/****************************************************************************
Function
RunDisarmFSM
Parameters
ES_Event : the event to process
Returns
ES_Event, ES_NO_EVENT if no error ES_ERROR otherwise
Description
The state machine for the overall disarming process - state machine for
keypad, etc. are elsewhere
Notes
****************************************************************************/
ES_Event RunDisarmFSM( ES_Event ThisEvent )
{
ES_Event ReturnEvent;
ReturnEvent.EventType = ES_NO_EVENT; // assume no errors
// initial state: all the LEDs are off.
static char LEDs[8] = {OFF, OFF, OFF, OFF, OFF, OFF , OFF, OFF};
static bool tower_rotate_direction = true;
switch ( CurrentState )
{
case Armed :
switch ( ThisEvent.EventType ) {
case ES_INIT :
// intializing timer to be at 2mS rate (for 60 second count down)
ES_Timer_Init(ES_Timer_RATE_2mS);
printf("Arming...\r\n");
// sets the armed line to +5V
setArmed();
printf(" Setting all tower LEDS off...\r\n");
LEDShiftRegInit();
// all LEDs are off when armed
setLED (LEDs);
printf(" Generating random passwords...\r\n");
// generate random password for keyboard input
randomizePasswords();
printArmedMessage();
printf(" Lowering flag...\r\n");
// lower the flag when armed
lowerFlag();
printf(" Locking the keys\r\n");
// lock the key when armed
lockKeys();
printf(" Setting tower to 0...\r\n\r\n");
// the tower doesn't lean when armed
setTowerToZero();
printf("STATE: Armed\r\n\r\n");
rotateTowerLeft();
ES_Timer_InitTimer(PANIC_TIMER, 350);
// demonstrate panic and start timing
ES_Timer_StartTimer(PANIC_TIMER);
break;
case THREE_HANDS_ON :
printf("EVENT: Three hands detected.\r\n");
printf(" Setting Tower Tier 1 LED on...\r\n");
LEDs[Tier1] = ON;
// light up the LED for bottom layer to show success in task 1
setLED(LEDs);
printf(" Begin printing LCD passcode...\r\n");
resetLCDmessage();
printLCDmessage();
// sends out a message every 2 seconds (2mS timer rate)
ES_Timer_InitTimer(MESSAGE_TIMER, 1000);
ES_Timer_StartTimer(MESSAGE_TIMER);
printf(" Starting 60s disarm timer...\r\n");
//the timer can only go up to 32000
ES_Timer_InitTimer(DISARM_TIMER, 30000);
ES_Timer_StartTimer(DISARM_TIMER);
//begins to run the timing motor
unwindTimingMotor();
// grabs current time to store for rewinding the timer motor
startTime = ES_Timer_GetTime();
ES_Event ThisEvent;
ThisEvent.EventType = PLAY_TRACK;
// play sound track 01
ThisEvent.EventParam = 1;
PostAdafruitAudioService(ThisEvent);
printf(" Transitioning to Stage 1...\r\n\r\n");
CurrentState = Stage1;
printf("STATE: Stage1\r\n\r\n");
break;
case ES_TIMEOUT :
// if panic timer expires
if (ThisEvent.EventParam == PANIC_TIMER) {
if (tower_rotate_direction) {
tower_rotate_direction = false;
rotateTowerRight();
} else {
tower_rotate_direction = true;
rotateTowerLeft();
}
ES_Timer_InitTimer(PANIC_TIMER, 350);
ES_Timer_StartTimer(PANIC_TIMER);
}
// if timing motor rewind timer expires
if (ThisEvent.EventParam == REWIND_TIMER) {
// stop timing motor when the ball reaches the top
stopTimingMotor();
}
default:
;
}
break;
case Stage1 :
switch ( ThisEvent.EventType )
{
case ES_TIMEOUT :
if (ThisEvent.EventParam == DISARM_TIMER) {
// if the disarm timer expires
printf("EVENT: Time has run out!\r\n");
printTimeUp();
// gets the time when the game ended
endTime = ES_Timer_GetTime();
// calculate how much rewinding needs to be done
ES_Timer_InitTimer(REWIND_TIMER, (endTime-startTime)/2);
ES_Timer_StartTimer(REWIND_TIMER);
// begins rewinding the clock motor
rewindTimingMotor();
ThisEvent.EventType = ES_INIT;
PostDisarmFSM(ThisEvent);
// go back to armed state
CurrentState = Armed;
}
// if vibration timer expires
if (ThisEvent.EventParam == VIBRATION_TIMER) {
printf(" Turning off vibration pulse...\r\n\r\n");
vibrationMotorOff();
}
// if message timer expires
if (ThisEvent.EventParam == MESSAGE_TIMER) {
printf("EVENT: Printing out the next message...\r\n");
printLCDmessage();
ES_Timer_InitTimer(MESSAGE_TIMER, 1000);
ES_Timer_StartTimer(MESSAGE_TIMER);
}
break;
// one or more hands have been released
case THREE_HANDS_OFF :
printf("EVENT: One or more hands have been released.\r\n");
printf(" Clearing the LCD screen\r\n");
printArmedMessage();
printf(" Setting Tower Tier 1 LED off...\r\n");
// task 1 is not completed
LEDs[Tier1] = OFF;
// turn off the LED for bottom layer
setLED(LEDs);
printf(" Transitioning to Stage1_Stagnated...\r\n\r\n");
CurrentState = Stage1_Stagnated;
printf("STATE: Stage1_Stagnated\r\n\r\n");
break;
// if the user entered the correct password
case CORRECT_PASSWORD_ENTERED :
printf("EVENT: The correct password has been entered.\r\n");
printf(" Unlocking the keys\r\n");
// unlock the key and move to task 3
unlockKeys();
printAuthorizedMessage();
printf(" Setting Tower Tier 2 LED on...\r\n");
LEDs[Tier2] = ON;
// turn on LED on the second tier to show success
setLED(LEDs);
printf(" Playing audio: Wahoo!...\r\n");
ES_Event ThisEvent;
ThisEvent.EventType = PLAY_TRACK;
// play sound track 01
ThisEvent.EventParam = 1;
PostAdafruitAudioService(ThisEvent);
printf(" Transitioning to Stage2...\r\n\r\n");
// set the current state to state 2
CurrentState = Stage2;
printf("STATE: Stage2\r\n\r\n");
break;
// if the user entered incorrect password
case INCORRECT_PASSWORD_ENTERED :
printf("EVENT: The incorrect password has been entered.\r\n");
printIncorrectMessage();
ES_Timer_InitTimer(MESSAGE_TIMER, 1000);
ES_Timer_StartTimer(MESSAGE_TIMER);
printf(" Generating vibration pulse...\r\n");
break;
default :
;
}
break;
case Stage1_Stagnated :
switch ( ThisEvent.EventType )
{
case ES_TIMEOUT :
// if disarm timer expires
if (ThisEvent.EventParam == DISARM_TIMER) {
printf("EVENT: Time has run out!\r\n");
printTimeUp();
endTime = ES_Timer_GetTime();
// calculate how much rewinding needs to be done
ES_Timer_InitTimer(REWIND_TIMER, (endTime-startTime)/2);
ES_Timer_StartTimer(REWIND_TIMER);
// begins rewinding the timing motor
rewindTimingMotor();
ThisEvent.EventType = ES_INIT;
PostDisarmFSM(ThisEvent);
// go back to armed state
CurrentState = Armed;
}
break;
// if all three tape sensors are covered
case THREE_HANDS_ON :
printf("EVENT: Three hands detected.\r\n");
printf(" Setting Tower Tier 1 LED on...\r\n");
LEDs[Tier1] = ON;
// light up the LED for bottom layer to show success in task 1
setLED(LEDs);
printf(" Begin printing LCD passcode...\r\n");
resetLCDmessage();
printLCDmessage();
// print message from LCD
ES_Timer_InitTimer(MESSAGE_TIMER, 1000);
ES_Timer_StartTimer(MESSAGE_TIMER);
// play feedback audio wahoo
ES_Event ThisEvent;
ThisEvent.EventType = PLAY_TRACK;
// play sound track 01
ThisEvent.EventParam = 1;
PostAdafruitAudioService(ThisEvent);
printf(" Transitioning to Stage1...\r\n\r\n");
// set current stage to stage 1
CurrentState = Stage1;
printf("STATE: Stage1\r\n\r\n");
break;
default :
;
}
break;
case Stage2 :
switch ( ThisEvent.EventType )
{
case ES_TIMEOUT :
// if the disarm timer expires
if (ThisEvent.EventParam == DISARM_TIMER) {
printf("EVENT: Time has run out!\r\n");
printTimeUp();
// gets the time when the game ended
endTime = ES_Timer_GetTime();
// calculate how much rewinding needs to be done
ES_Timer_InitTimer(REWIND_TIMER, (endTime-startTime)/2);
ES_Timer_StartTimer(REWIND_TIMER);
// begins rewinding the clock moto
rewindTimingMotor(); r
ThisEvent.EventType = ES_INIT;
PostDisarmFSM(ThisEvent);
CurrentState = Armed;
}
break;
// if the key is inserted
case KEY_INSERTED:
printf("EVENT: Key has been inserted.\r\n");
printf(" Setting Tower Tier 3 LED on...\r\n");
LEDs[Tier3] = ON;
// light up LED on tier 3 to show successful completion of task 3
setLED(LEDs);
printf(" Setting Dial LED on...\r\n");
LEDs[pot] = ON;
setLED(LEDs);
printf(" Playing audio: Wahoo!...\r\n");
ES_Event ThisEvent;
ThisEvent.EventType = PLAY_TRACK;
// play sound track 01
ThisEvent.EventParam = 1;
PostAdafruitAudioService(ThisEvent);
printf("Initializing the pot value...\r\n");
setPotZero();
printf(" Transitioning to Stage3...\r\n\r\n");
// set current state to state 3
CurrentState = Stage3;
printf("STATE: Stage3\r\n\r\n");
break;
default :
;
}
break;
case Stage3 :
switch ( ThisEvent.EventType )
{
case ES_TIMEOUT :
// if the disarm timer expires
if (ThisEvent.EventParam == DISARM_TIMER) {
printf("EVENT: Time has run out!\r\n");
printTimeUp();
endTime = ES_Timer_GetTime();
// calculate how much rewinding needs to be done
ES_Timer_InitTimer(REWIND_TIMER, (endTime-startTime)/2);
ES_Timer_StartTimer(REWIND_TIMER);
// begins rewinding the clock motor
rewindTimingMotor();
ThisEvent.EventType = ES_INIT;
PostDisarmFSM(ThisEvent);
// set current state to armed
CurrentState = Armed;
}
if (ThisEvent.EventParam == FAST_LEDS) {
printf("EVENT: \r\n");
ThisEvent.EventType = CORRECT_VALUE_DIALED;
PostDisarmFSM(ThisEvent);
}
break;
// if the pot is dialed to correct value
case CORRECT_VALUE_DIALED :
printf("EVENT: The correct pot value has been dialed.\r\n");
// Sets the armed line to 0V
setUnarmed();
printf(" Setting Tower Tier 4-6 LED on with delay...\r\n");
ES_Timer_InitTimer(FAST_LEDS, 150);
static int i = Tier4;
if (i<=Tier6){
printf("\n\r looping for LED i + %d\n\r", i);
// turn on all the remaining LEDs one by one
LEDs[i] = 0;
setLED(LEDs);
ES_Timer_StartTimer(FAST_LEDS);
i++;
break;
}
printf(" Raising the flag...\r\n");
// raise flag to show hope and joy
raiseFlag();
printf(" Playing audio: victory song...\r\n");
ES_Event ThisEvent;
ThisEvent.EventType = PLAY_TRACK;
// play sound track 03
ThisEvent.EventParam = 3;
PostAdafruitAudioService(ThisEvent);
printf(" Starting 30s post-disarm timer...\r\n");
ES_Timer_InitTimer(POST_DISARM_TIMER, 30000);
printf(" Raising ball and feather...\r\n");
// stop falling ball
stopTimingMotor();
// get the time when the disarment ends and rearm DDM
endTime = ES_Timer_GetTime();
ES_Timer_InitTimer(REWIND_TIMER, (endTime-startTime)/2);
ES_Timer_StartTimer(REWIND_TIMER);
// begins rewinding the clock motor
rewindTimingMotor();
printf(" Transitioning to Stage4...\r\n\r\n");
// set current stage to stage 4
CurrentState = Stage4;
printf("STATE: Stage4\r\n\r\n");
break;
default :
;
}
break;
case Stage4 :
switch ( ThisEvent.EventType )
{
case ES_TIMEOUT :
// if timer expires after successful disarment
if (ThisEvent.EventParam == POST_DISARM_TIMER) {
printf("EVENT: Post-disarm timer expired.\r\n");
ThisEvent.EventType = ES_INIT;
PostDisarmFSM(ThisEvent);
// set current state to armed
CurrentState = Armed;
}
// if rewind timer expires
if (ThisEvent.EventParam == REWIND_TIMER) {
// stop timing motor rewinding
stopTimingMotor();
}
break;
default :
;
}
break;
default :
;
}
return ReturnEvent;
}
/**
* @Function RunTimerService(ES_Event ThisEvent)
* @param ES_Event - the event to process
* @return ES_NO_EVENT or ES_ERROR
* @brief accepts the timer events and updates the state arrays
* @author Max Dunne 2013.01.04 */
ES_Event RunTimerService(ES_Event ThisEvent) {
ES_Event ReturnEvent;
ReturnEvent.EventType = ES_NO_EVENT; // assume no errors
switch (ThisEvent.EventType) {
case ES_INIT:
break;
case ES_TIMEOUT:
case ES_TIMERACTIVE:
case ES_TIMERSTOPPED:
UserTimerStates[ThisEvent.EventParam] = ThisEvent.EventType;
break;
default:
//ReturnEvent.EventType = ES_ERROR;
break;
}
#ifdef TIMER_SERVICE_TEST
{
uint8_t i;
switch (timerServiceTestingState) {
case init:
if (ThisEvent.EventType == ES_INIT) {
printf("Timer Module INITED succesfully\r\n");
break;
}
printf("Timer %d had event %d at time %d\r\n", ThisEvent.EventParam, ThisEvent.EventType, ES_Timer_GetTime());
if ((ThisEvent.EventParam == (TIMERS_USED - 1)) && (ThisEvent.EventType == ES_TIMERACTIVE)) {
timerServiceTestingState = expired;
printf("Testing timer user functions [expired][stopped][active]{state}\r\n");
}
break;
case expired:
for (i = 0; i < TIMERS_USED; i++) {
printf("(%d):[%d,%d,%d]{%d} ", i, IsTimerExpired(i), IsTimerStopped(i), IsTimerActive(i), GetUserTimerState(i));
}
printf("\r\n");
if ((ThisEvent.EventParam == (TIMERS_USED - 1)) && (ThisEvent.EventType == ES_TIMEOUT)) {
timerServiceTestingState = runstop;
ES_Timer_InitTimer(0, 500);
for (i = 1; i < TIMERS_USED; i++) {
ES_Timer_SetTimer(i, 1000);
ES_Timer_StartTimer(i);
}
}
break;
case runstop:
printf("Timer %d had event %d at time %d\r\n", ThisEvent.EventParam, ThisEvent.EventType, ES_Timer_GetTime());
if ((ThisEvent.EventParam == (0)) && (ThisEvent.EventType == ES_TIMEOUT)) {
for (i = 1; i < TIMERS_USED; i++) {
ES_Timer_StopTimer(i);
}
}
if ((ThisEvent.EventParam == (TIMERS_USED - 1)) && (ThisEvent.EventType == ES_TIMERSTOPPED)) {
printf("Testing of User Timer Functions is complete.\r\n");
}
break;
default:
ReturnEvent.EventType = ES_ERROR;
break;
}
}
#endif
//ES_Tail();
return ReturnEvent;
}
/**
* @Function RunTemplateService(ES_Event ThisEvent)
* @param ThisEvent - the event (type and param) to be responded.
* @return Event - return event (type and param), in general should be ES_NO_EVENT
* @brief This function is where you implement the whole of the service,
* as this is called any time a new event is passed to the event queue.
* @note Remember to rename to something appropriate.
* Returns ES_NO_EVENT if the event have been "consumed."
* @author J. Edward Carryer, 2011.10.23 19:25 */
ES_Event RunTestBumpService(ES_Event ThisEvent)
{
ES_Event ReturnEvent;
ReturnEvent.EventType = ES_NO_EVENT; // assume no errors
static unsigned int bumperArray[] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}, LastbumpState = 0x00, currentLoadTapeState[] = {0, 0, 0, 0, 0}, lastLoadTapeState = 0;
// static unsigned int bumperArray2[] = {0x00,0x00,0x00,0x00,0x00,0x00}, LastbumpState2 = 0x00;
static uint8_t index = 0, loadindex = 0;
int count = 0, loadcount = 0;
ES_Event LoaderEvent;
/********************************************
in here you write your service code
*******************************************/
if (ThisEvent.EventType == ES_TIMEOUT)// only respond to ES_Init
{
ES_Timer_SetTimer(bumptimer, bumptimervalue); // Bump sensor check every 5ms
ES_Timer_StartTimer(bumptimervalue);
// No hardware initialization or single time setups, those
// go in the init function above.
//
// This section is used to reset service for some reason
bumperArray[index] = Dagobot_ReadBumpers();
currentLoadTapeState[index] = Dagobot_ReadLoaderTape();
int i;
for(i=1; i<10; i++){
if(bumperArray[i-1] != bumperArray[index] ){
LastbumpState = bumperArray[index];
count++;
}
else
count--;
}
for (i = 1; i < 5; i++) {
if (currentLoadTapeState[i - 1] != currentLoadTapeState[index]) {
loadcount ++;
lastLoadTapeState = currentLoadTapeState[loadindex];
}
else
loadcount --;
}
if(count > 0) {
ThisEvent.EventType = BUMPED;
ThisEvent.EventParam = bumperArray[index];
PostDagobotHSM(ThisEvent);
}
if(loadcount > 0) {
LoaderEvent.EventType = AMMO;
LoaderEvent.EventParam = currentLoadTapeState[loadindex];
PostDagobotHSM(LoaderEvent);
}
}
index++;
if(index == 10) index = 0;
if (loadindex == 5) loadindex = 0;
return ReturnEvent;
}
