needs other limit none

git-svn-id: https://svn.spreadspace.org/avr/trunk@152 aa12f405-d877-488e-9caf-2d797e2a1cc7

1 files changed, 37 insertions, 7 deletions

diff --git a/usb-i2c-sl018/statemachine.c b/usb-i2c-sl018/statemachine.c
index 5f5ea47..bb12e83 100644
--- a/usb-i2c-sl018/statemachine.c
+++ b/usb-i2c-sl018/statemachine.c
@@ -25,23 +25,23 @@
 #include "statemachine.h"
 #include "stepper.h"
 #include "eventqueue.h"
+#include "limits.h"
+#include <stdio.h>
 
-typedef enum state_enum {reset, closed, closing, open, opening, timeout_after_open, timeout_after_close, error, manual_movement} state_t;
+typedef enum state_enum {reset, closed, closing, opened, opening, timeout_after_open, timeout_after_close, error, manual_movement} state_t;
 state_t state = reset;
 
-void statemachine_task(void)
-{
-
-}
-
 void change_state(state_t new_state)
 {
+  if (new_state == state)
+    return;
+  printf("state: %d\n\r",new_state);
   switch(new_state) {
     case reset:
       break;
     case closed:
     case closing:
-    case open:
+    case opened:
     case opening:
     case timeout_after_open:
     case timeout_after_close:
@@ -51,3 +51,33 @@ void change_state(state_t new_state)
   }
   state = new_state;
 }
+
+void statemachine_task(void)
+{
+  limits_t limits = limits_get();
+  if (limits == both)
+    return change_state(error);
+
+  switch(state) {
+    case reset:
+      switch(limits) {
+        case open:
+          return change_state(opened);
+        case close:
+          return change_state(closed);
+        default:
+          return change_state(closing);
+      }
+    case closed:
+    case closing:
+    case opened:
+    case opening:
+    case timeout_after_open:
+    case timeout_after_close:
+    case error:
+    case manual_movement:
+      break;
+  }
+
+}
+