allow to harvest in nomove mode

[aversive.git] / projects / microb2010 / cobboard / state.c

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 7a1f047..cbbc829 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -59,12 +59,13 @@
 static struct vt100 local_vt100;
 static volatile uint8_t state_mode, lspickle, rspickle;
 static volatile uint8_t state_status;
+static volatile uint8_t state_i2c_ignore = 0;
 static uint8_t cob_count;
 
 /* short aliases */
-#define HARVEST(mode)    (!!((mode) & I2C_COBBOARD_MODE_HARVEST))
-#define EJECT(mode)      (!!((mode) & I2C_COBBOARD_MODE_EJECT))
-#define INIT(mode)       (!!((mode) & I2C_COBBOARD_MODE_INIT))
+#define INIT(mode)       ((mode) == I2C_COBBOARD_MODE_INIT)
+#define HARVEST(mode)    ((mode) == I2C_COBBOARD_MODE_HARVEST)
+#define EJECT(mode)      ((mode) == I2C_COBBOARD_MODE_EJECT)
 
 uint8_t state_debug = 0;
 
@@ -95,7 +96,7 @@ static uint8_t state_no_cob_inside(void)
                !sensor_get(S_COB_INSIDE_R);
 }
 
-static uint8_t is_deployed(uint8_t side)
+static uint8_t state_spicklemode_deployed(uint8_t side)
 {
        if (side == I2C_LEFT_SIDE)
                return lspickle & I2C_COBBOARD_SPK_DEPLOY;
@@ -103,7 +104,7 @@ static uint8_t is_deployed(uint8_t side)
                return rspickle & I2C_COBBOARD_SPK_DEPLOY;
 }
 
-static uint8_t is_autoharvest(uint8_t side)
+static uint8_t state_spicklemode_autoharvest(uint8_t side)
 {
        if (side == I2C_LEFT_SIDE)
                return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
@@ -111,14 +112,22 @@ static uint8_t is_autoharvest(uint8_t side)
                return rspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
 }
 
+static uint8_t state_spicklemode_nomove(uint8_t side)
+{
+       if (side == I2C_LEFT_SIDE)
+               return lspickle & I2C_COBBOARD_SPK_NO_MOVE;
+       else
+               return rspickle & I2C_COBBOARD_SPK_NO_MOVE;
+}
+
 /* pack/deploy spickles depending on mode */
 static void spickle_prepare(uint8_t side)
 {
-       if (cob_count >= 5)
-               spickle_pack(side);
-       else if (is_deployed(side) && !is_autoharvest(side))
-               spickle_mid(side);
-       else if (is_deployed(side) && is_autoharvest(side))
+       /* we do nothing in mode no out */
+       if (state_spicklemode_nomove(side))
+               return;
+
+       if (state_spicklemode_deployed(side))
                spickle_deploy(side);
        else
                spickle_pack(side);
@@ -127,14 +136,16 @@ static void spickle_prepare(uint8_t side)
 void state_set_spickle(uint8_t side, uint8_t flags)
 {
        if (side == I2C_LEFT_SIDE) {
-               /* preempt current action if not busy */
+               /* the PACK command preempts the current action if the
+                * arm is not busy */
                if (lspickle != 0 && flags == 0 &&
                    state_status != I2C_COBBOARD_STATUS_LBUSY)
                        spickle_prepare(I2C_LEFT_SIDE);
                lspickle = flags;
        }
        else {
-               /* preempt current action if not busy */
+               /* the PACK command preempts the current action if the
+                * arm is not busy */
                if (rspickle != 0 && flags == 0 &&
                    state_status != I2C_COBBOARD_STATUS_RBUSY)
                        spickle_prepare(I2C_RIGHT_SIDE);
@@ -146,13 +157,18 @@ void state_set_spickle(uint8_t side, uint8_t flags)
 int8_t state_set_mode(uint8_t mode)
 {
        state_mode = mode;
+       STMCH_DEBUG("%s(): mode=%x", __FUNCTION__, mode);
+       return 0;
+}
 
-/*     STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d " */
-/*                 "r_deploy=%d r_harvest=%d eject=%d", */
-/*                 __FUNCTION__, L_DEPLOY(mode), L_HARVEST(mode), */
-/*                 R_DEPLOY(mode), R_HARVEST(mode), EJECT(mode)); */
+void state_set_i2c_ignore(uint8_t val)
+{
+       state_i2c_ignore = val;
+}
 
-       return 0;
+uint8_t state_get_i2c_ignore(void)
+{
+       return state_i2c_ignore;
 }
 
 /* check that state is the one in parameter and that state did not
@@ -184,21 +200,21 @@ uint8_t state_get_status(void)
 /* harvest cobs from area */
 static void state_do_harvest(uint8_t side)
 {
+       /* if there is no cob, return */
+       if (cob_falling_edge(side) == 0)
+               return;
+
        if (side == I2C_LEFT_SIDE)
                state_status = I2C_COBBOARD_STATUS_LBUSY;
        else
                state_status = I2C_COBBOARD_STATUS_RBUSY;
 
-       /* if there is no cob, return */
-       if (cob_falling_edge(side) == 0)
-               return;
-
        STMCH_DEBUG("start");
 
        /* eat the cob */
        spickle_pack(side);
 
-       time_wait_ms(250);
+       time_wait_ms(200);
        cobroller_on(side);
 
        /* check that cob is correctly in place */
@@ -239,12 +255,15 @@ static void state_do_harvest(uint8_t side)
        cobroller_off(side);
        cob_count ++;
 
+       state_debug_wait_key_pressed();
+
        /* last cob, nothing to do */
        if (cob_count == 5)
                return;
 
-       /* redeploy the spickle */
-       spickle_deploy(side);
+       /* redeploy the spickle if there is a black cob */
+       if (!state_spicklemode_nomove(side))
+               spickle_deploy(side);
        state_debug_wait_key_pressed();
 
        /* let the loaded cobs go */
@@ -306,8 +325,8 @@ void state_machine(void)
 
                /* init */
                if (INIT(state_mode)) {
-                       state_mode &= (~I2C_COBBOARD_MODE_INIT);
                        state_init();
+                       state_mode = I2C_COBBOARD_MODE_HARVEST;
                }
 
                /* pack/deply spickles, enable/disable roller */
@@ -318,17 +337,17 @@ void state_machine(void)
 
                /* harvest */
                if (cob_count < 5) {
-                       if ((lspickle & I2C_COBBOARD_SPK_DEPLOY) &&
-                           (lspickle & I2C_COBBOARD_SPK_DEPLOY))
+                       if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
+                           state_spicklemode_autoharvest(I2C_LEFT_SIDE))
                                state_do_harvest(I2C_LEFT_SIDE);
-                       if ((rspickle & I2C_COBBOARD_SPK_DEPLOY) &&
-                           (rspickle & I2C_COBBOARD_SPK_DEPLOY))
+                       if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
+                           state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
                                state_do_harvest(I2C_RIGHT_SIDE);
                }
 
                /* eject */
                if (EJECT(state_mode)) {
-                       state_mode &= (~I2C_COBBOARD_MODE_EJECT);
+                       state_mode = I2C_COBBOARD_MODE_HARVEST;
                        state_do_eject();
                }
        }