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;
61 static uint8_t cob_count;
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))
72 uint8_t state_debug = 0;
75 static void state_dump_sensors(void)
77 STMCH_DEBUG("TODO\n");
81 static void state_debug_wait_key_pressed(void)
85 printf_P(PSTR("press a key\r\n"));
86 while(!cmdline_keypressed());
89 /* return true if cob is present */
90 static uint8_t state_cob_present(uint8_t side)
92 if (side == I2C_LEFT_SIDE)
93 return sensor_get(S_LCOB);
96 // return sensor_get(S_LCOB);
100 /* return the detected color of the cob (only valid if present) */
101 static uint8_t state_cob_color(uint8_t side)
103 if (side == I2C_LEFT_SIDE)
104 return I2C_COB_WHITE;
107 // return sensor_get(S_LCOB);
111 /* set a new state, return 0 on success */
112 int8_t state_set_mode(uint8_t mode)
115 /* XXX synchrounous pack here */
116 STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d "
117 "r_deploy=%d r_harvest=%d eject=%d",
118 __FUNCTION__, L_DEPLOY(mode), L_HARVEST(mode),
119 R_DEPLOY(mode), R_HARVEST(mode), EJECT(mode));
123 /* check that state is the one in parameter and that state did not
125 static uint8_t state_want_exit(void)
129 /* force quit when CTRL-C is typed */
130 c = cmdline_getchar();
133 if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
138 uint8_t state_get_mode(void)
143 /* harvest cobs from area */
144 static void state_do_harvest(uint8_t side)
148 /* if there is no cob, return */
149 if (state_cob_present(side))
152 /* if it is black, nothing to do */
153 if (state_cob_color(side) == I2C_COB_BLACK)
158 state_debug_wait_key_pressed();
159 delay = spickle_get_pack_delay(side);
162 /* redeploy the spickle */
163 spickle_deploy(side);
164 state_debug_wait_key_pressed();
171 state_debug_wait_key_pressed();
173 state_debug_wait_key_pressed();
177 static void state_do_eject(void)
185 /* main state machine */
186 void state_machine(void)
188 while (state_want_exit() == 0) {
191 if (!L_DEPLOY(state_mode))
192 spickle_pack(I2C_LEFT_SIDE);
193 if (!R_DEPLOY(state_mode))
194 spickle_pack(I2C_RIGHT_SIDE);
197 if (L_DEPLOY(state_mode) && L_HARVEST(state_mode))
198 state_do_harvest(I2C_LEFT_SIDE);
199 if (R_DEPLOY(state_mode) && R_HARVEST(state_mode))
200 state_do_harvest(I2C_RIGHT_SIDE);
203 if (EJECT(state_mode))
208 void state_init(void)
210 vt100_init(&local_vt100);
212 spickle_pack(I2C_LEFT_SIDE);
213 spickle_pack(I2C_RIGHT_SIDE);