Diff: BNP_Ctrl.cpp

Revision:

0:5648c217e527

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNP_Ctrl.cpp	Mon May 14 12:33:43 2018 +0000
@@ -0,0 +1,275 @@
+/*
+ * BNP_Ctrl.cpp
+ *
+ *  Created on: 23 mars 2018
+ *      Author: hd01073
+ */
+
+#include <stdio.h>
+#include "mbed.h"
+#include "mbed_events.h"
+#include "BNP_Ctrl.h"
+#include "MotorCtrl.h"
+#include "LedCtrl.h"
+#include "BltLink.h"
+#include "Audio.h"
+
+// 0.33  ==> 1000 Watt @220V
+#define POWER_IN_WATT_AT_220V 5.0		// adjusted to my air fan !!
+#define HALL_TRESHOLD	((0.33/1000.0) * POWER_IN_WATT_AT_220V)
+
+#define RELAY_PLUG_E_PIN_ID     PG_4
+#define RELAY_PLUG_C_PIN_ID     PG_5
+#define RELAY_CLOSING_PIN_VALUE 0
+#define RELAY_OPENING_PIN_VALUE 1
+
+
+DigitalOut *plugE_P = 0 ;	// ne fonctionne pas au 31/03/18 ==> on utilise plugC 
+DigitalOut *plugC_P = 0 ;
+AnalogIn *hallSensorP = 0  ;
+
+
+BNP_Ctrl *BNP_Ctrl::singleInstP = 0 ;
+
+
+void BNP_Ctrl::signalEvent(Evt evt)
+{
+	mainQueueP->call(instanceFeedFsm, evt) ;
+}
+
+void BNP_Ctrl::init(void)
+{
+	if (!plugE_P) {
+		plugE_P = new DigitalOut (RELAY_PLUG_E_PIN_ID) ;    // relai ok au 31/03/18
+	}
+	if (!plugC_P) {
+		plugC_P = new DigitalOut (RELAY_PLUG_C_PIN_ID) ;	// relai ok au 31/03/18
+	}
+	if (!hallSensorP) {
+		 hallSensorP = new AnalogIn (PB_1) ;
+	}
+
+	*plugE_P = RELAY_OPENING_PIN_VALUE ;		// attention : logique negative. 1 ==> relais ouvert
+	*plugC_P = RELAY_OPENING_PIN_VALUE ;
+	state = initInProgress ;
+}
+
+void BNP_Ctrl::plugConnectDetect(void)
+{
+	float voltageHallSensor = *hallSensorP ;
+	if ((double)voltageHallSensor > HALL_TRESHOLD) {	
+		singleInstP->feedFsm(currentDetected) ;
+	}
+}
+
+
+void BNP_Ctrl::plugDisconnectDetect(void)
+{
+	float voltageHallSensor = *hallSensorP ;
+	if ((double)voltageHallSensor < HALL_TRESHOLD) {	
+		singleInstP->feedFsm(currentInterrupted) ;
+	}
+}
+
+
+void BNP_Ctrl::plugConnectTimeoutHdlr(void)
+{
+	singleInstP->feedFsm(timeoutFired) ;
+}
+
+
+void BNP_Ctrl::internalDelayExpiredHdlr(void)
+{
+	singleInstP->feedFsm(delayExpired) ;
+}
+
+
+void BNP_Ctrl::feedFsm(Evt evt)
+{
+	switch (state) {
+	case initInProgress:
+		printf ("\r\nBNP_Ctrl: state initInProgress") ; 
+		switch (evt) {
+		case irisInitDone :
+			printf ("\r\nBNP_Ctrl: evt irisInitDone") ;
+			LedCtrl::requiredActivity = LedCtrl::signalingTermIdle ;
+			LedCtrl::signalEvent(LedCtrl::activityChangeRequired) ;
+			state = idleWithLed;
+			break ;
+		default:				// spurious evt
+			break ;
+		}
+		break ;
+
+
+	case idleNoLed :
+	case idleWithLed :
+		printf ("\r\nBNP_Ctrl: state Idle") ;
+		switch (evt) {
+		case oprTerminalReserve :
+			printf ("\r\nBNP_Ctrl: evt oprTerminalReserve")  ;
+			LedCtrl::requiredActivity = LedCtrl::signalingTermSelected ;
+			LedCtrl::signalEvent(LedCtrl::activityChangeRequired) ;
+			state = terminalSelected ;
+			break ;
+		default:				// spurious evt
+			break ;
+		}
+		break ;
+
+
+	case terminalSelected :
+		printf ("\r\nBNP_Ctrl: state terminalSelected") ;
+		switch (evt) {
+		case oprPlugSelection :
+			printf ("\r\nBNP_Ctrl: evt oprPlugSelection") ;
+			LedCtrl::requiredActivity = LedCtrl::signalingPlugSelected ;
+			LedCtrl::signalEvent(LedCtrl::activityChangeRequired) ;
+			MotorCtrl::getInst().targetPosition = BltLink::getInst().selectedIrisPosition ;
+			MotorCtrl::signalEvent(MotorCtrl::newPosRequired) ;
+			state = plugPresentationInProgress;
+			break ;
+		default:				// spurious evt
+			break ;
+		}
+		break ;
+
+	case plugPresentationInProgress:
+		printf ("\r\nBNP_Ctrl: state plugPresentationInProgress") ;
+		switch (evt) {
+		case irisPositionReached :
+			printf ("\r\nBNP_Ctrl: evt irisPos reached") ;
+			if (MotorCtrl::getInst().targetPosition == irisAtPlugEPosition) {
+				*plugE_P = RELAY_CLOSING_PIN_VALUE ;	
+				Audio::startPlay(trackPlugE) ;
+			} else {
+				*plugC_P = RELAY_CLOSING_PIN_VALUE ;
+				Audio::startPlay(trackPlugC) ;
+			}
+			autoRepeatTimerId = mainQueueP->call_every(500, plugConnectDetect) ;
+			timeoutId = mainQueueP->call_in (30000, plugConnectTimeoutHdlr) ;
+			state = waitingPlugConnection ;
+			break ;
+		default:				// spurious evt
+			break ;
+		}
+		break ;
+
+	case waitingPlugConnection:
+		printf ("\r\nBNP_Ctrl: state waitingPlugConnection") ;
+		switch (evt) {
+		case currentDetected :
+			printf ("\r\nBNP_Ctrl: evt current detect") ;
+			mainQueueP->cancel(autoRepeatTimerId) ;
+			autoRepeatTimerId = 0 ;
+			mainQueueP->cancel(timeoutId) ;
+			timeoutId = 0 ;
+			LedCtrl::requiredActivity = LedCtrl::signalingCharging ;
+			LedCtrl::signalEvent(LedCtrl::activityChangeRequired) ;
+			autoRepeatTimerId = mainQueueP->call_every(500, plugDisconnectDetect) ;
+			state = chargingInProgress ;
+			break ;
+
+		case timeoutFired :
+			printf ("\r\nBNP_Ctrl: timeout fired") ;
+			mainQueueP->cancel(autoRepeatTimerId) ;
+			autoRepeatTimerId = 0 ;
+			mainQueueP->cancel(timeoutId) ;
+			timeoutId = 0 ;
+			if (MotorCtrl::getInst().targetPosition == irisAtPlugEPosition) {
+				*plugE_P = RELAY_OPENING_PIN_VALUE;	
+			} else {
+				*plugC_P = RELAY_OPENING_PIN_VALUE ; 
+			}
+			LedCtrl::requiredActivity = LedCtrl::signalingChargeSuspended ;
+			LedCtrl::signalEvent(LedCtrl::activityChangeRequired) ;
+			MotorCtrl::getInst().targetPosition = BNP_Ctrl::irisAtShieldPosition ;
+			MotorCtrl::signalEvent(MotorCtrl::newPosRequired) ;
+			state = shieldPresentationInProgress ;
+			break ;
+
+		default:				// spurious evt
+			break ;
+		}
+		break ;
+
+	case chargingInProgress:
+		printf ("\r\nBNP_Ctrl: state chargin") ;
+		switch (evt) {
+		case currentInterrupted :
+			printf ("\r\nBNP_Ctrl: evt no current") ;
+			mainQueueP->cancel(autoRepeatTimerId) ;
+			autoRepeatTimerId = 0 ;
+			if (MotorCtrl::getInst().targetPosition == irisAtPlugEPosition) {
+				*plugE_P = RELAY_OPENING_PIN_VALUE ;	
+			} else {
+				*plugC_P = RELAY_OPENING_PIN_VALUE ; 
+			}
+			LedCtrl::requiredActivity = LedCtrl::signalingChargeSuspended ;
+			LedCtrl::signalEvent(LedCtrl::activityChangeRequired) ;
+			MotorCtrl::getInst().targetPosition = BNP_Ctrl::irisAtShieldPosition ;
+			MotorCtrl::signalEvent(MotorCtrl::newPosRequired) ;
+			state = shieldPresentationInProgress ;
+			break ;
+
+		default:				// spurious evt
+			break ;
+		}
+
+		break ;
+
+	case shieldPresentationInProgress:
+		printf ("\r\nBNP_Ctrl: shield present in progress") ;
+		switch (evt) {
+		case irisPositionReached :
+		case irisPositionTimeOut :			// !!! TODO : manage this event separately
+			printf ("\r\nBNP_Ctrl: evt pos reached or to") ;
+			delayId = mainQueueP->call_in (60000, internalDelayExpiredHdlr) ;
+			state = chargingSuspended ;
+			break ;
+
+		default:
+			break ;
+		}
+
+		case chargingSuspended:
+			printf ("\r\nBNP_Ctrl: state charge suspend") ;
+			switch (evt) {
+			case delayExpired :
+				printf ("\r\nBNP_Ctrl: evt delay expired") ;
+				delayId = 0 ;
+				LedCtrl::requiredActivity = LedCtrl::signalingTermIdle ;
+				LedCtrl::signalEvent(LedCtrl::activityChangeRequired) ;
+				state = idleWithLed;
+				break ;
+
+			case oprResumptionRequest :
+				printf ("\r\nBNP_Ctrl: evt resume request") ;
+				mainQueueP->cancel(delayId) ;
+				Audio::startPlay(trackResumption) ;
+				LedCtrl::requiredActivity = LedCtrl::signalingPlugSelected ;
+				LedCtrl::signalEvent(LedCtrl::activityChangeRequired) ;
+				MotorCtrl::getInst().targetPosition = BltLink::getInst().selectedIrisPosition ;
+				MotorCtrl::signalEvent(MotorCtrl::newPosRequired) ;
+				state = plugPresentationInProgress;
+				break ;
+
+			case oprTerminalRelease:
+				printf ("\r\nBNP_Ctrl: evt oprTerminalRelease") ;
+				delayId = 0 ;
+				LedCtrl::requiredActivity = LedCtrl::signalingTermIdle ;
+				LedCtrl::signalEvent(LedCtrl::activityChangeRequired) ;
+				state = idleWithLed;
+				break ;
+
+
+			default:
+				break ;
+			}
+			break ;
+
+		default :
+			printf ("!!!! ERROR - BNP_Ctrl::feedFsm\n\r") ;
+			break ;
+	}
+}