add ballboard state machine

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

diff --git a/projects/microb2010/ballboard/state.c b/projects/microb2010/ballboard/state.c
new file mode 100644 (file)
index 0000000..9568be8
--- /dev/null
+++ b/projects/microb2010/ballboard/state.c
@@ -0,0 +1,176 @@
+/*  
+ *  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;
+}