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#include "Machine.h"
#include "Monitor.h"
#include "Clock.h"
#include "SafetyThird.h"
const char statenames[][STATENAMELEN]={STATENAMES};
Machine machine;
void setup() {
machine.init();
}
// POST
void Machine::init(){
monitor.init();
inSafeStateToRun=false;
setState(STATE_SELF_TEST_INIT);
safety.init();
if (state() == STATE_SELF_TEST_INIT) {
inSafeStateToRun=true;
setState(STATE_WARM_UP);
}
monitorTask.set(100L, TASK_FOREVER, &Monitor::run);
machine.todolist.addTask(monitorTask);
monitorTask.enable();
machineTask.set(500L, TASK_FOREVER, &systemInCharge);
machine.todolist.addTask(machineTask);
machineTask.enable();
monitor.registerAction(_TMR_, &TMR);
monitor.registerAction(_TMS_, &TMS);
monitor.registerAction(_TRM_, &TRM);
}
const char * Machine::stateName(int s) { return statenames[s]; };
void loop() {
machine.todolist.execute();
}
void Machine::setState(int newState) {
previousState=currentState;
currentState=newState;
monitor.update("STC","%.04d %s ==> %s",
newState,
stateName(previousState),
stateName(newState));
}
#define ENTERING (machine.previousState!=machine.currentState)
// this is the state machine.
static void systemInCharge(){
static time_t lastUpdate;
switch (machine.state()){
case STATE_OFF:
case STATE_SELF_TEST_INIT:break;
case STATE_WARM_UP:
if (ENTERING) {
safety.redLightVal=RED_FULL_ON;//fix number foo
} else {
machine.setState(STATE_RUN_MODE);
}
break;
case STATE_RUN_MODE:
if (ENTERING) {
lastUpdate=clock.time();
}
time_t delta;
delta=lastUpdate=(clock.time()-lastUpdate);
if ((delta>0)
&& (machine.timerIsRunning)
){
machine.timeRemaining -= (int) delta;
if (machine.timeRemaining<0) {
machine.timeRemaining=0;
}
monitor.update("TRM","%d",machine.timeRemaining);
}
if ((machine.timeRemaining==0)
&& machine.timerIsRunning
){
//pump.Release();
machine.timerIsRunning=false;
monitor.log("-- Job finished --");
machine.timeRemaining=machine.timerSetting;
monitor.update("TRM","%d",machine.timeRemaining);
monitor.update("TMR","%d",machine.timerIsRunning);
}
break;
case STATE_SHUTDOWN:
case STATE_POST_FAILURE:
case STATE_E_SHUTDOWN:
if (ENTERING) {
safety.redLightVal=255;//fix number foo
} else {
machine.setState(STATE_RUN_MODE);
}
break;
case STATE_MANUAL_MODE:
case STATE_DIAGNOSTICS_MODE:break;
case STATE_UNKNOWN_STATE:break;
}
machine.previousState=machine.currentState;
lastUpdate=clock.time();
}
/*----------------------------------------------------------------------
* Monitor Callbacks
*--------------------------------------------------------------------*/
static void TMR (uint8_t kwIndex, uint8_t verb,char *args) {
if (verb == '!') {
bool wasRunning=machine.timerIsRunning;
bool start=machine.timerIsRunning=atoi(args);
if (start) {
//
monitor.log("-- Job (Re)Started --"); //if was notrunning?
} else {
if (wasRunning) {
monitor.log("-- Job Paused --");
}
}
}
monitor.update("TMR","%d",machine.timerIsRunning);
}
static void TMS (uint8_t kwIndex, uint8_t verb,char *args) {
if (verb == '!') {
machine.timeRemaining=machine.timerSetting=atoi(args);
monitor.update("TRM","%d",machine.timeRemaining);
}
monitor.update("TMS","%d",machine.timerSetting);
}
static void TRM (uint8_t kwIndex, uint8_t verb,char *args) {
if (verb == '!') {
machine.timeRemaining=atoi(args);
monitor.update("TRM","%d",machine.timeRemaining);
}
monitor.update("TRM","%d",machine.timeRemaining);
}
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