2 * Copyright Droids Corporation (2009)
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.
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.
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
18 * Revision : $Id: state.c,v 1.5 2009-11-08 17:25:00 zer0 Exp $
26 #include <aversive/wait.h>
27 #include <aversive/error.h>
32 #include <encoders_spi.h>
35 #include <scheduler.h>
36 #include <clock_time.h>
40 #include <control_system_manager.h>
41 #include <blocking_detection_manager.h>
46 #include "../common/i2c_commands.h"
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)
59 static struct vt100 local_vt100;
60 static volatile uint8_t state_mode, lspickle, rspickle;
61 static volatile uint8_t state_status;
62 static volatile uint8_t state_i2c_ignore = 0;
63 static uint8_t cob_count;
66 #define INIT(mode) ((mode) == I2C_COBBOARD_MODE_INIT)
67 #define HARVEST(mode) ((mode) == I2C_COBBOARD_MODE_HARVEST)
68 #define EJECT(mode) ((mode) == I2C_COBBOARD_MODE_EJECT)
70 uint8_t state_debug = 0;
72 uint8_t state_get_cob_count(void)
77 static void state_debug_wait_key_pressed(void)
81 printf_P(PSTR("press a key\r\n"));
82 while(!cmdline_keypressed());
85 /* return true if the cob is correctly inside */
86 static uint8_t state_cob_inside(void)
88 return sensor_get(S_COB_INSIDE_L) &&
89 sensor_get(S_COB_INSIDE_R);
92 /* return true if there is no cob correctly inside */
93 static uint8_t state_no_cob_inside(void)
95 return !sensor_get(S_COB_INSIDE_L) &&
96 !sensor_get(S_COB_INSIDE_R);
99 static uint8_t state_spicklemode_deployed(uint8_t side)
101 if (side == I2C_LEFT_SIDE)
102 return lspickle & I2C_COBBOARD_SPK_DEPLOY;
104 return rspickle & I2C_COBBOARD_SPK_DEPLOY;
107 static uint8_t state_spicklemode_autoharvest(uint8_t side)
109 if (side == I2C_LEFT_SIDE)
110 return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
112 return rspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
115 static uint8_t state_spicklemode_nomove(uint8_t side)
117 if (side == I2C_LEFT_SIDE)
118 return lspickle & I2C_COBBOARD_SPK_NO_MOVE;
120 return rspickle & I2C_COBBOARD_SPK_NO_MOVE;
123 uint8_t state_spicklemode_weak(uint8_t side)
125 if (side == I2C_LEFT_SIDE)
126 return lspickle & I2C_COBBOARD_SPK_WEAK;
128 return rspickle & I2C_COBBOARD_SPK_WEAK;
131 /* pack/deploy spickles depending on mode */
132 static void spickle_prepare(uint8_t side)
134 /* we do nothing in mode no out */
135 if (state_spicklemode_nomove(side))
138 if (state_spicklemode_deployed(side))
139 spickle_deploy(side);
144 void state_set_spickle(uint8_t side, uint8_t flags)
146 if (side == I2C_LEFT_SIDE) {
147 /* the PACK command preempts the current action if the
149 if (lspickle != 0 && flags == 0 &&
150 state_status != I2C_COBBOARD_STATUS_LBUSY)
151 spickle_prepare(I2C_LEFT_SIDE);
155 /* the PACK command preempts the current action if the
157 if (rspickle != 0 && flags == 0 &&
158 state_status != I2C_COBBOARD_STATUS_RBUSY)
159 spickle_prepare(I2C_RIGHT_SIDE);
164 /* set a new state, return 0 on success */
165 int8_t state_set_mode(uint8_t mode)
168 STMCH_DEBUG("%s(): mode=%x", __FUNCTION__, mode);
172 void state_set_i2c_ignore(uint8_t val)
174 state_i2c_ignore = val;
177 uint8_t state_get_i2c_ignore(void)
179 return state_i2c_ignore;
182 /* check that state is the one in parameter and that state did not
184 static uint8_t state_want_exit(void)
188 /* force quit when CTRL-C is typed */
189 c = cmdline_getchar();
192 if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
194 printf_P(PSTR("CTRL-C\r\n"));
198 uint8_t state_get_mode(void)
203 uint8_t state_get_status(void)
208 /* harvest cobs from area */
209 static void state_do_harvest(uint8_t side)
211 /* if there is no cob, return */
212 if (cob_falling_edge(side) == 0)
215 if (side == I2C_LEFT_SIDE)
216 state_status = I2C_COBBOARD_STATUS_LBUSY;
218 state_status = I2C_COBBOARD_STATUS_RBUSY;
220 STMCH_DEBUG("start");
228 /* check that cob is correctly in place */
229 if (WAIT_COND_OR_TIMEOUT(state_cob_inside(), 750) == 0) {
230 if (state_no_cob_inside()) {
231 STMCH_DEBUG("no cob");
234 STMCH_DEBUG("bad cob state");
236 /* while cob is not correctly placed try to extract
237 * it as much as we can */
238 while (state_cob_inside() == 0 &&
239 state_no_cob_inside() == 0) {
242 cobroller_reverse(side);
255 STMCH_DEBUG("cob removed");
256 if (state_no_cob_inside()) {
257 STMCH_DEBUG("no cob");
262 /* cob is inside, switch off roller */
266 state_debug_wait_key_pressed();
268 /* last cob, nothing to do */
272 /* redeploy the spickle if there is a black cob */
273 if (!state_spicklemode_nomove(side))
274 spickle_deploy(side);
275 state_debug_wait_key_pressed();
277 /* let the loaded cobs go */
281 state_debug_wait_key_pressed();
286 while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 600) == 0) {
287 STMCH_DEBUG("shovel blocked");
293 state_debug_wait_key_pressed();
295 /* close the carry servos */
299 state_debug_wait_key_pressed();
303 while (WAIT_COND_OR_TIMEOUT(shovel_is_down(), 400) == 0) {
304 STMCH_DEBUG("shovel blocked");
314 static void state_do_eject(void)
316 state_status = I2C_COBBOARD_STATUS_EJECT;
327 /* main state machine */
328 void state_machine(void)
330 while (state_want_exit() == 0) {
332 state_status = I2C_COBBOARD_STATUS_READY;
335 if (INIT(state_mode)) {
337 state_mode = I2C_COBBOARD_MODE_HARVEST;
340 /* pack/deply spickles, enable/disable roller */
341 cobroller_off(I2C_LEFT_SIDE);
342 cobroller_off(I2C_RIGHT_SIDE);
343 spickle_prepare(I2C_LEFT_SIDE);
344 spickle_prepare(I2C_RIGHT_SIDE);
348 if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
349 state_spicklemode_autoharvest(I2C_LEFT_SIDE))
350 state_do_harvest(I2C_LEFT_SIDE);
351 if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
352 state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
353 state_do_harvest(I2C_RIGHT_SIDE);
357 if (EJECT(state_mode)) {
358 state_mode = I2C_COBBOARD_MODE_HARVEST;
362 state_status = I2C_COBBOARD_STATUS_OFF;
365 void state_init(void)
367 vt100_init(&local_vt100);
371 spickle_pack(I2C_LEFT_SIDE);
372 spickle_pack(I2C_RIGHT_SIDE);
375 state_status = I2C_COBBOARD_STATUS_OFF;