/**********************************************************************
* Function: doMasterSM
* @return None.
* @remark Executes one cycle of the boat's master state machine.
* @author David Goodman
* @date 2013.03.28
**********************************************************************/
static void doMasterSM() {
checkEvents();
#ifdef USE_TILTCOMPASS
TiltCompass_runSM();
#endif
#ifdef USE_GPS
GPS_runSM();
#endif
#ifdef USE_NAVIGATION
Navigation_runSM();
#ifdef USE_ERROR_CORRECTION
gpsCorrectionUpdate();
#endif
#endif
#ifdef USE_DRIVE
Drive_runSM();
#endif
#ifdef USE_XBEE
Xbee_runSM();
#endif
#ifdef USE_BAROMETER
Barometer_runSM();
doBarometerUpdate(); // send barometer data
#endif
switch (state) {
case STATE_SETSTATION:
doSetStationSM();
if (event.flags.haveStartRescueMessage) {
startRescueSM();
}
else if (event.flags.setStationDone) {
if (haveOrigin)
startStationKeepSM();
else
startOverrideSM();
}
break;
case STATE_SETORIGIN:
doSetOriginSM();
if (event.flags.setOriginDone)
startOverrideSM();
break;
case STATE_STATIONKEEP:
doStationKeepSM();
if (event.flags.haveStartRescueMessage)
startRescueSM();
else if (!haveStation)
setError(ERROR_NO_STATION);
break;
case STATE_OVERRIDE:
if (!wantOverride) {
//setError(ERROR_NO_ORIGIN);
if (!haveOrigin)
startSetOriginSM(); // do we ant infinite startup loop?
else if (event.flags.haveStartRescueMessage)
startRescueSM();
else if (event.flags.haveSetStationMessage )
startSetStationSM();
else if (haveOrigin && haveStation)
startStationKeepSM();
// Use autonomous controls
if (haveOrigin && (haveStation
|| event.flags.haveStartRescueMessage)) {
Override_giveMicroControl();
DBPRINT("Micro has control.\n");
#ifdef USE_SIREN
Siren_blueLightOff();
#endif
}
}
break;
case STATE_RESCUE:
doRescueSM();
if (event.flags.haveStartRescueMessage) {
startRescueSM();
}
else if (event.flags.haveReturnStationMessage) {
if (haveStation)
startStationKeepSM();
else
setError(ERROR_NO_STATION);
}
// Turn off rescue siren (red)
if (event.flags.haveError || state != STATE_RESCUE) {
#ifdef USE_SIREN
Siren_redLightOff();
#endif
}
break;
}
// ------- Caught by most states -----------
if (state != STATE_RESCUE) {
if (event.flags.haveSetStationMessage)
startSetStationSM();
}
if (state != STATE_OVERRIDE) {
if (event.flags.haveError) {
startOverrideSM();
overrideShutdown = TRUE;
}
if (wantOverride)
startOverrideSM();
}
if (event.flags.haveResetMessage)
resetAtlas();
}
/**
* Function: runMasterSM
* @return None.
* @remark Executes one cycle of the command center's state machine.
* @author David Goodman
* @date 2013.03.09 */
void runMasterSM() {
//Magnetometer_runSM();
// Record these button presses since we don't know
// if they will be pressed after runSM
lockPressed = isLockPressed();
zeroPressed = isZeroPressed();
if(lockPressed || zeroPressed){
#ifdef USE_ENCODERS
Encoder_runSM();
#endif
if(lockPressed) {
printf("Lock was pressed.\n");
#ifdef USE_NAVIGATION
#ifdef USE_ENCODERS
Encoder_enableZeroAngle();
Encoder_runSM();
Coordinate ned; // = Coordinate_new(ned, 0, 0 ,0);
if (Navigation_getProjectedCoordinate(&ned, Encoder_getYaw(),
Encoder_getPitch(), height)) {
printf("Desired coordinate -- N: %.6f, E: %.6f, D: %.2f (m)\n",
ned.x, ned.y, ned.z);
#ifdef USE_XBEE
Mavlink_send_start_rescue(XBEE_UART_ID, TRUE, 0,ned.x, ned.y);
#endif
}
else {
printf("Failed to obtain desired NED coordinate.\n");
}
Encoder_disableZeroAngle();
#else
printf("Navigation module is disabled.\n");
#endif
#endif
}
else if (zeroPressed) {
// Zero was pressed
#ifdef USE_ENCODERS
Encoder_setZeroAngle();
#endif
useLevel = TRUE;
#ifdef USE_MAGNETOMETER
Magnetometer_runSM();
heading = Magnetometer_getDegree();
updateHeading();
#endif
//printf("Zeroing...\n");
}
else {
}
}
if (!zeroPressed) {
if (useLevel)
printf("Done zeroing.\n");
useLevel = FALSE;
}
#ifdef USE_ACCELEROMETER
Accelerometer_runSM();
updateAccelerometerLEDs();
#endif
#ifdef USE_NAVIGATION
Navigation_runSM();
#endif
#ifdef USE_XBEE
Xbee_runSM();
#endif
}
