X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;h=cbbc8293b5d28ffeb83d3afaf095711cd2799fab;hp=9d082bacf7aabb9b606b654d00fd635bac4e0e12;hb=ba4ad67d2bd3457a12615439a7e2f748cfb7bcde;hpb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 9d082ba..cbbc829 100644
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -57,28 +57,18 @@
 #define STMCH_ERROR(args...) ERROR(E_USER_ST_MACH, args)
 
 static struct vt100 local_vt100;
-static volatile uint8_t state_mode;
+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 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))
+#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;
 
-#if 0
-static void state_dump_sensors(void)
-{
-	STMCH_DEBUG("TODO\n");
-}
-#endif
-
 uint8_t state_get_cob_count(void)
 {
 	return cob_count;
@@ -92,50 +82,93 @@ static void state_debug_wait_key_pressed(void)
 	while(!cmdline_keypressed());
 }
 
-/* return true if cob is present */
-static uint8_t state_cob_present(uint8_t side)
+/* 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);
+}
+
+static uint8_t state_spicklemode_deployed(uint8_t side)
 {
 	if (side == I2C_LEFT_SIDE)
-		return sensor_get(S_LCOB);
+		return lspickle & I2C_COBBOARD_SPK_DEPLOY;
 	else
-		return sensor_get(S_RCOB);
+		return rspickle & I2C_COBBOARD_SPK_DEPLOY;
 }
 
-/* return the detected color of the cob (only valid if present) */
-static uint8_t state_cob_color(uint8_t side)
+static uint8_t state_spicklemode_autoharvest(uint8_t side)
 {
-	/* XXX no color sensor for now */
 	if (side == I2C_LEFT_SIDE)
-		return I2C_COB_WHITE;
+		return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
 	else
-		return I2C_COB_WHITE;
+		return rspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
 }
 
-/* return true if the cob is correctly inside */
-static uint8_t state_cob_inside(void)
+static uint8_t state_spicklemode_nomove(uint8_t side)
 {
-	return sensor_get(S_COB_INSIDE_L) &&
-		sensor_get(S_COB_INSIDE_R);
+	if (side == I2C_LEFT_SIDE)
+		return lspickle & I2C_COBBOARD_SPK_NO_MOVE;
+	else
+		return rspickle & I2C_COBBOARD_SPK_NO_MOVE;
 }
 
-/* return true if there is no cob correctly inside */
-static uint8_t state_no_cob_inside(void)
+/* pack/deploy spickles depending on mode */
+static void spickle_prepare(uint8_t side)
 {
-	return !sensor_get(S_COB_INSIDE_L) &&
-		!sensor_get(S_COB_INSIDE_R);
+	/* 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);
+}
+
+void state_set_spickle(uint8_t side, uint8_t flags)
+{
+	if (side == I2C_LEFT_SIDE) {
+		/* 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 {
+		/* 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);
+		rspickle = flags;
+	}
 }
 
 /* set a new state, return 0 on success */
 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
@@ -159,44 +192,78 @@ uint8_t state_get_mode(void)
 	return state_mode;
 }
 
+uint8_t state_get_status(void)
+{
+	return state_status;
+}
+
 /* harvest cobs from area */
 static void state_do_harvest(uint8_t side)
 {
 	/* if there is no cob, return */
-	if (state_cob_present(side))
+	if (cob_falling_edge(side) == 0)
 		return;
 
-	/* if it is black, nothing to do */
-	if (state_cob_color(side) == I2C_COB_BLACK)
-		return;
+	if (side == I2C_LEFT_SIDE)
+		state_status = I2C_COBBOARD_STATUS_LBUSY;
+	else
+		state_status = I2C_COBBOARD_STATUS_RBUSY;
 
 	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 */
 	if (WAIT_COND_OR_TIMEOUT(state_cob_inside(), 750) == 0) {
 		if (state_no_cob_inside()) {
-			printf_P(PSTR("NO COB\r\n"));
+			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;
 		}
-		printf_P(PSTR("BAD COB - press a key\r\n"));
-		while(!cmdline_keypressed());
 	}
 
 	/* cob is inside, switch off roller */
 	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 */
@@ -208,10 +275,11 @@ static void state_do_harvest(uint8_t side)
 	/* store it */
 	shovel_up();
 
-	if (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 400) == 0) {
-		BRAKE_ON();
-		printf_P(PSTR("BLOCKED\r\n"));
-		while(!cmdline_keypressed());
+	while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 600) == 0) {
+		STMCH_DEBUG("shovel blocked");
+		shovel_down();
+		time_wait_ms(250);
+		shovel_up();
 	}
 
 	state_debug_wait_key_pressed();
@@ -224,10 +292,11 @@ static void state_do_harvest(uint8_t side)
 
 	shovel_down();
 
-	if (WAIT_COND_OR_TIMEOUT(shovel_is_down(), 400) == 0) {
-		BRAKE_ON();
-		printf_P(PSTR("BLOCKED\r\n"));
-		while(!cmdline_keypressed());
+	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");
@@ -236,6 +305,7 @@ static void state_do_harvest(uint8_t side)
 /* eject cobs */
 static void state_do_eject(void)
 {
+	state_status = I2C_COBBOARD_STATUS_EJECT;
 	cob_count = 0;
 	shovel_mid();
 	servo_carry_open();
@@ -251,48 +321,37 @@ void state_machine(void)
 {
 	while (state_want_exit() == 0) {
 
+		state_status = I2C_COBBOARD_STATUS_READY;
+
 		/* 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 */
 		cobroller_off(I2C_LEFT_SIDE);
 		cobroller_off(I2C_RIGHT_SIDE);
-
-		/* pack/deply spickles, enable/disable roller */
-		if (cob_count >= 5)
-			spickle_pack(I2C_LEFT_SIDE);
-		else if (L_DEPLOY(state_mode) && !L_HARVEST(state_mode))
-			spickle_mid(I2C_LEFT_SIDE);
-		else if (L_DEPLOY(state_mode) && L_HARVEST(state_mode))
-			spickle_deploy(I2C_LEFT_SIDE);
-		else
-			spickle_pack(I2C_LEFT_SIDE);
-
-		if (cob_count >= 5)
-			spickle_pack(I2C_RIGHT_SIDE);
-		else if (R_DEPLOY(state_mode) && !R_HARVEST(state_mode))
-			spickle_mid(I2C_RIGHT_SIDE);
-		else if (R_DEPLOY(state_mode) && R_HARVEST(state_mode))
-			spickle_deploy(I2C_RIGHT_SIDE);
-		else
-			spickle_pack(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))
+			if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
+			    state_spicklemode_autoharvest(I2C_LEFT_SIDE))
 				state_do_harvest(I2C_LEFT_SIDE);
-			if (R_DEPLOY(state_mode) && R_HARVEST(state_mode))
+			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();
 		}
 	}
+	state_status = I2C_COBBOARD_STATUS_OFF;
 }
 
 void state_init(void)
@@ -305,4 +364,5 @@ void state_init(void)
 	spickle_pack(I2C_RIGHT_SIDE);
 	state_mode = 0;
 	cob_count = 0;
+	state_status = I2C_COBBOARD_STATUS_OFF;
 }