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, lspickle, rspickle;
  61 static volatile uint8_t state_status;
  62 static volatile uint8_t state_i2c_ignore = 0;
  63 static uint8_t cob_count;
  64
  65 /* short aliases */
  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)
  69
  70 uint8_t state_debug = 0;
  71
  72 uint8_t state_get_cob_count(void)
  73 {
  74         return cob_count;
  75 }
  76
  77 static void state_debug_wait_key_pressed(void)
  78 {
  79         if (!state_debug)
  80                 return;
  81         printf_P(PSTR("press a key\r\n"));
  82         while(!cmdline_keypressed());
  83 }
  84
  85 /* return true if the cob is correctly inside */
  86 static uint8_t state_cob_inside(void)
  87 {
  88         return sensor_get(S_COB_INSIDE_L) &&
  89                 sensor_get(S_COB_INSIDE_R);
  90 }
  91
  92 /* return true if there is no cob correctly inside */
  93 static uint8_t state_no_cob_inside(void)
  94 {
  95         return !sensor_get(S_COB_INSIDE_L) &&
  96                 !sensor_get(S_COB_INSIDE_R);
  97 }
  98
  99 static uint8_t state_spicklemode_deployed(uint8_t side)
 100 {
 101         if (side == I2C_LEFT_SIDE)
 102                 return lspickle & I2C_COBBOARD_SPK_DEPLOY;
 103         else
 104                 return rspickle & I2C_COBBOARD_SPK_DEPLOY;
 105 }
 106
 107 static uint8_t state_spicklemode_autoharvest(uint8_t side)
 108 {
 109         if (side == I2C_LEFT_SIDE)
 110                 return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
 111         else
 112                 return rspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
 113 }
 114
 115 static uint8_t state_spicklemode_nomove(uint8_t side)
 116 {
 117         if (side == I2C_LEFT_SIDE)
 118                 return lspickle & I2C_COBBOARD_SPK_NO_MOVE;
 119         else
 120                 return rspickle & I2C_COBBOARD_SPK_NO_MOVE;
 121 }
 122
 123 /* pack/deploy spickles depending on mode */
 124 static void spickle_prepare(uint8_t side)
 125 {
 126         /* we do nothing in mode no out */
 127         if (state_spicklemode_nomove(side))
 128                 return;
 129
 130         if (state_spicklemode_deployed(side))
 131                 spickle_deploy(side);
 132         else
 133                 spickle_pack(side);
 134 }
 135
 136 void state_set_spickle(uint8_t side, uint8_t flags)
 137 {
 138         if (side == I2C_LEFT_SIDE) {
 139                 /* the PACK command preempts the current action if the
 140                  * arm is not busy */
 141                 if (lspickle != 0 && flags == 0 &&
 142                     state_status != I2C_COBBOARD_STATUS_LBUSY)
 143                         spickle_prepare(I2C_LEFT_SIDE);
 144                 lspickle = flags;
 145         }
 146         else {
 147                 /* the PACK command preempts the current action if the
 148                  * arm is not busy */
 149                 if (rspickle != 0 && flags == 0 &&
 150                     state_status != I2C_COBBOARD_STATUS_RBUSY)
 151                         spickle_prepare(I2C_RIGHT_SIDE);
 152                 rspickle = flags;
 153         }
 154 }
 155
 156 /* set a new state, return 0 on success */
 157 int8_t state_set_mode(uint8_t mode)
 158 {
 159         state_mode = mode;
 160         STMCH_DEBUG("%s(): mode=%x", __FUNCTION__, mode);
 161         return 0;
 162 }
 163
 164 void state_set_i2c_ignore(uint8_t val)
 165 {
 166         state_i2c_ignore = val;
 167 }
 168
 169 uint8_t state_get_i2c_ignore(void)
 170 {
 171         return state_i2c_ignore;
 172 }
 173
 174 /* check that state is the one in parameter and that state did not
 175  * changed */
 176 static uint8_t state_want_exit(void)
 177 {
 178         int16_t c;
 179
 180         /* force quit when CTRL-C is typed */
 181         c = cmdline_getchar();
 182         if (c == -1)
 183                 return 0;
 184         if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
 185                 return 1;
 186         printf_P(PSTR("CTRL-C\r\n"));
 187         return 0;
 188 }
 189
 190 uint8_t state_get_mode(void)
 191 {
 192         return state_mode;
 193 }
 194
 195 uint8_t state_get_status(void)
 196 {
 197         return state_status;
 198 }
 199
 200 /* harvest cobs from area */
 201 static void state_do_harvest(uint8_t side)
 202 {
 203         /* if there is no cob, return */
 204         if (cob_falling_edge(side) == 0)
 205                 return;
 206
 207         if (side == I2C_LEFT_SIDE)
 208                 state_status = I2C_COBBOARD_STATUS_LBUSY;
 209         else
 210                 state_status = I2C_COBBOARD_STATUS_RBUSY;
 211
 212         STMCH_DEBUG("start");
 213
 214         /* eat the cob */
 215         spickle_pack(side);
 216
 217         time_wait_ms(200);
 218         cobroller_on(side);
 219
 220         /* check that cob is correctly in place */
 221         if (WAIT_COND_OR_TIMEOUT(state_cob_inside(), 750) == 0) {
 222                 if (state_no_cob_inside()) {
 223                         STMCH_DEBUG("no cob");
 224                         return;
 225                 }
 226                 STMCH_DEBUG("bad cob state");
 227
 228                 /* while cob is not correctly placed try to extract
 229                  * it as much as we can */
 230                 while (state_cob_inside() == 0 &&
 231                        state_no_cob_inside() == 0) {
 232                         uint8_t cpt = 0;
 233                         if (cpt == 0)
 234                                 cobroller_reverse(side);
 235                         else if (cpt == 1)
 236                                 cobroller_off(side);
 237                         else if (cpt == 2)
 238                                 cobroller_on(side);
 239                         cpt ++;
 240                         cpt %= 3;
 241                         shovel_mid();
 242                         time_wait_ms(250);
 243                         shovel_down();
 244                         time_wait_ms(250);
 245                 }
 246
 247                 STMCH_DEBUG("cob removed");
 248                 if (state_no_cob_inside()) {
 249                         STMCH_DEBUG("no cob");
 250                         return;
 251                 }
 252         }
 253
 254         /* cob is inside, switch off roller */
 255         cobroller_off(side);
 256         cob_count ++;
 257
 258         state_debug_wait_key_pressed();
 259
 260         /* last cob, nothing to do */
 261         if (cob_count == 5)
 262                 return;
 263
 264         /* redeploy the spickle if there is a black cob */
 265         if (!state_spicklemode_nomove(side))
 266                 spickle_deploy(side);
 267         state_debug_wait_key_pressed();
 268
 269         /* let the loaded cobs go */
 270         servo_door_block();
 271         servo_carry_open();
 272         time_wait_ms(100);
 273         state_debug_wait_key_pressed();
 274
 275         /* store it */
 276         shovel_up();
 277
 278         while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 600) == 0) {
 279                 STMCH_DEBUG("shovel blocked");
 280                 shovel_down();
 281                 time_wait_ms(250);
 282                 shovel_up();
 283         }
 284
 285         state_debug_wait_key_pressed();
 286
 287         /* close the carry servos */
 288         servo_carry_close();
 289         servo_door_close();
 290         time_wait_ms(200);
 291         state_debug_wait_key_pressed();
 292
 293         shovel_down();
 294
 295         while (WAIT_COND_OR_TIMEOUT(shovel_is_down(), 400) == 0) {
 296                 STMCH_DEBUG("shovel blocked");
 297                 shovel_up();
 298                 time_wait_ms(250);
 299                 shovel_down();
 300         }
 301
 302         STMCH_DEBUG("end");
 303 }
 304
 305 /* eject cobs */
 306 static void state_do_eject(void)
 307 {
 308         state_status = I2C_COBBOARD_STATUS_EJECT;
 309         cob_count = 0;
 310         shovel_mid();
 311         servo_carry_open();
 312         servo_door_open();
 313         time_wait_ms(2000);
 314         shovel_down();
 315         servo_door_close();
 316         servo_carry_close();
 317 }
 318
 319 /* main state machine */
 320 void state_machine(void)
 321 {
 322         while (state_want_exit() == 0) {
 323
 324                 state_status = I2C_COBBOARD_STATUS_READY;
 325
 326                 /* init */
 327                 if (INIT(state_mode)) {
 328                         state_init();
 329                         state_mode = I2C_COBBOARD_MODE_HARVEST;
 330                 }
 331
 332                 /* pack/deply spickles, enable/disable roller */
 333                 cobroller_off(I2C_LEFT_SIDE);
 334                 cobroller_off(I2C_RIGHT_SIDE);
 335                 spickle_prepare(I2C_LEFT_SIDE);
 336                 spickle_prepare(I2C_RIGHT_SIDE);
 337
 338                 /* harvest */
 339                 if (cob_count < 5) {
 340                         if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
 341                             state_spicklemode_autoharvest(I2C_LEFT_SIDE))
 342                                 state_do_harvest(I2C_LEFT_SIDE);
 343                         if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
 344                             state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
 345                                 state_do_harvest(I2C_RIGHT_SIDE);
 346                 }
 347
 348                 /* eject */
 349                 if (EJECT(state_mode)) {
 350                         state_mode = I2C_COBBOARD_MODE_HARVEST;
 351                         state_do_eject();
 352                 }
 353         }
 354         state_status = I2C_COBBOARD_STATUS_OFF;
 355 }
 356
 357 void state_init(void)
 358 {
 359         vt100_init(&local_vt100);
 360         shovel_down();
 361         servo_door_close();
 362         servo_carry_close();
 363         spickle_pack(I2C_LEFT_SIDE);
 364         spickle_pack(I2C_RIGHT_SIDE);
 365         state_mode = 0;
 366         cob_count = 0;
 367         state_status = I2C_COBBOARD_STATUS_OFF;
 368 }