unsigned char st_run(void){
if (timerCountDownActivated == POWER_SUPPLY) {
if (isPowerLED_ON()== OFF) {
timerCountDownActivated = NOT_ACTIVATED;
setTracking(OFF);
setHeartBeat(OFF);
setActivityDetected(FALSE);
return POWEROFF;
}
return RUN;
}
else if (timerCountDownActivated == SUSPEND_ACK_WAITING) {
if (timerExpired()) {
//Computer might hangs
//Heartbeat = TRUE but never ACK SUSPEND
timerCountDownActivated = NOT_ACTIVATED;
}else if (getSuspendAcknowledge()) {
timerCountDownActivated = NOT_ACTIVATED;
setTimerIn100ms(ZERO);
setTracking(OFF);
setHeartBeat(OFF);
setActivityDetected(FALSE);
return SUSPEND;
}
return RUN;
}
if (getHeartBeatInactiveTimeInS() > HEARTBEAT_THRESOLD_SEC) {
//Ubuntu hangs -> Turn it off
powerSupplyON(OFF);
timerCountDownActivated = POWER_SUPPLY;
}else if (getTracking()==OFF) {
//Ubuntu not tracking -> Suspend
sendSuspendRequest();
timerCountDownActivated = SUSPEND_ACK_WAITING;
setTimerIn100ms(SUSPENSION_WAIT);
}
return RUN;
}
unsigned char st_suspend(void){
//State Transition is occuring
if (timerCountDownActivated == POWER_BUTTON_OFF) {
if (timerExpired())
{
powerButtonPressed(RELEASED);
timerCountDownActivated = NOT_ACTIVATED;
if (getActivityInactiveTimeInS() > POWEROFF_THRESOLD_SEC) {
return BEFOREPOWEROFF;
}
else
{
setHeartBeat(OFF);
return BOOTING;
}
}
else{
return SUSPEND;
}
}
//Activty detected OR NON-Activity for too long
if (activityDetected() || getActivityInactiveTimeInS() > POWEROFF_THRESOLD_SEC) {
powerButtonPressed(PRESSED);
timerCountDownActivated = POWER_BUTTON_OFF;
setTimerIn100ms(POWER_BUTTON_PRESSED);
}
return SUSPEND;
}
unsigned char st_powerOff(void){
//State Transition is occuring
if (timerCountDownActivated == POWER_BUTTON_ON) {
if (timerExpired())
{
powerButtonPressed(RELEASED);
if (isPowerLED_ON()) {
timerCountDownActivated = NOT_ACTIVATED;
setTimerIn100ms(ZERO);
setHeartBeat(OFF);
return BOOTING;
}
}
//May hangs here
return POWEROFF;
}
//Press the button for POWER_BUTTON_PRESSED time and switch state
if (activityDetected()) {
powerSupplyON(ON);
powerButtonPressed(PRESSED);
timerCountDownActivated = POWER_BUTTON_ON;
setTimerIn100ms(POWER_BUTTON_PRESSED);
}
return POWEROFF;
}
/* init node */
void CanNode::initCanNode(int can_idx, int node_id)
{
/* get the channels */
CAN_MSG msg;
//Digit input channels
CAN_ConfigQueue(can_idx,node_id,CAN_RX_QUE,0);
CAN_ConfigQueue(can_idx,node_id,CAN_RX_QUE,1);
sendSDO("40 00 60 00");
_sleep(100);
if(CAN_ReadMsg(can_idx, node_id,1,&msg) == CAN_OK)
m_Channels[0] = (int)msg.a_data[4] * 4;
/*else
QMessageBox::warning(0,"digit","read error");*/
//Digit output channels
CAN_ConfigQueue(can_idx,node_id,CAN_RX_QUE,0);
CAN_ConfigQueue(can_idx,node_id,CAN_RX_QUE,1);
sendSDO("40 00 62 00");
_sleep(100);
if(CAN_ReadMsg(can_idx, node_id,1,&msg) == CAN_OK)
m_Channels[1] = (int)msg.a_data[4] * 4;
/*else
QMessageBox::warning(0,"digit","read error");*/
//IP2302 has 4 digit input channels and 4 digit output channels
//sendState(00,80);
//_sleep(1000);
//if(CAN_ReadMsg(can_idx, node_id,1,&msg) == CAN_OK)
//{
// m_Channels[0] = 4;
// m_Channels[1] = 4;
//}
//Analog input channels
CAN_ConfigQueue(can_idx,node_id,CAN_RX_QUE,0);
CAN_ConfigQueue(can_idx,node_id,CAN_RX_QUE,1);
sendSDO("40 01 64 00");
_sleep(100);
if(CAN_ReadMsg(can_idx, node_id,1,&msg) == CAN_OK)
m_Channels[2] = (int)msg.a_data[4];
//Analog output channels
CAN_ConfigQueue(can_idx,node_id,CAN_RX_QUE,0);
CAN_ConfigQueue(can_idx,node_id,CAN_RX_QUE,1);
sendSDO("40 11 64 00");
_sleep(100);
if(CAN_ReadMsg(can_idx, node_id,1,&msg) == CAN_OK)
m_Channels[3] = (int)msg.a_data[4];
//QMessageBox::about(0,"channels",QString("channels:%1,%2,%3,%4").arg(m_Channels[0]).arg(m_Channels[1]).arg(m_Channels[2]).arg(m_Channels[3]));
sendState(01,00);
setHeartBeat(0);
setEventDriver(false);
}
unsigned char st_booting(void){
if (getHeartBeat()) {
//Need to reset the tracking timer
setTracking(ON);
setHeartBeat(ON);
return RUN;
}
else
{
return BOOTING;
}
}
