bool VCWaitReady(Command_t * command, int msecond)
{
int ret_val, time_wait;
reset_time_out();
time_wait = 0;
while( time_wait <= msecond)
{
ret_val = test_version(command);
if(ret_val == 0)
{
return(1);
}
time_wait = get_time_wait();
}
return (0);
}
int VCSetDACVolume(Command_t * command, cmd_dac_gain_id dac_gain_id)
{
int ret_val, mem_info;
reset_time_out();
mem_info = dac_gain_id;
command->data[0] = 0;
command->data[1] = 0;
command->data[2] = 1;
command->data[3] = mkword(0x34, mem_info);
ret_val = send_cmd(command, APP_ID_CTRL, CMD_SET(CONTROL_APP_I2C_TUNNEL_DATA), 4);
if (ret_val<0)
{
return ret_val; /* err code*/
}
command->data[0] = 0;
ret_val = send_cmd(command, APP_ID_CTRL, CONTROL_APP_I2C_TUNNEL_APPLY, 1);
if (ret_val<0)
{
return ret_val; /* err code*/
}
mem_info |= 0x100;
command->data[0] = 0;
command->data[1] = 0;
command->data[2] = 1;
command->data[3] = mkword(0x35, mem_info);
ret_val = send_cmd(command, APP_ID_CTRL, CMD_SET(CONTROL_APP_I2C_TUNNEL_DATA), 4);
if (ret_val<0)
{
return ret_val; /* err code*/
}
command->data[0] = 0;
ret_val = send_cmd(command, APP_ID_CTRL, CONTROL_APP_I2C_TUNNEL_APPLY, 1);
if (ret_val<0)
{
return ret_val; /* err code*/
}
return(0);
}
void Pince::trigger(int transition)
{
// add things here for MAE
//
//
//
if (transition == T_BAS|| transition == RANGE || transition == TAPE || transition == T_ACTIF_FEU || transition == T_ACTIF_TORCHE || transition == POSE)
{
Serial.print("new trigger to be ");
Serial.println(transition);
trigger_to_be = transition;
}
int old_state;
old_state = state;
switch(state)
{
case RANGE_DEPART :
if (transition == TAPE)
{
state = TAPE_VERTICAL;
}
else if (transition == T_BAS)
{
state = INTERMEDIAIRE_SORTIE;
}
break;
case TAPE_VERTICAL :
if (transition == RANGE)
{
state = RANGE_DEPART;
}
else if (transition == T_BAS)
{
state = INTERMEDIAIRE_SORTIE;
}
break;
case INTERMEDIAIRE_SORTIE :
if (transition == TAPE)
{
state = TAPE_VERTICAL;
}
else if (transition == T_BAS)
{
state = HORIZ_VERT;
}
else if (transition == RANGE)
{
state = RANGE_DEPART;
}
break;
case HORIZ_VERT :
if (transition == T_ACTIF_FEU || transition == T_ACTIF_TORCHE)
{
state = NOMINAL_VIDE;
}
break;
case NOMINAL_VIDE :
if (transition == T_ACTIF_FEU)
{
state = ACTIF_FEU;
}
else if (transition == T_ACTIF_TORCHE)
{
state = ACTIF_TORCHE;
}
break;
case ACTIF_TORCHE :
if (transition == T_IR)
{
state = PRISE_TORCHE;
}
break;
case PRISE_TORCHE :
if (transition == POSE)
{
state = NOMINAL_VIDE;
}
break;
case ACTIF_FEU :
if (transition == T_IR)
{
state = PRISE_FEU;
}
break;
case PRISE_FEU:
if (transition == TIME_OUT)
{
state = MONTE_COOL;
}
break;
case MONTE_COOL:
if (transition == TIME_OUT || transition == T_BUMP_HAUT)
{
state = MONTE_COOL2;
}
break;
case MONTE_COOL2 :
if (transition == COOL_OK)
{
state = WAIT_COOL_OK;
}
else if (transition == COOL_NOT_OK)
{
state = RETOURNE_COOL_N;
}
break;
case WAIT_COOL_OK :
if (transition == POSE)
{
state = HORIZ_VERT;
}
break;
case RETOURNE_COOL_N :
if (transition == TIME_OUT)
{
state = DESCEND_COOL_N;
}
break;
case DESCEND_COOL_N :
if (transition == POSE)
{
state = POSE_COOL_N;
}
break;
case POSE_COOL_N :
if (transition == TIME_OUT)
{
state = INT1_COOL_N;
}
break;
case INT1_COOL_N :
if (transition == TIME_OUT)
{
state = INT2_COOL_N;
}
break;
case INT2_COOL_N :
if (transition == TIME_OUT)
{
state = INT3_COOL_N;
}
break;
case INT3_COOL_N :
if (transition == TIME_OUT)
{
state = HORIZ_VERT;
}
break;
case INT_RANGE :
if (transition == T_BUMP_HAUT)
{
state = INT2_RANGE;
}
break;
case INT2_RANGE :
if (transition == RANGE || transition == TAPE)
{
state = INTERMEDIAIRE_SORTIE;
}
break;
}
if (state >= 10 && (transition == RANGE || transition == TAPE))
{
state = INT_RANGE;
}
if (old_state != state)
{
Serial.print("new state: ");
Serial.println(state);
reset_time_out();
in_state_func();
}
}
void Bras::trigger(int transition)
{
// add things here for MAE
//
//
//
if (transition == T_RANGE|| transition == T_ACTIF_NOMINAL )
{
Serial.print("new trigger to be ");
Serial.println(transition);
trigger_to_be = transition;
}
int old_state;
old_state = state;
switch(state)
{
case RANGE_DEPART :
if (transition == T_ACTIF_NOMINAL)
{
state = INT2_RANGE;
}
break;
case INT_RANGE :
if (transition == T_BUMP_HAUT)
{
state = INT2_RANGE;
}
break;
case INT2_RANGE :
if (transition == T_RANGE)
{
state = RANGE_DEPART;
}
else if (transition == T_ACTIF_NOMINAL || transition == TIME_OUT)
{
state = GO_ATTENTE;
}
break;
case GO_ATTENTE:
if (transition == T_ASC_PRESQUE_ARRIVE)
{
state = ATTENTE_ACTIF;
}
break;
case ATTENTE_ACTIF :
if (transition == T_MON_IR && mon_ir_actif)
{
state = DESCENTE_LAT;
}
else if (transition == T_CALL_FOR_HELP)
{
state = PRISE_COPAIN;
}
else if (transition == T_PRISE_VERT)
{
state = SEND_MINE;
}
break;
case DESCENTE_LAT :
if (transition == T_ASC_PRESQUE_ARRIVE)
{
state = DESCENTE_POMPE_LAT;
}
break;
case DESCENTE_POMPE_LAT :
if (transition == T_ASC_PRESQUE_ARRIVE) // ou pression ?
{
state = PRISE_LAT;
}
break;
case PRISE_LAT :
if (transition == T_COUL_OK) // ou pression ?
{
state = MONTE;
}
else if (transition == T_COUL_NOT_OK)
{
state = MONTE_ECH;
}
break;
case MONTE_VERT :
if (transition == TIME_OUT) // ou pression ?
{
state = MONTE;
}
break;
case MONTE :
if (transition == T_BUMP_HAUT) // ou pression ?
{
state = RANGE_PRISE;
}
break;
case RANGE_PRISE :
if (transition == TIME_OUT) // ou pression ?
{
state = LACHE;
}
break;
case LACHE :
if (transition == TIME_OUT) // ou pression ?
{
state = INT_RANGE;
}
break;
case MONTE_ECH :
if (transition == T_ASC_PRESQUE_ARRIVE) // ou pression ?
{
state = RETOURNE_ECH;
}
break;
case RETOURNE_ECH :
if (transition == T_PRISE_COPAIN) // ou pression ?
{
state = REPLACE_APRES_ECH;
}
break;
case REPLACE_APRES_ECH :
if (transition == TIME_OUT) // ou pression ?
{
state = ATTENTE_ACTIF; //si faut rebumper metttre INT_RANGE
}
break;
case SEND_MINE :
if (transition == T_ASC_PRESQUE_ARRIVE)
{
state = SENDMASTER_PRET;
}
break;
case SENDMASTER_PRET :
if (transition == T_CAPT_PRESSION_ON) // peut etre declenchee par le master
{
state = PRISE_VERT;
}
break;
case PRISE_VERT :
if (transition == T_COUL_OK_MASTER) // peut etre declenchee par le master
{
state = MONTE_VERT;
}
else if (transition == T_COUL_NOT_OK_MASTER)
{
state = MONTE_ECH_VERT;
}
break;
case MONTE_ECH_VERT :
if (transition == T_ASC_PRESQUE_ARRIVE) // peut etre declenchee par le master
{
state = RETOURNE_ECH;
}
break;
case PRISE_COPAIN :
if (transition == T_ASC_ARRIVE)
{
prise_copain();
state = MONTE;
}
break;
}
if (state >= 10 && (transition == T_RANGE))
{
state = INT_RANGE;
}
if (old_state != state)
{
Serial.print(" BRAS");
Serial.print (cote);
Serial.print(" -> new state: ");
Serial.println(state);
Serial.print("after transition ");
Serial.println(transition);
reset_time_out();
in_state_func();
}
}
