166                 blocked = 0;
 167
 168                 while (1) {
 169                         /* move fork during ball ejection */
 170                         if ((us % 600) < 300)
 171                                 fork_eject();
 172                         else
 173                                 fork_pack();
 174
 175                         /* no more balls (sensor is heavily filtered) */
 176                         if (!sensor_get(S_LOW_BARRIER) &&
 177                             !sensor_get(S_HIGH_BARRIER)) {
 178                                 STMCH_DEBUG("%s(): no more balls", __FUNCTION__);
 179                                 break;
 180                         }
 181
 182                         /* timeout */
 183                         if ((time_get_us2() - us) > 2000UL * 1000UL) {
 184                                 STMCH_DEBUG("%s(): eject timeout", __FUNCTION__);
 185                                 blocked = 1;
 186                                 break;
 187                         }
 188
 189                         /* blocking ! */
 190                         if (bd_get(&ballboard.roller.bd)) {
 191                                 blocked = 1;
 192                                 break;
 193                         }
 194                 }
 195                 fork_pack();
 196
 197                 if (!blocked)
 198                         break;
 199
 200                 STMCH_DEBUG("%s(): roller blocked", __FUNCTION__);
 201                 roller_on();
 202                 time_wait_ms(500);
 203                 bd_reset(&ballboard.roller.bd);
 204                 STMCH_DEBUG("%s(): roller restart", __FUNCTION__);
 205         }
 206 }
 207
 208 /* main state machine */
 209 void state_machine(void)
 210 {
 211         uint8_t mode = 0;
 212
 213         while (state_want_exit() == 0) {
 214
 215                 if (state_mode != mode) {
 216                         mode = state_mode;
 217                         STMCH_DEBUG("%s(): mode=%x ", __FUNCTION__, mode);
 218                 }
 219
 220                 switch (state_mode) {
 221
 222                 case INIT:
 223                         state_init();
 224                         fork_pack();
 225                         state_mode = OFF;
 226                         state_status = I2C_BALLBOARD_STATUS_F_READY;
 227                         break;
 228
 229                 case OFF:
 230                         state_status = I2C_BALLBOARD_STATUS_F_READY;
 231                         roller_off();
 232                         fork_pack();
 233                         break;
 234
 235                 case HARVEST:
 236                         state_status = I2C_BALLBOARD_STATUS_F_READY;
 237                         fork_pack();
 238                         state_do_harvest();
 239                         break;
 240
 241                 case EJECT:
 242                         state_status = I2C_BALLBOARD_STATUS_F_BUSY;
 243                         fork_pack();
 244                         state_do_eject();
 245                         state_status = I2C_BALLBOARD_STATUS_F_READY;
 246                         state_mode = HARVEST;
 247                         break;
 248
 249                 case PREP_FORK:
 250                         roller_off();
 251                         fork_deploy();
 252                         break;
 253
 254                 case TAKE_FORK:
 255                         roller_off();
 256                         fork_mid1();
 257                         time_wait_ms(666);
 258                         fork_mid2();
 259                         time_wait_ms(666);
 260                         while (1) {
 261                                 uint8_t packed;
 262
 263                                 fork_pack();
 264                                 packed = WAIT_COND_OR_TIMEOUT(fork_is_packed(),
 265                                                               500);
 266                                 if (packed)
 267                                         break;
 268                                 fork_mid2();
 269                                 time_wait_ms(200);
 270                         }
 271                         state_mode = OFF;
 272                         break;
 273
 274                 default:
 275                         break;
 276                 }
 277         }
 278 }
 279
 280 void state_init(void)
 281 {
 282         vt100_init(&local_vt100);
 283         state_mode = 0;
 284         state_status = I2C_BALLBOARD_STATUS_F_READY;
 285         ball_count = 0;
 286 }