/*..........................................................................*/
void onConsoleInput(uint8_t key) {
switch (key) {
case 'n': { /* new request? */
static uint8_t reqCtr = 0; /* count the requests */
QActive_post((QActive *)&AO_TServer, NEW_REQUEST_SIG, ++reqCtr);
break;
}
case 0x1B: { /* ESC pressed? */
QActive_post((QActive *)&AO_TServer, TERMINATE_SIG, 0);
break;
}
}
}
static QState mmi_busy(struct mmi_ao *me)
{
static const char busy_char[] = ". ";
static uint8_t busy_index;
switch (Q_SIG(me)) {
case Q_ENTRY_SIG:
// Print hello message
lcd_clear();
lcd_write(0, 0, "Busy ...", 0);
QActive_arm((QActive *) me, TIMEOUT_BUSY);
return Q_HANDLED();
case Q_EXIT_SIG:
QActive_disarm((QActive *) me);
return Q_HANDLED();
case Q_TIMEOUT_SIG:
lcd_char(15, 0, busy_char[busy_index]);
busy_index = (busy_index + 1) % (sizeof(busy_char) - 1);
QActive_arm((QActive *) me, TIMEOUT_BUSY);
return Q_HANDLED();
case SIG_KEY_PRESS:
if (Q_PAR(me) == KEY_LEFT) {
QActive_post((QActive *) &prog_ao, SIG_PROG_STOP, 0);
return Q_TRAN(mmi_navigate);
}
return Q_HANDLED();
case SIG_PROG_DONE:
return Q_TRAN(mmi_navigate);
}
return Q_SUPER(&QHsm_top);
}
/*..........................................................................*/
QState Ped_wait(Ped *me) {
switch (Q_SIG(me)) {
case Q_ENTRY_SIG: {
BSP_showState(me->super.prio, "wait");
me->retryCtr = N_ATTEMPTS;
QActive_arm((QActive *)me, WAIT_TOUT);
return Q_HANDLED();
}
case Q_TIMEOUT_SIG: {
if ((--me->retryCtr) != 0) {
QActive_arm((QActive *)me, WAIT_TOUT);
QActive_post((QActive *)&AO_Pelican, PEDS_WAITING_SIG, 0);
}
else {
return Q_TRAN(&Ped_off);
}
return Q_HANDLED();
}
case TERMINATE_SIG: {
QF_stop();
return Q_HANDLED();
}
}
return Q_SUPER(&QHsm_top);
}
static QState mmi_giga_pan(struct mmi_ao *me)
{
char tmp[17];
switch (Q_SIG(me)) {
case Q_ENTRY_SIG:
prog_init_giga_pan();
lcd_clear();
lcd_write(0, 0, "Giga pan", 0);
snprintf(tmp, sizeof(tmp), "%dx%d tiles", giga_info.tiles.x, giga_info.tiles.y);
lcd_write(0, 1, tmp, 0);
return Q_HANDLED();
case Q_EXIT_SIG:
return Q_HANDLED();
case Q_TIMEOUT_SIG:
return Q_HANDLED();
case SIG_KEY_PRESS:
switch (Q_PAR(me)) {
case KEY_ENTER:
QActive_post((QActive *) &prog_ao, SIG_PROG_START, PROG_GIGA_PAN);
return Q_TRAN(mmi_busy);
case KEY_LEFT:
return Q_TRAN(mmi_navigate);
}
return Q_HANDLED();;
}
return Q_SUPER(&QHsm_top);
}
/*..........................................................................*/
QState Alarm_on(Alarm *me) {
switch (Q_SIG(me)) {
case Q_ENTRY_SIG: {
printf("*** Alarm ON %02ld:%02ld\n",
me->alarm_time/60, me->alarm_time%60);
fflush(stdout);
return Q_HANDLED();
}
case ALARM_SET_SIG: {
printf("*** Cannot set Alarm when it is ON\n");
fflush(stdout);
return Q_HANDLED();
}
case ALARM_OFF_SIG: {
return Q_TRAN(&Alarm_off);
}
case TIME_SIG: {
if (Q_PAR(me) == me->alarm_time) {
printf("ALARM!!!\n");
/* asynchronously post the event to the container AO */
QActive_post((QActive *)&AO_AlarmClock, ALARM_SIG, 0);
}
return Q_HANDLED();
}
}
return Q_IGNORED();
}
/*..........................................................................*/
QState Sensor_polling(Sensor *me) {
switch (Q_SIG(me)) {
case Q_ENTRY_SIG: {
/* timeout in 1/2 second */
QActive_arm((QActive *)me, BSP_TICKS_PER_SEC/2);
return Q_HANDLED();
}
case Q_EXIT_SIG: {
QActive_disarm((QActive *)me);
return Q_HANDLED();
}
case Q_INIT_SIG: {
return Q_TRAN(&Sensor_processing);
}
case Q_TIMEOUT_SIG: {
/* timeout in 1/2 second */
QActive_arm((QActive *)me, BSP_TICKS_PER_SEC/2);
++me->pollCtr;
printf("poll %3d\n", me->pollCtr);
if ((me->pollCtr & 0x3) == 0) { /* modulo 4 */
QActive_post((QActive *)me, DATA_READY_SIG, 0);
}
return Q_HANDLED();
}
case TERMINATE_SIG: {
return Q_TRAN(&Sensor_final);
}
}
return Q_SUPER(&QHsm_top);
}
static void recall(struct UI *me)
{
if (me->deferredSignal) {
QActive_post(&me->super, me->deferredSignal, me->deferredParam);
me->deferredSignal = 0;
me->deferredParam = 0;
}
}
/*..........................................................................*/
QState Ped_off(Ped *me) {
switch (Q_SIG(me)) {
case Q_ENTRY_SIG: {
BSP_showState(me->super.prio, "off");
QActive_arm((QActive *)me, OFF_TOUT);
QActive_post((QActive *)&AO_Pelican, OFF_SIG, 0);
return Q_HANDLED();
}
case Q_TIMEOUT_SIG: {
QActive_post((QActive *)&AO_Pelican, ON_SIG, 0);
return Q_TRAN(&Ped_wait);
}
case TERMINATE_SIG: {
QF_stop();
return Q_HANDLED();
}
}
return Q_SUPER(&QHsm_top);
}
void TServer_recallRequest(TServer *me) {
if (me->deferredRequest.sig != 0) { /* the request already deferred? */
printf("recalling request #%d\n", (int)me->deferredRequest.par);
QActive_post((QActive *)me,
me->deferredRequest.sig, me->deferredRequest.par);
me->deferredRequest.sig = 0; /* request no longer deferred */
}
else {
printf("No requests to recall\n");
}
}
/*..........................................................................*/
QState Philo_hungry(Philo *me) {
switch (Q_SIG(me)) {
case Q_ENTRY_SIG: {
QActive_post((QActive *)&AO_Table, HUNGRY_SIG, me->super.prio);
return Q_HANDLED();
}
case EAT_SIG: {
BSP_busyDelay();
return Q_TRAN(&Philo_eating);
}
// case DONE_SIG: {
// Q_ERROR(); /* thes event should never arrive in this state */
// return Q_HANDLED();
// }
}
return Q_IGNORED();
}
/*..........................................................................*/
QState Oper_run(Oper *me) {
switch (Q_SIG(me)) {
case Q_ENTRY_SIG: {
QActive_arm((QActive *)me, me->interval);
return Q_HANDLED();
}
case Q_EXIT_SIG: {
uint8_t timeout = me->bomb_prev + 1;
if (timeout > me->bomb_max) {
timeout = me->bomb_min;
}
me->bomb_prev = timeout;
QActive_post((QActive *)&AO_Bomb, ARM_SIG, timeout);
return Q_HANDLED();
}
case Q_TIMEOUT_SIG: {
return Q_TRAN(&Oper_run); /* transition to self */
}
}
return Q_IGNORED();
}
/*..........................................................................*/
QState Philo_eating(Philo *me) {
switch (Q_SIG(me)) {
case Q_ENTRY_SIG: {
QActive_arm((QActive *)me, EAT_TIME);
return Q_HANDLED();
}
case Q_EXIT_SIG: {
BSP_busyDelay();
QActive_post((QActive *)&AO_Table, DONE_SIG, me->super.prio);
return Q_HANDLED();
}
case Q_TIMEOUT_SIG: {
return Q_TRAN(&Philo_thinking);
}
case EAT_SIG:
case DONE_SIG: {
Q_ERROR(); /* these events should never arrive in this state */
}
}
return Q_SUPER(&QHsm_top);
}
/**
* Hello state.
* Prints a hello message and waits for keypress or timeout to switch to main menu.
*/
static QState mmi_hello(struct mmi_ao *me)
{
switch (Q_SIG(me)) {
case Q_ENTRY_SIG:
// Print hello message
lcd_write(0, 0, " CamControl 0.1", 0);
lcd_write(0, 1, "----------------", 0);
QActive_post((QActive *) &backlight_ao, SIG_BACKLIGHT_ACTIVATE, 0);
QActive_arm((QActive *) me, TIMEOUT_HELLO);
return Q_HANDLED();
case Q_EXIT_SIG:
// Clear screen
QActive_disarm((QActive *) me);
return Q_HANDLED();
case Q_TIMEOUT_SIG:
case SIG_ENCODER:
case SIG_KEY_PRESS:
case SIG_KEY_RELEASE:
return Q_TRAN(mmi_navigate);
}
return Q_SUPER(&QHsm_top);
}
/*..........................................................................*/
void onConsoleInput(uint8_t key) {
switch (key) {
case 'o': { /* Alarm 'o'n event? */
QActive_post((QActive *)&AO_AlarmClock, ALARM_ON_SIG, 0);
break;
}
case 'f': { /* Alarm o'f'f event? */
QActive_post((QActive *)&AO_AlarmClock, ALARM_OFF_SIG, 0);
break;
}
case '0':
case '1':
case '2':
case '3':
case '4':
case '5':
case '6':
case '7':
case '8':
case '9': { /* Alarm set event? */
QActive_post((QActive *)&AO_AlarmClock, ALARM_SET_SIG, key - '0');
break;
}
case 'A': { /* Clock 12H event? */
QActive_post((QActive *)&AO_AlarmClock, CLOCK_12H_SIG, 0);
break;
}
case 'B': { /* Clock 24H event? */
QActive_post((QActive *)&AO_AlarmClock, CLOCK_24H_SIG, 0);
break;
}
case 0x1B: { /* ESC pressed? */
QActive_post((QActive *)&AO_AlarmClock, TERMINATE_SIG, 0);
break;
}
}
}
/**
* Navigate state.
* Navigates the menu structure using the following buttons:
* - up => go to previous item
* - down => go to next item
* - left => go to parent item
* - right => go to child item
*/
static QState mmi_navigate(struct mmi_ao *me)
{
switch (Q_SIG(me)) {
case Q_ENTRY_SIG:
update_screen(me);
return Q_HANDLED();
case Q_EXIT_SIG:
return Q_HANDLED();
case SIG_ENCODER:
switch (menu_cur->typ) {
case MENU_TYP_PARAM:
if (modify_param(menu_cur->param, Q_PAR(me), me->shift)) {
print_param(menu_cur->param);
if (menu_cur->cmd != CMD_NONE)
QActive_post((QActive *) me, SIG_MMI_CMD, menu_cur->cmd);
}
break;
default:
break;
}
return Q_HANDLED();
case SIG_MMI_CMD:
return execute_cmd(me, Q_PAR(me));
case SIG_MMI_SHOW_MSG:
return Q_TRAN(mmi_show_msg);
case SIG_KEY_PRESS:
switch (Q_PAR(me)) {
case KEY_UP:
// Go to previous item
if (menu_prev())
update_screen(me);
break;
case KEY_DOWN:
// Go to next item
if (menu_next())
update_screen(me);
break;
case KEY_LEFT:
// Go to parent item
if (menu_parent())
update_screen(me);
break;
case KEY_RIGHT:
// Go to sub item
if (menu_sub())
update_screen(me);
break;
case KEY_ENTER:
me->shift = 1;
switch (menu_cur->typ) {
case MENU_TYP_CMD:
// Execute command
if (menu_cur->cmd)
QActive_post((QActive *) me, SIG_MMI_CMD, menu_cur->cmd);
break;
case MENU_TYP_SUB:
// Go to sub item
if (menu_sub())
update_screen(me);
break;
default:
break;
}
break;
}
return Q_HANDLED();
case SIG_KEY_RELEASE:
switch (Q_PAR(me)) {
case KEY_ENTER:
me->shift = 0;
default:
break;
}
return Q_HANDLED();
case SIG_PROG_START:
return Q_TRAN(mmi_busy);
break;
}
return Q_SUPER(&QHsm_top);
}
static QState execute_cmd(struct mmi_ao *me, int cmd)
{
vec2f_t v;
switch (cmd) {
case CMD_SINGLE_SHOT:
QActive_post((QActive *) &shutter_ao, SIG_SHUTTER_START, 0);
break;
case CMD_SPHERICAL_PAN:
return Q_TRAN(mmi_spherical_pan);
case CMD_GIGA_PAN:
return Q_TRAN(mmi_giga_pan);
case CMD_TIMELAPSE:
QActive_post((QActive *) &prog_ao, SIG_PROG_START, PROG_TIMELAPSE);
QActive_post((QActive *) &mmi_ao, SIG_PROG_START, PROG_TIMELAPSE);
break;
case CMD_SAVE:
show_msg("Saving...", 1);
param_save();
break;
case CMD_SERVO_MIN:
vec2(&v, deg2rad(0.0), deg2rad(0.0));
servo_move(&v);
break;
case CMD_SERVO_CENTER:
vec2(&v, deg2rad(180.0), deg2rad(90.0));
servo_move(&v);
break;
case CMD_SERVO_MAX:
vec2(&v, deg2rad(360.0), deg2rad(180.0));
servo_move(&v);
break;
case CMD_UPDATE_SERVO_MIN_X:
servo_get_goal(&v);
v.x = deg2rad(0);;
servo_move(&v);
break;
case CMD_UPDATE_SERVO_MAX_X:
servo_get_goal(&v);
v.x = deg2rad(360);
servo_move(&v);
break;
case CMD_UPDATE_SERVO_MIN_Y:
servo_get_goal(&v);
v.y = deg2rad(0);
servo_move(&v);
break;
case CMD_UPDATE_SERVO_MAX_Y:
servo_get_goal(&v);
v.y = deg2rad(180);
servo_move(&v);
break;
case CMD_UPDATE_CENTER:
vec2(&v, deg2rad(pd.single.center_x), deg2rad(pd.single.center_y));
servo_move(&v);
break;
case CMD_UPDATE_GIGA_START:
vec2(&v, deg2rad(pd.giga.start_x), deg2rad(pd.giga.start_y));
servo_move(&v);
break;
case CMD_UPDATE_GIGA_END:
vec2(&v, deg2rad(pd.giga.end_x), deg2rad(pd.giga.end_y));
servo_move(&v);
break;
case CMD_SHUTDOWN:
vec2(&v, deg2rad(180.0), deg2rad(180.0));
servo_move(&v);
break;
}
return Q_HANDLED();
}
static void show_msg(char *msg, int timeout)
{
lcd_clear();
lcd_write(0, 0, msg, 0);
QActive_post((QActive *) &mmi_ao, SIG_MMI_SHOW_MSG, timeout);
}
