projects/microb2010/cobboard/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 "spickle.h"
  52 #include "shovel.h"
  53 #include "state.h"
  54
  55 #define STMCH_DEBUG(args...) DEBUG(E_USER_ST_MACH, args)
  56 #define STMCH_NOTICE(args...) NOTICE(E_USER_ST_MACH, args)
  57 #define STMCH_ERROR(args...) ERROR(E_USER_ST_MACH, args)
  58
  59 static struct vt100 local_vt100;
  60 static volatile uint8_t state_mode;
  61 static uint8_t cob_count;
  62
  63 /* short aliases */
  64 #define L_DEPLOY(mode)   (!!((mode) & I2C_COBBOARD_MODE_L_DEPLOY))
  65 #define R_DEPLOY(mode)   (!!((mode) & I2C_COBBOARD_MODE_R_DEPLOY))
  66 #define DEPLOY(side, mode) ((side) == I2C_LEFT_SIDE ? L_DEPLOY(mode) : R_DEPLOY(mode))
  67 #define L_HARVEST(mode)  (!!((mode) & I2C_COBBOARD_MODE_L_HARVEST))
  68 #define R_HARVEST(mode)  (!!((mode) & I2C_COBBOARD_MODE_R_HARVEST))
  69 #define HARVEST(side, mode) ((side) == I2C_LEFT_SIDE ? L_HARVEST(mode) : R_HARVEST(mode))
  70 #define EJECT(mode)      (!!((mode) & I2C_COBBOARD_MODE_EJECT))
  71 #define INIT(mode)       (!!((mode) & I2C_COBBOARD_MODE_INIT))
  72
  73 uint8_t state_debug = 0;
  74
  75 #if 0
  76 static void state_dump_sensors(void)
  77 {
  78         STMCH_DEBUG("TODO\n");
  79 }
  80 #endif
  81
  82 uint8_t state_get_cob_count(void)
  83 {
  84         return cob_count;
  85 }
  86
  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
  95 /* return true if cob is present */
  96 static uint8_t state_cob_present(uint8_t side)
  97 {
  98         if (side == I2C_LEFT_SIDE)
  99                 return sensor_get(S_LCOB);
 100         else
 101                 /* XXX */
 102                 //              return sensor_get(S_LCOB);
 103                 return 0;
 104 }
 105
 106 /* return the detected color of the cob (only valid if present) */
 107 static uint8_t state_cob_color(uint8_t side)
 108 {
 109         if (side == I2C_LEFT_SIDE)
 110                 return I2C_COB_WHITE;
 111         else
 112                 /* XXX */
 113                 //              return sensor_get(S_LCOB);
 114                 return 0;
 115 }
 116
 117 /* return true if the cob is correctly inside */
 118 static uint8_t state_cob_inside(void)
 119 {
 120         return sensor_get(S_COB_INSIDE_L) &&
 121                 sensor_get(S_COB_INSIDE_R);
 122 }
 123
 124 /* set a new state, return 0 on success */
 125 int8_t state_set_mode(uint8_t mode)
 126 {
 127         state_mode = mode;
 128
 129 /*      STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d " */
 130 /*                  "r_deploy=%d r_harvest=%d eject=%d", */
 131 /*                  __FUNCTION__, L_DEPLOY(mode), L_HARVEST(mode), */
 132 /*                  R_DEPLOY(mode), R_HARVEST(mode), EJECT(mode)); */
 133
 134         return 0;
 135 }
 136
 137 /* check that state is the one in parameter and that state did not
 138  * changed */
 139 static uint8_t state_want_exit(void)
 140 {
 141         int16_t c;
 142
 143         /* force quit when CTRL-C is typed */
 144         c = cmdline_getchar();
 145         if (c == -1)
 146                 return 0;
 147         if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
 148                 return 1;
 149         printf_P(PSTR("CTRL-C\r\n"));
 150         return 0;
 151 }
 152
 153 uint8_t state_get_mode(void)
 154 {
 155         return state_mode;
 156 }
 157
 158 /* harvest cobs from area */
 159 static void state_do_harvest(uint8_t side)
 160 {
 161         uint16_t delay;
 162
 163         /* if there is no cob, return */
 164         if (state_cob_present(side))
 165                 return;
 166
 167         /* if it is black, nothing to do */
 168         if (state_cob_color(side) == I2C_COB_BLACK)
 169                 return;
 170
 171         /* eat the cob */
 172         spickle_pack(side);
 173         /* xxx */
 174         time_wait_ms(250);
 175         left_cobroller_on();
 176         delay = spickle_get_pack_delay(side);
 177
 178         WAIT_COND_OR_TIMEOUT(state_cob_inside(), delay);
 179
 180         /* redeploy the spickle */
 181         spickle_deploy(side);
 182         state_debug_wait_key_pressed();
 183
 184         /* let the cob go */
 185         servo_carry_open();
 186         wait_ms(300); /* XXX */
 187         state_debug_wait_key_pressed();
 188
 189         cob_count ++;
 190
 191         /* store it */
 192         shovel_up();
 193         wait_ms(200);
 194         state_debug_wait_key_pressed();
 195
 196         /* close the carry servos */
 197         servo_carry_close();
 198         wait_ms(300); /* XXX */
 199         state_debug_wait_key_pressed();
 200
 201         shovel_down();
 202         left_cobroller_off();
 203         state_debug_wait_key_pressed();
 204         time_wait_ms(500);
 205 }
 206
 207 /* eject cobs */
 208 static void state_do_eject(void)
 209 {
 210         cob_count = 0;
 211         shovel_mid();
 212         servo_carry_open();
 213         servo_door_open();
 214         time_wait_ms(2000);
 215         shovel_down();
 216         servo_door_close();
 217         servo_carry_close();
 218 }
 219
 220 /* main state machine */
 221 void state_machine(void)
 222 {
 223         while (state_want_exit() == 0) {
 224
 225                 /* init */
 226                 if (INIT(state_mode)) {
 227                         state_mode &= (~I2C_COBBOARD_MODE_INIT);
 228                         state_init();
 229                 }
 230
 231                 /* pack/deply spickles, enable/disable roller */
 232                 if (L_DEPLOY(state_mode)) {
 233                         spickle_deploy(I2C_LEFT_SIDE);
 234                         //left_cobroller_on();
 235                         left_cobroller_off();
 236                 }
 237                 else {
 238                         spickle_pack(I2C_LEFT_SIDE);
 239                         left_cobroller_off();
 240                 }
 241                 if (R_DEPLOY(state_mode)) {
 242                         spickle_deploy(I2C_RIGHT_SIDE);
 243                         right_cobroller_on();
 244                 }
 245                 else {
 246                         spickle_pack(I2C_RIGHT_SIDE);
 247                         right_cobroller_off();
 248                 }
 249
 250                 /* harvest */
 251                 if (L_DEPLOY(state_mode) && L_HARVEST(state_mode))
 252                         state_do_harvest(I2C_LEFT_SIDE);
 253                 if (R_DEPLOY(state_mode) && R_HARVEST(state_mode))
 254                         state_do_harvest(I2C_RIGHT_SIDE);
 255
 256                 /* eject */
 257                 if (EJECT(state_mode)) {
 258                         state_mode &= (~I2C_COBBOARD_MODE_EJECT);
 259                         state_do_eject();
 260                 }
 261         }
 262 }
 263
 264 void state_init(void)
 265 {
 266         vt100_init(&local_vt100);
 267         shovel_down();
 268         servo_door_close();
 269         servo_carry_close();
 270         spickle_pack(I2C_LEFT_SIDE);
 271         spickle_pack(I2C_RIGHT_SIDE);
 272         state_mode = 0;
 273         cob_count = 0;
 274 }