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 volatile uint8_t state_status;
  62 static uint8_t cob_count;
  63
  64 /* short aliases */
  65 #define L_DEPLOY(mode)   (!!((mode) & I2C_COBBOARD_MODE_L_DEPLOY))
  66 #define R_DEPLOY(mode)   (!!((mode) & I2C_COBBOARD_MODE_R_DEPLOY))
  67 #define DEPLOY(side, mode) ((side) == I2C_LEFT_SIDE ? L_DEPLOY(mode) : R_DEPLOY(mode))
  68 #define L_HARVEST(mode)  (!!((mode) & I2C_COBBOARD_MODE_L_HARVEST))
  69 #define R_HARVEST(mode)  (!!((mode) & I2C_COBBOARD_MODE_R_HARVEST))
  70 #define HARVEST(side, mode) ((side) == I2C_LEFT_SIDE ? L_HARVEST(mode) : R_HARVEST(mode))
  71 #define EJECT(mode)      (!!((mode) & I2C_COBBOARD_MODE_EJECT))
  72 #define INIT(mode)       (!!((mode) & I2C_COBBOARD_MODE_INIT))
  73
  74 uint8_t state_debug = 0;
  75
  76 uint8_t state_get_cob_count(void)
  77 {
  78         return cob_count;
  79 }
  80
  81 static void state_debug_wait_key_pressed(void)
  82 {
  83         if (!state_debug)
  84                 return;
  85         printf_P(PSTR("press a key\r\n"));
  86         while(!cmdline_keypressed());
  87 }
  88
  89 /* return true if cob is present */
  90 static uint8_t state_cob_present(uint8_t side)
  91 {
  92         if (side == I2C_LEFT_SIDE)
  93                 return sensor_get(S_LCOB);
  94         else
  95                 return sensor_get(S_RCOB);
  96 }
  97
  98 /* return the detected color of the cob (only valid if present) */
  99 static uint8_t state_cob_color(uint8_t side)
 100 {
 101         /* XXX no color sensor for now */
 102         if (side == I2C_LEFT_SIDE)
 103                 return I2C_COB_WHITE;
 104         else
 105                 return I2C_COB_WHITE;
 106 }
 107
 108 /* return true if the cob is correctly inside */
 109 static uint8_t state_cob_inside(void)
 110 {
 111         return sensor_get(S_COB_INSIDE_L) &&
 112                 sensor_get(S_COB_INSIDE_R);
 113 }
 114
 115 /* return true if there is no cob correctly inside */
 116 static uint8_t state_no_cob_inside(void)
 117 {
 118         return !sensor_get(S_COB_INSIDE_L) &&
 119                 !sensor_get(S_COB_INSIDE_R);
 120 }
 121
 122 /* pack/deploy spickles depending on mode */
 123 static void spickle_prepare(uint8_t side)
 124 {
 125         if (cob_count >= 5)
 126                 spickle_pack(side);
 127         else if (DEPLOY(side, state_mode) && !HARVEST(side, state_mode))
 128                 spickle_mid(side);
 129         else if (DEPLOY(side, state_mode) && HARVEST(side, state_mode))
 130                 spickle_deploy(side);
 131         else
 132                 spickle_pack(side);
 133 }
 134
 135 /* set a new state, return 0 on success */
 136 int8_t state_set_mode(uint8_t mode)
 137 {
 138         state_mode = mode;
 139
 140         /* preempt current action if not busy */
 141         if (state_status != I2C_COBBOARD_STATUS_LBUSY)
 142                 spickle_prepare(I2C_LEFT_SIDE);
 143         if (state_status != I2C_COBBOARD_STATUS_RBUSY)
 144                 spickle_prepare(I2C_RIGHT_SIDE);
 145
 146 /*      STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d " */
 147 /*                  "r_deploy=%d r_harvest=%d eject=%d", */
 148 /*                  __FUNCTION__, L_DEPLOY(mode), L_HARVEST(mode), */
 149 /*                  R_DEPLOY(mode), R_HARVEST(mode), EJECT(mode)); */
 150
 151         return 0;
 152 }
 153
 154 /* check that state is the one in parameter and that state did not
 155  * changed */
 156 static uint8_t state_want_exit(void)
 157 {
 158         int16_t c;
 159
 160         /* force quit when CTRL-C is typed */
 161         c = cmdline_getchar();
 162         if (c == -1)
 163                 return 0;
 164         if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
 165                 return 1;
 166         printf_P(PSTR("CTRL-C\r\n"));
 167         return 0;
 168 }
 169
 170 uint8_t state_get_mode(void)
 171 {
 172         return state_mode;
 173 }
 174
 175 uint8_t state_get_status(void)
 176 {
 177         return state_status;
 178 }
 179
 180 /* harvest cobs from area */
 181 static void state_do_harvest(uint8_t side)
 182 {
 183         if (side == I2C_LEFT_SIDE)
 184                 state_status = I2C_COBBOARD_STATUS_LBUSY;
 185         else
 186                 state_status = I2C_COBBOARD_STATUS_RBUSY;
 187
 188         /* if there is no cob, return */
 189         if (state_cob_present(side))
 190                 return;
 191
 192         /* if it is black, nothing to do */
 193         if (state_cob_color(side) == I2C_COB_BLACK)
 194                 return;
 195
 196         STMCH_DEBUG("start");
 197
 198         /* eat the cob */
 199         spickle_pack(side);
 200
 201         time_wait_ms(250);
 202         cobroller_on(side);
 203
 204         /* check that cob is correctly in place */
 205         if (WAIT_COND_OR_TIMEOUT(state_cob_inside(), 750) == 0) {
 206                 if (state_no_cob_inside()) {
 207                         STMCH_DEBUG("no cob");
 208                         return;
 209                 }
 210                 STMCH_DEBUG("bad cob state");
 211
 212                 /* while cob is not correctly placed try to extract
 213                  * it as much as we can */
 214                 while (state_cob_inside() == 0 &&
 215                        state_no_cob_inside() == 0) {
 216                         uint8_t cpt = 0;
 217                         if (cpt == 0)
 218                                 cobroller_reverse(side);
 219                         else if (cpt == 1)
 220                                 cobroller_off(side);
 221                         else if (cpt == 2)
 222                                 cobroller_on(side);
 223                         cpt ++;
 224                         cpt %= 3;
 225                         shovel_mid();
 226                         time_wait_ms(250);
 227                         shovel_down();
 228                         time_wait_ms(250);
 229                 }
 230
 231                 STMCH_DEBUG("cob removed");
 232                 if (state_no_cob_inside()) {
 233                         STMCH_DEBUG("no cob");
 234                         return;
 235                 }
 236         }
 237
 238         /* cob is inside, switch off roller */
 239         cobroller_off(side);
 240         cob_count ++;
 241
 242         /* last cob, nothing to do */
 243         if (cob_count == 5)
 244                 return;
 245
 246         /* redeploy the spickle */
 247         spickle_deploy(side);
 248         state_debug_wait_key_pressed();
 249
 250         /* let the loaded cobs go */
 251         servo_door_block();
 252         servo_carry_open();
 253         time_wait_ms(100);
 254         state_debug_wait_key_pressed();
 255
 256         /* store it */
 257         shovel_up();
 258
 259         while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 400) == 0) {
 260                 STMCH_DEBUG("shovel blocked");
 261                 shovel_down();
 262                 time_wait_ms(250);
 263                 shovel_up();
 264         }
 265
 266         state_debug_wait_key_pressed();
 267
 268         /* close the carry servos */
 269         servo_carry_close();
 270         servo_door_close();
 271         time_wait_ms(200);
 272         state_debug_wait_key_pressed();
 273
 274         shovel_down();
 275
 276         while (WAIT_COND_OR_TIMEOUT(shovel_is_down(), 400) == 0) {
 277                 STMCH_DEBUG("shovel blocked");
 278                 shovel_up();
 279                 time_wait_ms(250);
 280                 shovel_down();
 281         }
 282
 283         STMCH_DEBUG("end");
 284 }
 285
 286 /* eject cobs */
 287 static void state_do_eject(void)
 288 {
 289         state_status = I2C_COBBOARD_STATUS_EJECT;
 290         cob_count = 0;
 291         shovel_mid();
 292         servo_carry_open();
 293         servo_door_open();
 294         time_wait_ms(2000);
 295         shovel_down();
 296         servo_door_close();
 297         servo_carry_close();
 298 }
 299
 300 /* main state machine */
 301 void state_machine(void)
 302 {
 303         while (state_want_exit() == 0) {
 304
 305                 state_status = I2C_COBBOARD_STATUS_READY;
 306
 307                 /* init */
 308                 if (INIT(state_mode)) {
 309                         state_mode &= (~I2C_COBBOARD_MODE_INIT);
 310                         state_init();
 311                 }
 312
 313                 /* pack/deply spickles, enable/disable roller */
 314                 cobroller_off(I2C_LEFT_SIDE);
 315                 cobroller_off(I2C_RIGHT_SIDE);
 316                 spickle_prepare(I2C_LEFT_SIDE);
 317                 spickle_prepare(I2C_RIGHT_SIDE);
 318
 319                 /* harvest */
 320                 if (cob_count < 5) {
 321                         if (L_DEPLOY(state_mode) && L_HARVEST(state_mode))
 322                                 state_do_harvest(I2C_LEFT_SIDE);
 323                         if (R_DEPLOY(state_mode) && R_HARVEST(state_mode))
 324                                 state_do_harvest(I2C_RIGHT_SIDE);
 325                 }
 326
 327                 /* eject */
 328                 if (EJECT(state_mode)) {
 329                         state_mode &= (~I2C_COBBOARD_MODE_EJECT);
 330                         state_do_eject();
 331                 }
 332         }
 333 }
 334
 335 void state_init(void)
 336 {
 337         vt100_init(&local_vt100);
 338         shovel_down();
 339         servo_door_close();
 340         servo_carry_close();
 341         spickle_pack(I2C_LEFT_SIDE);
 342         spickle_pack(I2C_RIGHT_SIDE);
 343         state_mode = 0;
 344         cob_count = 0;
 345         state_status = I2C_COBBOARD_STATUS_READY;
 346 }