--- /dev/null
+/*
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: state.c,v 1.5 2009-11-08 17:25:00 zer0 Exp $
+ *
+ */
+
+#include <math.h>
+#include <string.h>
+
+#include <aversive.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <ax12.h>
+#include <uart.h>
+#include <spi.h>
+#include <encoders_spi.h>
+#include <pwm_ng.h>
+#include <timer.h>
+#include <scheduler.h>
+#include <clock_time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <blocking_detection_manager.h>
+
+#include <rdline.h>
+#include <vt100.h>
+
+#include "../common/i2c_commands.h"
+#include "main.h"
+#include "cmdline.h"
+#include "sensor.h"
+#include "actuator.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)
+
+static struct vt100 local_vt100;
+static volatile uint8_t state_mode;
+static uint8_t ball_count;
+
+/* short aliases */
+#define INIT I2C_BALLBOARD_MODE_INIT
+#define OFF I2C_BALLBOARD_MODE_OFF
+#define HARVEST I2C_BALLBOARD_MODE_HARVEST
+#define EJECT I2C_BALLBOARD_MODE_EJECT
+#define PREP_L_FORK I2C_BALLBOARD_MODE_PREP_L_FORK
+#define TAKE_L_FORK I2C_BALLBOARD_MODE_TAKE_L_FORK
+#define PREP_R_FORK I2C_BALLBOARD_MODE_PREP_R_FORK
+#define TAKE_R_FORK I2C_BALLBOARD_MODE_TAKE_R_FORK
+
+uint8_t state_debug = 0;
+
+#if 0
+static void state_dump_sensors(void)
+{
+ STMCH_DEBUG("TODO\n");
+}
+#endif
+
+uint8_t state_get_ball_count(void)
+{
+ return ball_count;
+}
+
+static void state_debug_wait_key_pressed(void)
+{
+ if (!state_debug)
+ return;
+ printf_P(PSTR("press a key\r\n"));
+ while (!cmdline_keypressed());
+}
+
+/* set a new state, return 0 on success */
+int8_t state_set_mode(uint8_t mode)
+{
+ state_mode = mode;
+
+/* 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 */
+static uint8_t state_want_exit(void)
+{
+ int16_t c;
+
+ /* force quit when CTRL-C is typed */
+ c = cmdline_getchar();
+ if (c == -1)
+ return 0;
+ 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 state_mode;
+}
+
+/* harvest balls from area */
+static void state_do_harvest(void)
+{
+ state_debug_wait_key_pressed();
+ roller_on();
+}
+
+/* eject balls */
+static void state_do_eject(void)
+{
+ roller_reverse();
+}
+
+/* main state machine */
+void state_machine(void)
+{
+ while (state_want_exit() == 0) {
+
+ switch (state_mode) {
+
+ case INIT:
+ state_mode = OFF;
+ state_init();
+ break;
+
+ case OFF:
+ roller_off();
+ break;
+
+ case HARVEST:
+ state_do_harvest();
+ break;
+
+ case EJECT:
+ state_mode = HARVEST;
+ state_do_eject();
+ break;
+
+ default:
+ break;
+ }
+ }
+}
+
+void state_init(void)
+{
+ vt100_init(&local_vt100);
+ state_mode = 0;
+ ball_count = 0;
+}
--- /dev/null
+/*
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: state.h,v 1.5 2009-11-08 17:25:00 zer0 Exp $
+ *
+ */
+
+#ifndef _STATE_H_
+#define _STATE_H_
+
+/* set a new state, return 0 on success */
+int8_t state_set_mode(uint8_t mode);
+
+/* get current state */
+uint8_t state_get_mode(void);
+
+uint8_t state_get_ball_count(void);
+
+/* launch state machine */
+void state_machine(void);
+
+void state_init(void);
+
+extern uint8_t state_debug;
+
+#endif