void db_dumpiojunk( const IORegistryPlane * plane )
{
IORegistryEntry * next;
IORegistryIterator * iter;
OSOrderedSet * all;
char format[] = "%xxxs";
IOService * service;
iter = IORegistryIterator::iterateOver( plane );
all = iter->iterateAll();
if( all) {
dbugprintf("Count %d\n", all->getCount() );
all->release();
} else dbugprintf("Empty\n");
iter->reset();
while( (next = iter->getNextObjectRecursive())) {
snprintf(format + 1, sizeof(format) - 1, "%ds", 2 * next->getDepth( plane ));
dbugprintf( format, "");
dbugprintf( "%s", next->getName( plane ));
if( (next->getLocation( plane )))
dbugprintf("@%s", next->getLocation( plane ));
dbugprintf(" <class %s", next->getMetaClass()->getClassName());
if( (service = OSDynamicCast(IOService, next)))
dbugprintf(", busy %ld", service->getBusyState());
dbugprintf( ">\n");
}
iter->release();
}
uint8_t CheckBumpers(void) {
ES_Event thisEvent;
uint8_t returnVal = FALSE;
uint16_t currentState = 0;
uint16_t result = 0;
static uint16_t lastState = 0;
currentState = Sensors_CheckBumperStatus(BUMPER_ALL);
result = lastState ^ currentState;
if ((currentState & 0xFF) != 0xF8) {
if (result) {
thisEvent.EventType = BUMPED;
thisEvent.EventParam = result;
PostToplevelHSM(thisEvent);
PostReturnCenterFSM(thisEvent);
PostSearchCastleFSM(thisEvent);
PostRotateFSM(thisEvent);
dbugprintf("BUMPED = 0x%X\n", result);
lastState = currentState;
returnVal = TRUE;
}
}
return returnVal;
}
uint8_t CheckTapes(void) {
ES_Event thisEvent;
uint8_t returnVal = FALSE;
static uint8_t currentState = 0, lastState = TAPE_RIGHT2 | TAPE_LEFT2;
uint16_t result = TAPE_RIGHT2 | TAPE_LEFT2;
currentState = Sensors_CheckTapeStatus(TAPE_RIGHT2 | TAPE_LEFT2);
result = lastState ^ currentState;
if (result) {
thisEvent.EventType = TAPE;
thisEvent.EventParam = result;
PostToplevelHSM(thisEvent);
PostReturnCenterFSM(thisEvent);
PostSearchCastleFSM(thisEvent);
lastState = currentState;
dbugprintf("TAPE = 0x%X\n", result);
returnVal = TRUE;
}
return returnVal;
}
uint8_t NORTH_WALL_InitSubHSM(void)
{
ES_Event returnEvent;
ES_Event PostEvent;
currentState = INIT_NORTH_WALL_STATE;
returnEvent = NORTH_WALL_RunSubHSM(INIT_EVENT);
dbugprintf("NORTH_WALL_INITFUNCTION, currentState = %d\n", currentState);
return returnEvent.EventType == ES_NO_EVENT;
}
void db_piokjunk(void) {
dbugprintf("\nDT plane:\n");
db_dumpiojunk( gIODTPlane );
dbugprintf("\n\nService plane:\n");
db_dumpiojunk( gIOServicePlane );
dbugprintf("\n\n"
"ivar kalloc() 0x%08x\n"
"malloc() 0x%08x\n"
"containers kalloc() 0x%08x\n"
"IOMalloc() 0x%08x\n"
"----------------------------------------\n",
debug_ivars_size,
debug_malloc_size,
debug_container_malloc_size,
debug_iomalloc_size
);
}
uint8_t FIND_RULING_InitSubHSM(void)
{
ES_Event returnEvent;
currentState = INIT_FIND_RULING_STATE;
returnEvent = FIND_RULING_RunSubHSM(INIT_EVENT);
dbugprintf("FIND_RULING_INITFUNCTION, currentState = %d\n", currentState);
return returnEvent.EventType == ES_NO_EVENT;
}
ES_Event NORTH_WALL_RunSubHSM(ES_Event ThisEvent)
{
uint8_t makeTransition = FALSE;
SubNorthWall_t nextState;
uint8_t temp1, temp2;
static uint8_t once = 0;
ES_Event PostEvent;
switch(currentState)
{
case INIT_NORTH_WALL_STATE:
if(ThisEvent.EventType == ES_INIT)
{
currentState = NORTH_WALL_ALIGN;
ThisEvent.EventType = ES_NO_EVENT;
dbugprintf("INIT_NORTH_WALL = %d\n", currentState);
//makeTransition = TRUE;
}
break;
case NORTH_WALL_ALIGN:
if (ThisEvent.EventType != ES_NO_EVENT)
{
switch(ThisEvent.EventType)
{
case ES_ENTRY:
PostEvent.EventType = START_ALIGN;
PostEvent.EventParam = 0;
PostAlignFSM(PostEvent);
dbugprintf("NORTH_WALL_ALIGN\n");
break;
case COMPLETE:
nextState = NORTH_WALL_CCW90;
makeTransition = TRUE;
ThisEvent.EventType = ES_NO_EVENT;
break;
default:
break;
}
}
break;
case NORTH_WALL_CCW90:
if (ThisEvent.EventType != ES_NO_EVENT)
{
switch(ThisEvent.EventType)
{
case ES_ENTRY:
dbugprintf("NORTH_WALL_CCW180\n");
Motor_RightSpeed(ccw_R);
Motor_LeftSpeed(ccw_L);
HSM_LEDSubIndicate(0x0B);
ES_Timer_InitTimer(HSM_TIMER, ccw90_Time);
break;
case ES_TIMEOUT:
nextState = NORTH_WALL_FORWARD;
makeTransition = TRUE;
ThisEvent.EventType = ES_NO_EVENT;
break;
default:
break;
}
}
break;
case NORTH_WALL_FORWARD:
if (ThisEvent.EventType != ES_NO_EVENT)
{
switch(ThisEvent.EventType)
{
case ES_ENTRY:
Motor_RightSpeed(forward_R);
Motor_LeftSpeed(forward_L);
HSM_LEDSubIndicate(0x08);
break;
case BUMPED:
ThisEvent.EventType = COMPLETE;
break;
default:
break;
}
}
break;
default:
break;
}
if (makeTransition)
{
NORTH_WALL_RunSubHSM(EXIT_EVENT);
currentState = nextState;
NORTH_WALL_RunSubHSM(ENTRY_EVENT);
}
return ThisEvent;
}
ES_Event FIND_RULING_RunSubHSM(ES_Event ThisEvent)
{
uint8_t makeTransition = FALSE;
SubFindRuling_t nextState;
static uint8_t tape = 0;
static uint8_t lock = 0;
switch(currentState)
{
case INIT_FIND_RULING_STATE:
if(ThisEvent.EventType == ES_INIT)
{
SEARCH_CASTLE_SE_InitSubHSM();
SEARCH_CASTLE_SW_InitSubHSM();
SEARCH_CASTLE_NW_InitSubHSM();
currentState = FIND_RULING_CHOOSE;
ThisEvent.EventType = ES_NO_EVENT;
dbugprintf("INIT_FIND_RULING = %d\n", currentState);
//makeTransition = TRUE;
}
break;
case FIND_RULING_CHOOSE:
if (ThisEvent.EventType == ES_ENTRY)
{
#ifdef CHEAT_SEARCH_SE
if (beacon || testing)
{
nextState = FIND_RULING_SEARCH_CASTLE_NW;
}
else
{
nextState = FIND_RULING_SEARCH_CASTLE_SE;
}
#endif
#ifdef CHEAT_SEARCH_NW
if (beacon || testing)
{
nextState = FIND_RULING_SEARCH_CASTLE_SE;
}
else
{
nextState = FIND_RULING_SEARCH_CASTLE_NW;
}
#endif
makeTransition = TRUE;
}
break;
case FIND_RULING_SEARCH_CASTLE_SE:
ThisEvent = SEARCH_CASTLE_SE_RunSubHSM(ThisEvent);
if (ThisEvent.EventType != ES_NO_EVENT)
{
switch(ThisEvent.EventType)
{
case FOUND_RULING:
ThisEvent.EventType = COMPLETE;
//dbugstop();
break;
case NOT_FOUND_RULING:
nextState = FIND_RULING_SEARCH_CASTLE_SW;
makeTransition = TRUE;
ThisEvent.EventType = ES_NO_EVENT;
default:
break;
}
}
break;
case FIND_RULING_SEARCH_CASTLE_SW:
ThisEvent = SEARCH_CASTLE_SW_RunSubHSM(ThisEvent);
if (ThisEvent.EventType != ES_NO_EVENT)
{
switch(ThisEvent.EventType)
{
case FOUND_RULING:
ThisEvent.EventType = COMPLETE;
//dbugstop();
break;
case NOT_FOUND_RULING:
nextState = FIND_RULING_SEARCH_CASTLE_SW;
makeTransition = TRUE;
ThisEvent.EventType = ES_NO_EVENT;
default:
break;
}
}
break;
case FIND_RULING_SEARCH_CASTLE_NW:
ThisEvent = SEARCH_CASTLE_NW_RunSubHSM(ThisEvent);
if (ThisEvent.EventType != ES_NO_EVENT)
{
switch(ThisEvent.EventType)
{
case FOUND_RULING:
ThisEvent.EventType = COMPLETE;
//dbugstop();
break;
default:
break;
}
}
break;
default:
break;
}
if (makeTransition)
{
FIND_RULING_RunSubHSM(EXIT_EVENT);
currentState = nextState;
FIND_RULING_RunSubHSM(ENTRY_EVENT);
}
return ThisEvent;
}
