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