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/*************************************
* Pump.h - Manage the hydraulic pump.
*/
#ifndef PUMP_H
#define PUMP_H
#include "Configuration.h"
#include "TaskScheduler.h"
#include "Monitor.h"
#include "Machine.h"
#include "Clock.h"
// move to common
#define PUMP_ON HIGH
#define PUMP_OFF LOW
#define MAX_PUMP_RUN_SECONDS 5
#define GOING_UP LOW
#define GOING_DOWN HIGH
#define SOLENOID_OFF LOW
static void runThePump();
static void readPumpPressure();
static void PMS (uint8_t kwIndex, uint8_t verb,char *args);
static void MUP (uint8_t kwIndex, uint8_t verb,char *args);
static void MDN (uint8_t kwIndex, uint8_t verb,char *args);
static void PS1 (uint8_t kwIndex, uint8_t verb,char *args);
static void SOL (uint8_t kwIndex, uint8_t verb,char *args);
class Pump {
private:
Task checkPressure;
Task runPump;
bool wereWeGoingDown;
bool wasTheMotorOn;
long int startedAt;
bool motorOn;
bool goingDown;
public:
int pressure;
bool pressureChanged;
void motor(bool state) {
motorOn=state;
if((motorOn==PUMP_ON) && (wasTheMotorOn==PUMP_OFF))
{
startedAt=clock.second();
}
digitalWrite(PUMP_PIN, motorOn?PUMP_ON:PUMP_OFF);
if (motorOn != wasTheMotorOn) {
monitor.update("PMS", "%d", motorOn);
}
wasTheMotorOn=motorOn;
}
bool isMotorOn() {return motorOn;}
bool areWeGoingDown() {return goingDown;}
void solenoid(bool state) {
goingDown=state;
digitalWrite(SOLENOID_PIN, goingDown?GOING_DOWN:GOING_UP);
if (goingDown != wereWeGoingDown) {
monitor.update("SOL", "%d", goingDown);
}
goingDown = wereWeGoingDown;
}
void init() {
pinMode(PUMP_PIN, OUTPUT);
digitalWrite(PUMP_PIN, PUMP_OFF);
pinMode(SOLENOID_PIN, OUTPUT);
digitalWrite(SOLENOID_PIN, GOING_UP);
StopPump();
// register monitor commands
monitor.registerAction(_PMS_, &PMS);
monitor.registerAction(_PS1_, &PS1);
monitor.registerAction(_SOL_, &SOL);
monitor.registerAction(_MUP_, &MUP);
monitor.registerAction(_MDN_, &MDN);
checkPressure.set(100L, TASK_FOREVER, &readPumpPressure);
machine.todolist.addTask(checkPressure);
checkPressure.enable();
runPump.set(100L, TASK_FOREVER, &runThePump);
machine.todolist.addTask(runPump);
runPump.enable();
}
void Press() {
solenoid(GOING_UP);
motor(PUMP_ON);
CheckPump(); // ??
}
void Release() {
solenoid(GOING_DOWN);
motor(PUMP_ON);
CheckPump();
}
void CheckPump() {
if((motorOn) && ((clock.second()-startedAt) > MAX_PUMP_RUN_SECONDS)){
monitor.debug("Motor run timed out");
motor(PUMP_OFF);
}
// check here for the home switch.
}
void StopPump() {
motor(PUMP_OFF);
solenoid(SOLENOID_OFF);
}
// 'accessors'
bool updatePressure() {
int tol = 50; // number foo bad move to macro
int thisReading = analogRead(PS1_APIN);
if (thisReading < 224) {
pressure=0;
} else {
pressure=(thisReading-200)*10;
}
pressureChanged = abs(pressure - pressure) >= tol;
if (pressureChanged)
pressure = pressure;
return pressureChanged;
}
void setPressureChanged(bool v) {
pressureChanged = v;
}
};
Pump pump;
static void runThePump() {
pump.CheckPump();
}
static void readPumpPressure() {
if (pump.updatePressure()) {
monitor.update("PS1", "%d", pump.pressure);
pump.setPressureChanged(false);
}
}
// should also take on as a value
static void PMS (uint8_t kwIndex, uint8_t verb,char *args) {
if (verb == '!') {
pump.motor((bool) atoi(args));
} else {
monitor.update("PMS", "%d", pump.isMotorOn());
}
}
// should also take on as a value
static void SOL (uint8_t kwIndex, uint8_t verb,char *args) {
if (verb == '!') {
pump.solenoid((bool)atoi(args));
} else {
monitor.update("SOL", "%d", pump.areWeGoingDown());
}
}
static void MUP (uint8_t kwIndex, uint8_t verb,char *args) {
monitor.update("ACK","Going up");
pump.Press();
}
static void MDN (uint8_t kwIndex, uint8_t verb,char *args) {
monitor.update("ACK", "Going down");
pump.Release();
}
static void PS1 (uint8_t kwIndex, uint8_t verb,char *args) {
monitor.update("PS1", "%d", pump.pressure);
}
#endif // PUMP_H
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