/*
* A simple interrupt handler for CAN message reception
*/
void canHandler(void) {
if (canReady(CAN_PORT_1)) {
canRead(CAN_PORT_1, &can1RxBuffer);
can1RxDone = true;
}
if (canReady(CAN_PORT_2)) {
canRead(CAN_PORT_2, &can2RxBuffer);
can2RxDone = true;
}
}
/*
* An interrupt handler for CAN message reception on CAN1
* When a message is recieved the ID is checked and local
* variables are updated within the conveyor sub-system.
*/
static void canHandler(void) {
if (canReady(CAN_PORT_1)) {
interfaceLedToggle(D1_LED);
canRead(CAN_PORT_1, &can1RxBuf);
canMessage_t msg;
msg = can1RxBuf;
if (msg.id == PICKED_UP_PAD1){
checkForInputBlock = true;
stopConveyorForLoad = true;
}
if(msg.id == EMERGENCY_STOP){
emergencyStop = true;
}
if(msg.id == PAUSE){
paused = true;
}
if(msg.id == RESUME){
paused = false;
conveyorSetState(pausedState);
}
if(msg.id == RESET){
__iar_program_start();
}
if(msg.id == START){
stopped = false;
}
if(msg.id == STOP){
stopped = true;
}
}
}
/*
* A simple interrupt handler for CAN message reception on CAN1
*/
static void canHandler(void) {
if (canReady(CAN_PORT_1)) {
interfaceLedToggle(D1_LED);
canRead(CAN_PORT_1, &can1RxBuf);
canMessage_t msg;
msg = can1RxBuf;
if (msg.id == READY_TO_PICKUP_CONVEYOR) {
moveBlock = true;
}
if(msg.id == PAD2_CLEAR)
{
padClear = true;
}
if(msg.id == PICKED_UP_CONVEYOR)
{
pickupAttempts = 0;
}
if(msg.id == EMERGENCY_STOP)
{
emergencyStop = true;
}
if(msg.id == RESET)
{
__iar_program_start();
}
if(msg.id == PAUSE)
{
paused = true;
}
if(msg.id == RESUME)
{
paused = false;
}
if(msg.id == START)
{
stopped = false;
}
if(msg.id == STOP)
{
stopped = true;
}
}
}
bool Slot::setItem(Item* item)
{
if(mItem == item)
return false;
if (item)
{
if (isAllowed(item) && isEmpty())
{
item->removeOldState();
item->setOwner(mOwner);
item->setParentSlot(this);
if (canReady(item))
item->setState(GOS_READY);
else
item->setState(GOS_HELD);
mItem = item;
}
else
{
LOG_ERROR(Logger::RULES,
"Item '" + item->getName() + "' konnte nicht in den Slot '" + mName
+ "' gelegt werden: " + (isAllowed(item) ? "'falscher Typ' " : "")
+ (isEmpty() ? "'Slot schon belegt'" : "") + "!");
return false;
}
}
else
{
// this is the case, if the item is removed automatically
// don't change this without looking at Item::setState
mItem->removeOldState();
mItem = NULL;
}
return true;
}
/*
* A simple interrupt handler for CAN message reception on CAN1
*/
static void canHandler(void) {
if (canReady(CAN_PORT_1)) {
canRead(CAN_PORT_1, &can1RxBuf);
OSSemPost(can1RxSem);
}
}
