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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 <stdio.h>
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 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 opened:
case opening:
case timeout_after_open:
case timeout_after_close:
case error:
case manual_movement:
break;
}
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;
}
}
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