//==============================================================================
// This is The function that is called by the Main program to initialize
// the input controller, which in this case is the PS2 controller
// process any commands.
//==============================================================================
void DIYXBeeController::Init(void)
{
// Lets try to initialize the XBEE to use
InitXBee();
#ifdef __AVR__
#if not defined(UBRR1H)
XBeeSerial.listen();
#endif
#endif
// Clear any stuff left in the buffer
delay(20);
ClearXBeeInputBuffer();
#if 0 //def DBGSerial
word wMy = GetXBeeMY();
DBGSerial.print("XBee My: ");
DBGSerial.println(wMy, HEX);
#endif
g_BodyYOffset = 0;
g_BodyYSift = 0;
bXBeeControlMode = WALKMODE;
g_fDisplayLiPo = true; // assume we display the lipo state
}
/****************************************************************************
Function
RunLobbyistSM
Parameters
ES_Event : the event to process
Returns
ES_Event, ES_NO_EVENT if no error ES_ERROR otherwise
Description
Deals with the high level state transitions of the Lobbyist state machine.
****************************************************************************/
ES_Event RunLobbyistSM( ES_Event ThisEvent )
{
ES_Event ReturnEvent;
ReturnEvent.EventType = ES_NO_EVENT; // assume no errors
switch ( CurrentState )
{
case InitPState : // If current state is initial Psedudo State
if ( ThisEvent.EventType == ES_INIT ) // only respond to ES_Init
{
//Prep the timer hardware.
printf("Init Steering \r\n");
InitSteering(); // Initialize the steering systems
printf("Init Packets \r\n");
InitPackets(); // Initialize packet array
printf("Init XBee \r\n");
InitXBee(); // Initialize the comms
printf("Init Lift Fan \r\n");
InitLiftFan(); // Initialize the lift fan
//Initialize the DMC.
CurrentState = WaitingForPair;
}
break;
case WaitingForPair :
switch ( ThisEvent.EventType )
{
//If the event is a pair request, change state to pairing and wait for the key.
case MESSAGE_RECEIVED:
// Read incoming message
message = GetMessageData();
// Check that message is a pair request and that it's meant for us
if(*message == PAIR_REQUEST_HEADER && CheckLobbyistNumber() && GetApiIdentifier() == INCOMING_PACKET_API_IDENTIFIER){ // Ensure that this is not a Tx success receive
printf("\r\n Current Message Size: %d ", GetMessageDataSize());
// If we passed the checks, we're now paired. Start timers.
printf("\n\r\nPair request received in unpaired state.");
ES_Timer_InitTimer(UNPAIR_TIMER, UNPAIR_TIME); //Start the 45s timer
ES_Timer_InitTimer(PAIR_FAIL_TIMER, ONE_SEC); //Start the 1s timer
TurnOnLiftFan(); //Start the lift fan
//Update DMC
// Recognize our new pac daddy
pairedAddress = GetSenderAddress() ;
// Send an ACK back to the sender
TransmitStatusPacket(PAIRED);
// Set the pair time
PairTimeLeft = 45;
CurrentState = PairedAwaitEncryptionKey;
}
break;
default :
;
}
break;
case PairedAwaitEncryptionKey:
switch(ThisEvent.EventType){
case MESSAGE_RECEIVED:
// Check sender and message
message = GetMessageData();
uint16_t sender = GetSenderAddress() ;
if(sender == pairedAddress && *message == KEY_SEND_HEADER){
printf("\n\r\nKey received in pairing state.");
//Save the key
SetKey((message+1)); // Make sure to +1 to start after header byte
ES_Timer_InitTimer(PAIR_FAIL_TIMER, ONE_SEC); //Restart the 1s timer
TransmitStatusPacket(PAIRED); //transmit status with the pairing bit set.
CurrentState = PairedAwaitControl;
printf("\r\n In paired await control");
}
break;
case ES_TIMEOUT: // if there is a timeout on the 1s timer
printf("\n\r\n1s timeout in pairing - moving to awaiting pair.");
TurnOffLiftFan(); //Turn off the lift fan
//Update DMC to avaiable for pairing
ES_Timer_StopTimer(UNPAIR_TIMER); //Disable the 45s pairing timer
ES_Timer_StopTimer(PAIR_FAIL_TIMER); //Disable the 1s transmit timeout timer
TransmitStatusPacket(UNPAIRED); //Transmit status with the pairing bit cleared.
CurrentState = WaitingForPair;
break;
}
break;
case PairedAwaitControl:
switch(ThisEvent.EventType){
case MESSAGE_RECEIVED:
// See who sent the message
uint16_t sender = GetSenderAddress() ;
if(sender == pairedAddress){ // Only attempt decrypt if from sender
message = DecryptMessage(GetMessageData(),GetMessageDataSize());
RotateCipher();
// printf("\r\n Rotating Key");
if(*message == CNTRL_REQUEST_HEADER){
//printf("\n\r\nCommand received in the paired state.");
ES_Timer_InitTimer(PAIR_FAIL_TIMER, ONE_SEC); //Restart the control command timer.
ExecuteControl(); //Execute the control command.
TransmitStatusPacket(PAIRED);// ACK YAY. Transmit the status with pairing bit set.
} else {
printf("\n\r Not a valid control packet received, Header: %d", *message);
}
}
break;
case ES_TIMEOUT: //Either the 1s or 45s timer
case MANUAL_UNPAIR: // Or if the pair is manual
case DECRYPT_FAIL: // Or if the decryption failed
if(ThisEvent.EventParam == UNPAIR_TIMER){
// Keep track of how long is left on UNPAIR_TIMER
PairTimeLeft--;
printf("\n\r\nTime until unpair: %ds", PairTimeLeft);
// If timer has run for 45 s
if(PairTimeLeft == 0){
CurrentState = WaitingForPair;
TurnOffLiftFan(); //Turn off the lift fan
UpdateSteering(OFF,OFF); //Turn off the propulsion fans
//Update DMC to avaiable for pairing
ES_Timer_StopTimer(UNPAIR_TIMER); //Disable the 45s pairing timer
ES_Timer_StopTimer(PAIR_FAIL_TIMER); //Disable the 1s transmit timeout timer
printf("\n\r\nUnpairing.");
// If timer is not at 0, reinitialize the timer again for 1s to keep counting
}else{
ES_Timer_InitTimer(UNPAIR_TIMER, UNPAIR_TIME); //Start the 45s timer
}
} else {
// If we have an event NOT on the 45s timer, unpair
printf("\n\r\nTimeout in the paired state. Moving to waiting for pair \r\n");
TurnOffLiftFan(); //Turn off the lift fan
UpdateSteering(OFF,OFF); //Turn off the propulsion fans
//Update DMC to avaiable for pairing
ES_Timer_StopTimer(UNPAIR_TIMER); //Disable the 45s pairing timer
ES_Timer_StopTimer(PAIR_FAIL_TIMER); //Disable the 1s transmit timeout timer
if(ThisEvent.EventType == DECRYPT_FAIL){ // If this event came from a decryption failure //// WEHERE DOES THIS COME FROM?
TransmitStatusPacket(DECRYPT_FAILURE); // Transmit status with the decryption fail bit set
} else {
TransmitStatusPacket(UNPAIRED); //Transmit status with the pairing bit cleared.
}
CurrentState = WaitingForPair;
}
break;
}
break;
default :
break;
}
return ReturnEvent;
}
