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/*
* spreadspace avr utils
*
*
* Copyright (C) 2013 Christian Pointner <equinox@spreadspace.org>
* Othmar Gsenger <otti@wirdorange.org>
*
* This file is part of spreadspace avr utils.
*
* spreadspace avr utils 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 3 of the License, or
* any later version.
*
* spreadspace avr utils 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 spreadspace avr utils. If not, see <http://www.gnu.org/licenses/>.
*/
#include "statemachine.h"
#include "stepper.h"
#include "eventqueue.h"
#include "limits.h"
#include "ledmatrix.h"
#include <stdio.h>
typedef enum {reset, closed, closing, opened, opening, timeout_after_open, timeout_after_close, error, manual_movement} state_t;
state_t state = reset;
const char* state_to_string(state_t s)
{
switch(s) {
case reset: return "reset";
case error: return "error";
case closing: return "closing";
case opening: return "opening";
case manual_movement: return "manual movement";
case timeout_after_open: return "timeout after open";
case timeout_after_close: return "timeout after close";
case closed: return "closed";
case opened: return "opened";
}
return "invalid"; // gcc - shut the fuck up!!!
}
void change_state(state_t new_state)
{
if (new_state == state)
return;
printf("State: %s\n\r", state_to_string(new_state));
switch(new_state) {
case reset:
break;
case closed: ledmatrix_set(red); break;
case closing:
ledmatrix_set(red_moving);
stepper_start(dir_close);
break;
case opened: ledmatrix_set(green); break;
case opening:
ledmatrix_set(green_moving);
stepper_start(dir_open);
break;
case timeout_after_open: ledmatrix_set(green_blink); break;
case timeout_after_close: ledmatrix_set(red_blink); break;
case error: ledmatrix_set(rg_blink); break;
case manual_movement: ledmatrix_set(rg_moving); break;
break;
}
state = new_state;
}
void statemachine_task_limits(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 error:
case closed:
case opened:
switch(limits) {
case open:
return change_state(opened);
case close:
return change_state(closed);
default:
return change_state(manual_movement);
}
case manual_movement:
case timeout_after_open:
case timeout_after_close:
switch(limits) {
case open:
return change_state(opened);
case close:
return change_state(closed);
default:
return;
}
case closing:
break;
case opening:
break;
}
}
void statemachine_task_event(void)
{
event_t event = eventqueue_pop();
if(event == none)
return;
switch(state) {
case closing:
case opening:
switch(event) {
case open_fin:
return change_state(opened);
case close_fin:
return change_state(closed);
case move_timeout:
return change_state(state==opening?timeout_after_open:timeout_after_close);
default:
printf("Error(state): event %s not allowed in state %s\n\r", event_to_string(event), state_to_string(state));
return;
}
case reset:
case error:
printf("Error(state): Not accepting commands in state %s\n\r", state_to_string(state));
break; // Not accepting commands
case manual_movement:
case timeout_after_open:
case timeout_after_close:
case closed:
case opened:
switch(event) {
case none:
return;
case cmd_open:
return change_state(opening);
case cmd_close:
return change_state(closing);
case cmd_toggle:
case btn_toggle:
case card:
return change_state(
(state==closed || state == timeout_after_close) ?
opening:
closing);
case open_fin:
case close_fin:
case move_timeout:
printf("Error(state): event %s not allowed in state %s\n\r", event_to_string(event), state_to_string(state));
return;
}
}
}
void statemachine_task(void)
{
statemachine_task_limits();
statemachine_task_event();
}
const char* statemachine_get_state_as_string(void)
{
return state_to_string(state);
}
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