X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;h=389411ebe07746371e2e0fdb4839af30168ae725;hp=f9aefa6aa2a964aeff2c9023a2205daed1499255;hb=b022f257a5ee568737e1a684a83d0154397fffcb;hpb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305 diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c index f9aefa6..389411e 100644 --- a/projects/microb2010/cobboard/state.c +++ b/projects/microb2010/cobboard/state.c @@ -1,6 +1,6 @@ -/* +/* * Copyright Droids Corporation (2009) - * + * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or @@ -48,31 +48,37 @@ #include "cmdline.h" #include "sensor.h" #include "actuator.h" +#include "spickle.h" +#include "shovel.h" #include "state.h" #define STMCH_DEBUG(args...) DEBUG(E_USER_ST_MACH, args) #define STMCH_NOTICE(args...) NOTICE(E_USER_ST_MACH, args) #define STMCH_ERROR(args...) ERROR(E_USER_ST_MACH, args) -/* shorter aliases for this file */ -#define INIT I2C_COBBOARD_MODE_INIT -#define MANUAL I2C_COBBOARD_MODE_MANUAL -#define HARVEST I2C_COBBOARD_MODE_HARVEST -#define EXIT I2C_COBBOARD_MODE_EXIT - -static struct i2c_cmd_cobboard_set_mode mainboard_command; static struct vt100 local_vt100; -static volatile uint8_t prev_state; -static volatile uint8_t changed = 0; +static volatile uint8_t state_mode; +static volatile uint8_t state_status; +static uint8_t cob_count; + +/* short aliases */ +#define L_DEPLOY(mode) (!!((mode) & I2C_COBBOARD_MODE_L_DEPLOY)) +#define R_DEPLOY(mode) (!!((mode) & I2C_COBBOARD_MODE_R_DEPLOY)) +#define DEPLOY(side, mode) ((side) == I2C_LEFT_SIDE ? L_DEPLOY(mode) : R_DEPLOY(mode)) +#define L_HARVEST(mode) (!!((mode) & I2C_COBBOARD_MODE_L_HARVEST)) +#define R_HARVEST(mode) (!!((mode) & I2C_COBBOARD_MODE_R_HARVEST)) +#define HARVEST(side, mode) ((side) == I2C_LEFT_SIDE ? L_HARVEST(mode) : R_HARVEST(mode)) +#define EJECT(mode) (!!((mode) & I2C_COBBOARD_MODE_EJECT)) +#define INIT(mode) (!!((mode) & I2C_COBBOARD_MODE_INIT)) uint8_t state_debug = 0; -void state_dump_sensors(void) +uint8_t state_get_cob_count(void) { - STMCH_DEBUG("TODO\n"); + return cob_count; } -void state_debug_wait_key_pressed(void) +static void state_debug_wait_key_pressed(void) { if (!state_debug) return; @@ -80,84 +86,239 @@ void state_debug_wait_key_pressed(void) while(!cmdline_keypressed()); } +/* return true if the cob is correctly inside */ +static uint8_t state_cob_inside(void) +{ + return sensor_get(S_COB_INSIDE_L) && + sensor_get(S_COB_INSIDE_R); +} + +/* return true if there is no cob correctly inside */ +static uint8_t state_no_cob_inside(void) +{ + return !sensor_get(S_COB_INSIDE_L) && + !sensor_get(S_COB_INSIDE_R); +} + +/* pack/deploy spickles depending on mode */ +static void spickle_prepare(uint8_t side) +{ + if (cob_count >= 5) + spickle_pack(side); + else if (DEPLOY(side, state_mode) && !HARVEST(side, state_mode)) + spickle_mid(side); + else if (DEPLOY(side, state_mode) && HARVEST(side, state_mode)) + spickle_deploy(side); + else + spickle_pack(side); +} + /* set a new state, return 0 on success */ -int8_t state_set_mode(struct i2c_cmd_cobboard_set_mode *cmd) +int8_t state_set_mode(uint8_t mode) { - changed = 1; - prev_state = mainboard_command.mode; - memcpy(&mainboard_command, cmd, sizeof(mainboard_command)); - STMCH_DEBUG("%s mode=%d", __FUNCTION__, mainboard_command.mode); + state_mode = mode; + + /* preempt current action if not busy */ + if (state_status != I2C_COBBOARD_STATUS_LBUSY) + spickle_prepare(I2C_LEFT_SIDE); + if (state_status != I2C_COBBOARD_STATUS_RBUSY) + spickle_prepare(I2C_RIGHT_SIDE); + +/* 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)); */ + return 0; } /* check that state is the one in parameter and that state did not * changed */ -uint8_t state_check(uint8_t mode) +static uint8_t state_want_exit(void) { int16_t c; - if (mode != mainboard_command.mode) - return 0; - - if (changed) - return 0; /* force quit when CTRL-C is typed */ c = cmdline_getchar(); if (c == -1) - return 1; - if (vt100_parser(&local_vt100, c) == KEY_CTRL_C) { - mainboard_command.mode = EXIT; return 0; - } - return 1; + if (vt100_parser(&local_vt100, c) == KEY_CTRL_C) + return 1; + printf_P(PSTR("CTRL-C\r\n")); + return 0; } uint8_t state_get_mode(void) { - return mainboard_command.mode; + return state_mode; } -/* manual mode, arm position is sent from mainboard */ -static void state_do_manual(void) +uint8_t state_get_status(void) { - if (!state_check(MANUAL)) - return; - STMCH_DEBUG("%s mode=%d", __FUNCTION__, state_get_mode()); - while (state_check(MANUAL)); + return state_status; } -/* init mode */ -static void state_do_init(void) +/* harvest cobs from area */ +static void state_do_harvest(uint8_t side) { - if (!state_check(INIT)) + 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); + cobroller_on(side); + + /* check that cob is correctly in place */ + if (WAIT_COND_OR_TIMEOUT(state_cob_inside(), 750) == 0) { + if (state_no_cob_inside()) { + STMCH_DEBUG("no cob"); + return; + } + STMCH_DEBUG("bad cob state"); + + /* while cob is not correctly placed try to extract + * it as much as we can */ + while (state_cob_inside() == 0 && + state_no_cob_inside() == 0) { + uint8_t cpt = 0; + if (cpt == 0) + cobroller_reverse(side); + else if (cpt == 1) + cobroller_off(side); + else if (cpt == 2) + cobroller_on(side); + cpt ++; + cpt %= 3; + shovel_mid(); + time_wait_ms(250); + shovel_down(); + time_wait_ms(250); + } + + STMCH_DEBUG("cob removed"); + if (state_no_cob_inside()) { + STMCH_DEBUG("no cob"); + return; + } + } + + /* cob is inside, switch off roller */ + cobroller_off(side); + cob_count ++; + + /* last cob, nothing to do */ + if (cob_count == 5) return; - state_init(); - STMCH_DEBUG("%s mode=%d", __FUNCTION__, state_get_mode()); - while (state_check(INIT)); + + /* redeploy the spickle */ + spickle_deploy(side); + state_debug_wait_key_pressed(); + + /* let the loaded cobs go */ + servo_door_block(); + servo_carry_open(); + time_wait_ms(100); + state_debug_wait_key_pressed(); + + /* store it */ + shovel_up(); + + while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 400) == 0) { + STMCH_DEBUG("shovel blocked"); + shovel_down(); + time_wait_ms(250); + shovel_up(); + } + + state_debug_wait_key_pressed(); + + /* close the carry servos */ + servo_carry_close(); + servo_door_close(); + time_wait_ms(200); + state_debug_wait_key_pressed(); + + shovel_down(); + + while (WAIT_COND_OR_TIMEOUT(shovel_is_down(), 400) == 0) { + STMCH_DEBUG("shovel blocked"); + shovel_up(); + time_wait_ms(250); + shovel_down(); + } + + STMCH_DEBUG("end"); } -/* harvest columns elts from area */ -static void state_do_harvest(void) +/* eject cobs */ +static void state_do_eject(void) { - if (!state_check(HARVEST)) - return; - STMCH_DEBUG("%s mode=%d", __FUNCTION__, state_get_mode()); - while (state_check(HARVEST)); + state_status = I2C_COBBOARD_STATUS_EJECT; + cob_count = 0; + shovel_mid(); + servo_carry_open(); + servo_door_open(); + time_wait_ms(2000); + shovel_down(); + servo_door_close(); + servo_carry_close(); } + /* main state machine */ void state_machine(void) { - while (state_get_mode() != EXIT) { - changed = 0; - state_do_init(); - state_do_manual(); - state_do_harvest(); + while (state_want_exit() == 0) { + + state_status = I2C_COBBOARD_STATUS_READY; + + /* init */ + if (INIT(state_mode)) { + state_mode &= (~I2C_COBBOARD_MODE_INIT); + state_init(); + } + + /* pack/deply spickles, enable/disable roller */ + cobroller_off(I2C_LEFT_SIDE); + cobroller_off(I2C_RIGHT_SIDE); + spickle_prepare(I2C_LEFT_SIDE); + spickle_prepare(I2C_RIGHT_SIDE); + + /* harvest */ + if (cob_count < 5) { + if (L_DEPLOY(state_mode) && L_HARVEST(state_mode)) + state_do_harvest(I2C_LEFT_SIDE); + if (R_DEPLOY(state_mode) && R_HARVEST(state_mode)) + state_do_harvest(I2C_RIGHT_SIDE); + } + + /* eject */ + if (EJECT(state_mode)) { + state_mode &= (~I2C_COBBOARD_MODE_EJECT); + state_do_eject(); + } } + state_status = I2C_COBBOARD_STATUS_READY; } void state_init(void) { vt100_init(&local_vt100); - mainboard_command.mode = HARVEST; - cobboard.cob_count = 0; + shovel_down(); + servo_door_close(); + servo_carry_close(); + spickle_pack(I2C_LEFT_SIDE); + spickle_pack(I2C_RIGHT_SIDE); + state_mode = 0; + cob_count = 0; + state_status = I2C_COBBOARD_STATUS_READY; }