//removes the first message from the queue
void removeFirstMessageFromQueue(uint8_t qNumber) {
if (channelQueuesArray[qNumber].numMessagesOnQueue == 0) {
blinkRed(17);
blinkGreen(15);
blinkOrange(11);
return;
}
uint8_t i = 0;
for (i = 0; i < channelQueuesArray[qNumber].numMessagesOnQueue - 1; i++) {
channelQueuesArray[qNumber].packetList[i] = channelQueuesArray[qNumber].packetList[i + 1];
}
channelQueuesArray[qNumber].numMessagesOnQueue--; //one less message on the queue
}
//removes the next message from the queue of messages pending processing
//and returns it
//decrements numPacketsPendingProcessing
ReceiveMessagePacket removeProcessPendingMsg() {
if (numPacketsPendingProcessing == 0) {
while (1) { blinkRed(25); blinkGreen(50);}
}
ReceiveMessagePacket returnMsg = receivedQueue[0];
uint8_t i = 0;
for (i = 0; i < numPacketsPendingProcessing - 1; i++) {
receivedQueue[i] = receivedQueue[i + 1];
}
numPacketsPendingProcessing--;
return returnMsg;
}
//This does the actual sending of the message
//modifies: nothing
//effects: send message in the Q_tx_msg_buff on the channel
//NOTE: This method does NOT mess with or consider anything having to do with the channelQueuesArray at all
uint8_t rbSendMessageHelper(uint8_t channel, uint8_t message[], uint8_t messageLength) {
if (channel <= 0 || channel > MAX_CHANNELS) {
//putstring("\nINVALID CHANNEL PASSED TO rbSendMessageHelper: "); putnum_uh(channel);
while (1) {
blinkRed(14);
blinkOrange(14);
}
}
disableRTC2();
if (pollClockLine(channel) == 0) {
//putstring("\n about to ATTEMPT TO RECEIVE BEFORE SENDING on channel: "); putnum_ud(channel);
ReceiveMessagePacket incomingPacket = receiveMessage(channel);
if (incomingPacket.messageLength != 0) {
//valid message, but it in the pending processing buffer
//putstring("\nReceived Message before sending on channel "); putnum_ud(channel);
//putstring(" Adding message to process pending queue");
addProcessPendingMsg(incomingPacket);
}
}
uint8_t i;
uint8_t good_tx = TRUE;
for (i = 0; i < messageLength; i++) {
if (sendByte(message[i], channel) == FALSE) {
//the message was not received.
//putstring("failed to send a byte");
good_tx = FALSE;
break;
}
else
good_tx = TRUE;
refreshChannel(channel); //able to send at least 1 byte
}
/*if (channel == 1 && !good_tx)
{
putstring("\nch1 send failure\n");
}*/
enableRTC2();
return good_tx;
}
void CheckBluetoothValues(void) {
if (!firstRun) {
// Reset the UART RX buffer to clear it
UART1_ResetBuffer();
DataMatch = true;
// Check RTC value
UART1_WriteString((unsigned char *) "SHR,0018");
__delay_ms(5);
// check if a recevied command is in the buffer
if (uart1_rxLength > 11) {
// check if the date in the Bluetooth module matches the LastDate variable. If not then the date has been updated by a client
for (x = 0; x < 10; x++) {
if (DateTimeResponse[x + 9] != uart1_rxBuffer[x]) {
DataMatch = false;
}
}
if (DataMatch == false) {
if ((uart1_rxBuffer[0] == '1' || uart1_rxBuffer[0] == '2') && ((uart1_rxBuffer[1] >= '0') && (uart1_rxBuffer[1] <= '9'))){
Time.tm_year = CharToInt(uart1_rxBuffer[0], uart1_rxBuffer[1]);
Time.tm_mon = CharToInt(uart1_rxBuffer[2], uart1_rxBuffer[3]);
Time.tm_mday = CharToInt(uart1_rxBuffer[4], uart1_rxBuffer[5]);
Time.tm_hour = CharToInt(uart1_rxBuffer[6], uart1_rxBuffer[7]);
Time.tm_min = CharToInt(uart1_rxBuffer[8], uart1_rxBuffer[9]);
Time.tm_sec = CharToInt(uart1_rxBuffer[10], uart1_rxBuffer[11]);
Time.tm_wday = 1; // weekday
RTCC_TimeSet(&Time);
blinkRed();
}
}
}
}
// Check Alert Status
}
void FSM::evalState() {
switch (currentState) {
case Start:
case Standby:
process->driveStop();
process->lightGreenOff();
process->lightRedOff();
process->lightYellowOff();
process->turnLEDQ1Off();
process->turnLEDQ2Off();
process->turnLEDResetOff();
process->turnLEDStartOn();
break;
case Ready:
process->driveStop();
process->lightGreenOn();
process->lightRedOff();
process->lightYellowOff();
process->turnLEDStartOn();
break;
case Transport:
process->driveRight();
process->lightGreenOn();
process->lightRedOff();
process->lightYellowOff();
process->turnLEDStartOff();
break;
case MetalDetection:
process->driveStop();
process->lightGreenOn();
process->lightRedOff();
process->lightYellowOff();
break;
case NonMetalic:
process->driveRight();
process->lightGreenOn();
process->lightRedOff();
process->lightYellowOff();
process->turnLEDStartOff();
process->openJunction();
break;
case EndReached:
process->driveStop();
process->lightRedOff();
process->lightYellowOff();
process->turnLEDStartOff();
process->closeJunction();
process->turnLEDStartOn();
blinkGreen();
break;
case Metalic:
process->driveRight();
process->lightGreenOff();
process->lightRedOff();
process->lightYellowOn();
break;
case SlideReached:
process->driveStop();
process->lightGreenOn();
process->lightRedOff();
process->lightYellowOff();
process->turnLEDStartOn();
break;
case Error:
process->driveStop();
process->lightGreenOff();
process->lightYellowOff();
process->turnLEDStartOn();
process->closeJunction();
blinkRed();
break;
case TransportBack:
process->driveLeft();
blinkRed();
process->lightGreenOff();
break;
case StartReached:
process->driveStop();
blinkRed();
break;
}
}
