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                 return sensor_get(S_RCOB);
 102 }
 103
 104 /* return the detected color of the cob (only valid if present) */
 105 static uint8_t state_cob_color(uint8_t side)
 106 {
 107         /* XXX no color sensor for now */
 108         if (side == I2C_LEFT_SIDE)
 109                 return I2C_COB_WHITE;
 110         else
 111                 return I2C_COB_WHITE;
 112 }
 113
 114 /* return true if the cob is correctly inside */
 115 static uint8_t state_cob_inside(void)
 116 {
 117         return sensor_get(S_COB_INSIDE_L) &&
 118                 sensor_get(S_COB_INSIDE_R);
 119 }
 120
 121 /* return true if there is no cob correctly inside */
 122 static uint8_t state_no_cob_inside(void)
 123 {
 124         return !sensor_get(S_COB_INSIDE_L) &&
 125                 !sensor_get(S_COB_INSIDE_R);
 126 }
 127
 128 /* set a new state, return 0 on success */
 129 int8_t state_set_mode(uint8_t mode)
 130 {
 131         state_mode = mode;
 132
 133 /*      STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d " */
 134 /*                  "r_deploy=%d r_harvest=%d eject=%d", */
 135 /*                  __FUNCTION__, L_DEPLOY(mode), L_HARVEST(mode), */
 136 /*                  R_DEPLOY(mode), R_HARVEST(mode), EJECT(mode)); */
 137
 138         return 0;
 139 }
 140
 141 /* check that state is the one in parameter and that state did not
 142  * changed */
 143 static uint8_t state_want_exit(void)
 144 {
 145         int16_t c;
 146
 147         /* force quit when CTRL-C is typed */
 148         c = cmdline_getchar();
 149         if (c == -1)
 150                 return 0;
 151         if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
 152                 return 1;
 153         printf_P(PSTR("CTRL-C\r\n"));
 154         return 0;
 155 }
 156
 157 uint8_t state_get_mode(void)
 158 {
 159         return state_mode;
 160 }
 161
 162 /* harvest cobs from area */
 163 static void state_do_harvest(uint8_t side)
 164 {
 165         /* if there is no cob, return */
 166         if (state_cob_present(side))
 167                 return;
 168
 169         /* if it is black, nothing to do */
 170         if (state_cob_color(side) == I2C_COB_BLACK)
 171                 return;
 172
 173         STMCH_DEBUG("start");
 174
 175         /* eat the cob */
 176         spickle_pack(side);
 177
 178         time_wait_ms(250);
 179         cobroller_on(side);
 180
 181         if (WAIT_COND_OR_TIMEOUT(state_cob_inside(), 750) == 0) {
 182                 if (state_no_cob_inside()) {
 183                         printf_P(PSTR("NO COB\r\n"));
 184                         return;
 185                 }
 186                 printf_P(PSTR("BAD COB - press a key\r\n"));
 187                 while(!cmdline_keypressed());
 188         }
 189
 190         /* cob is inside, switch off roller */
 191         cobroller_off(side);
 192         cob_count ++;
 193
 194         /* last cob, nothing to do */
 195         if (cob_count == 5)
 196                 return;
 197
 198         /* redeploy the spickle */
 199         spickle_deploy(side);
 200         state_debug_wait_key_pressed();
 201
 202         /* let the loaded cobs go */
 203         servo_door_block();
 204         servo_carry_open();
 205         time_wait_ms(100);
 206         state_debug_wait_key_pressed();
 207
 208         /* store it */
 209         shovel_up();
 210
 211         if (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 400) == 0) {
 212                 BRAKE_ON();
 213                 printf_P(PSTR("BLOCKED\r\n"));
 214                 while(!cmdline_keypressed());
 215         }
 216
 217         state_debug_wait_key_pressed();
 218
 219         /* close the carry servos */
 220         servo_carry_close();
 221         servo_door_close();
 222         time_wait_ms(200);
 223         state_debug_wait_key_pressed();
 224
 225         shovel_down();
 226
 227         if (WAIT_COND_OR_TIMEOUT(shovel_is_down(), 400) == 0) {
 228                 BRAKE_ON();
 229                 printf_P(PSTR("BLOCKED\r\n"));
 230                 while(!cmdline_keypressed());
 231         }
 232
 233         STMCH_DEBUG("end");
 234 }
 235
 236 /* eject cobs */
 237 static void state_do_eject(void)
 238 {
 239         cob_count = 0;
 240         shovel_mid();
 241         servo_carry_open();
 242         servo_door_open();
 243         time_wait_ms(2000);
 244         shovel_down();
 245         servo_door_close();
 246         servo_carry_close();
 247 }
 248
 249 /* main state machine */
 250 void state_machine(void)
 251 {
 252         while (state_want_exit() == 0) {
 253
 254                 /* init */
 255                 if (INIT(state_mode)) {
 256                         state_mode &= (~I2C_COBBOARD_MODE_INIT);
 257                         state_init();
 258                 }
 259
 260                 cobroller_off(I2C_LEFT_SIDE);
 261                 cobroller_off(I2C_RIGHT_SIDE);
 262
 263                 /* pack/deply spickles, enable/disable roller */
 264                 if (cob_count >= 5)
 265                         spickle_pack(I2C_LEFT_SIDE);
 266                 else if (L_DEPLOY(state_mode) && !L_HARVEST(state_mode))
 267                         spickle_mid(I2C_LEFT_SIDE);
 268                 else if (L_DEPLOY(state_mode) && L_HARVEST(state_mode))
 269                         spickle_deploy(I2C_LEFT_SIDE);
 270                 else
 271                         spickle_pack(I2C_LEFT_SIDE);
 272
 273                 if (cob_count >= 5)
 274                         spickle_pack(I2C_RIGHT_SIDE);
 275                 else if (R_DEPLOY(state_mode) && !R_HARVEST(state_mode))
 276                         spickle_mid(I2C_RIGHT_SIDE);
 277                 else if (R_DEPLOY(state_mode) && R_HARVEST(state_mode))
 278                         spickle_deploy(I2C_RIGHT_SIDE);
 279                 else
 280                         spickle_pack(I2C_RIGHT_SIDE);
 281
 282                 /* harvest */
 283                 if (cob_count < 5) {
 284                         if (L_DEPLOY(state_mode) && L_HARVEST(state_mode))
 285                                 state_do_harvest(I2C_LEFT_SIDE);
 286                         if (R_DEPLOY(state_mode) && R_HARVEST(state_mode))
 287                                 state_do_harvest(I2C_RIGHT_SIDE);
 288                 }
 289
 290                 /* eject */
 291                 if (EJECT(state_mode)) {
 292                         state_mode &= (~I2C_COBBOARD_MODE_EJECT);
 293                         state_do_eject();
 294                 }
 295         }
 296 }
 297
 298 void state_init(void)
 299 {
 300         vt100_init(&local_vt100);
 301         shovel_down();
 302         servo_door_close();
 303         servo_carry_close();
 304         spickle_pack(I2C_LEFT_SIDE);
 305         spickle_pack(I2C_RIGHT_SIDE);
 306         state_mode = 0;
 307         cob_count = 0;
 308 }