File content as of revision 75:bae748a7905f:

#include "mbed.h"
#include "TextLCD.h"
#include "MCP23017.h"
#include <string>
#include <iostream>
#include <vector>
#include <fstream>
#include <sstream>

using namespace std;

 
/******PINS AND DECLARATIONS*******/

//------PINS

//SWITCHES p5 - p8
DigitalIn switch1(p5);
DigitalIn switch2(p6);
DigitalIn switch3(p7);
DigitalIn switch4(p8);

//RAIL SENSORS - INT0,INT1
//INT0 - p9
InterruptIn int0(p9);
//INT1 - p10
InterruptIn int1(p10);

///p11 - EMPTY
///p12 - EMPTY

//M0 - p13
DigitalIn d21stat(p13);     //Sensor right of the station
//M1 - p14
DigitalIn d22stat(p14);     //Sensor left of the station
//M2 - p15
DigitalIn station(p15); //Sensor in the middle of the station

//p16 -  EMPTY

//ENABLE - p17
DigitalOut enable(p17);

//BUZZER - p18
DigitalOut buzz(p18); // buzz=0 doesn't beep, buzz=1 beeps

//POTENTIOMETER - p19
AnalogIn pot(p19);  //Gives float value pot.read(). Convert analog input to V with f*3.3

//DAT - p20
DigitalOut Track(p20); //Digital output bit used to drive track power via H-bridge

//LCD SCREEN - p21, p22, p23, p24, p25, p26
TextLCD lcd(p22,p21,p23,p24,p25,p26); // RS, E, A4, A5, A6, A7 // ldc.cls() to clear and printf(String up to 16char)

//p27 - EMPTY

//12C - p28
I2C i2c(p28,p27);

//LED1 - p29
DigitalOut redled(p29);
//LED2 - p30
DigitalOut greenled(p30);

//MBED LEDS
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);

//MCP
MCP23017 *mcp;


//------DEFINITIONS

//......SENSOR DEFS
//Definition of D sensors, will be interpreted as ints for the program's logic
#define D0 0
#define D1 1
#define D2 2
#define D3 3
#define D4 4
#define D5 5
#define D6 6
#define D7 7
#define D8 8
#define D9 9
#define D10 10
#define D11 11
#define D12 12
#define D13 13
#define D21 14
#define D22 15

//......SPEED DEFS
//Definition of the different train speeds, will be interpreted as ints for the program's logic
#define STOP 0
#define SLOW 1
#define MEDIUM 2
#define FAST 3
#define FULL 4
#define R_MEDIUM 5


//--------DCC SEND COMMANDS

//01DCSSSS for speed, D is direction (fwd=1 and rev=0), C is speed(SSSSC) LSB
const unsigned int DCCinst_forward = 0x68; //forward half speed
const unsigned int DCCinst_forward_slow = 0x66; //forward slow speed (step 9)
const unsigned int DCCinst_forward_fast = 0x6C; //Forward fast speed (step 22)
const unsigned int DCCinst_forward_full = 0x6F; //Forward full speed 
const unsigned int DCCinst_reverse = 0x48; //reverse half speed
const unsigned int DCCinst_stop = 0x50;    //stop the train

//100DDDDD for basic headlight functions
const unsigned int DCC_func_lighton = 0x90; //F0 turns on headlight function
const unsigned int DCC_func_dimlight = 0x91; //F0 + F1 dims headlight


//.....SWITCH COMMAND VARS
    
const unsigned int SWBaddress = 0x06; //Address for switch box

//100DDDDD where DDDDD is the switch command and 100 is constant:

//00001(F1 active)-00010(F2 active)-00100(F3 active)-01000(F4 active)
//Example - 111111 0 00000101 0 10000000 0 10000101 1 - idle
const unsigned int SWBidle = 0x80; //IDLE - Flip last activated SW.
const unsigned int SWBflip_1 = 0x81; //Flip SW1
const unsigned int SWBflip_2 = 0x82; //Flip SW2
const unsigned int SWBflip_3 = 0x84; //Flip SW3
const unsigned int SWBflip_4 = 0x88; //Flip SW4


//.....DCC TRAIN COMMAND VARS

//typical out of box default engine DCC address is 3 (at least for Bachmann trains)
//Note: A DCC controller can reprogram the address whenever needed
const unsigned int DCCaddressDR = 0x01; //Address for train 1 DARK-RED
const unsigned int DCCaddressLR = 0x03; //Address for train 3 LIGHT-RED


/**
*
*Method to send DCC commands to train and switches.
*
*@address - (HEX)Address where the commands will be sent
*@inst - (HEX)Number of instruction that will be commanded
*@repeat_count - Number of times the command will be sent
*
**/
void DCC_send_command(unsigned int address, unsigned int inst, unsigned int repeat_count){
    
    unsigned __int64 command = 0x0000000000000000; // __int64 is the 64-bit integer type
    unsigned __int64 temp_command = 0x0000000000000000;
    unsigned __int64 prefix = 0x3FFF; // 14 "1" bits needed at start
    unsigned int error = 0x00; //error byte
    
    //calculate error detection byte with xor
    error = address ^ inst;
    
    //combine packet bits in basic DCC format
    command = (prefix<<28)|(address<<19)|(inst<<10)|((error)<<1)|0x01;
    //printf("\n\r %llx \n\r",command);
    
    int i=0;
    //repeat DCC command lots of times
    while(i < repeat_count) {
        
        temp_command = command;
        //loops through packet bits encoding and sending out digital pulses for a DCC command
        for (int j=0; j<64; j++) {
            
            if((temp_command&0x8000000000000000)==0) { 
            //test packet bit
                //send data for a "0" bit
                Track=0;
                wait_us(100);
                Track=1;
                wait_us(100);
                //printf("0011");
            }else{
                
                //send data for a "1"bit
                Track=0;
                wait_us(58);
                Track=1;
                wait_us(58);
                //printf("01");
            }
            // next bit in packet
            temp_command = temp_command<<1;
        }
        i++;
    }
}



//------CLASSES

//......POSITION CLASS

/**
*
*Position class.
*
*@position - 
*@previous_cw - 
*@previous_ccw - 
*
*Position(int) - 
*
*get_pos() - 
*get_prev_cw() - 
*get_ccw() - 
*add_prev_cw() - 
*add_ccw() - 
*
**/
class Position{
    
    private:
    
        int position; 
        vector <int> previous_cw;
        vector <int> previous_ccw;
    public:
    
        Position(int p){
            position = p;
        }
        
        int get_pos(){
            return position;    
        }
        
        vector<int> get_next_cw(){
            return previous_ccw;
        }
        
        vector<int> get_next_ccw(){
            return previous_cw;
        }

        vector <int> get_prev_cw(){
            return previous_cw;    
        }
        
        vector <int> get_prev_ccw(){
            return previous_ccw;    
        }
        
        void add_prev_cw(int pos){
            previous_cw.push_back(pos);
        };
        
        void add_prev_ccw(int pos){
            previous_ccw.push_back(pos);
        };
};

//......INITS USED FOR CLASS TRAIN

//Creating a vector with all the positions.
vector<Position> positions;

/**
*Defining areas for train detection and collision logic.
*area_A_arr/area_B_arr - Arrays that hold the Dsensors for each area, used to initialize the vectors.
*area_A/area_B - Vectors that hold the different sensors of the corresponding areas of the track.
**/
int area_A_arr[] = {D21,D2,D22,D1,D0,D13,D12};
int area_B_arr[] = {D6,D7,D8};

const vector<int> area_A(area_A_arr,area_A_arr + sizeof(area_A_arr) / sizeof(int));
const vector<int> area_B(area_B_arr,area_B_arr + sizeof(area_B_arr) / sizeof(int));


//......TRAIN CLASS

/**
*
*Train class.
*
*@position - 
*@going_cw - 
*
*Train(int, bool) - 
*Train(bool) - 
*
*Vector get_next_sensors() - 
*set_position(int) - 
*set_goes_cw(bool) - 
*Position get_position() - 
*Int get_position_number() - 
*Bool goes_cw() -
*
**/
class Train{
    
    private:       
        
        unsigned int train_address;    //stop the train        
        Position *position;
        bool going_cw;
        int speed;
        
    public:
        Train(int pos, bool cw){
            
            position = &positions[pos];
            going_cw = cw;
        }
        
        /**
        * Contructor that takes the address of the train and the speed with default value MEDIUM.
        */
        Train(unsigned int address, int s=MEDIUM){
            train_address = address;
            speed = s;
        }
        
        Train(bool cw){ going_cw = cw; }
                        
        vector<int> get_next_sensors(){
            
            //Checking direction
            if(going_cw){
                
                return position->get_next_cw();
            }else{
                
                return position->get_next_ccw();
            }            
        }
        
        vector<int> get_previous_sensors(){
            
            //Checking direction
            if(going_cw){
                
                return position->get_next_ccw();
            }else{
                
                return position->get_next_cw();
            }            
        }
        
        void set_speed(int s){
            speed = s;
        }        
                
        /**
        *   Sends a DCC command to the train with the speed indicaed by the attribute speed
        *   The number of times the command is sent can be indicated as an optional parameter. Default value is 1.
        */        
        void run(int times=1){
            
            const unsigned int DCCinst_forward_slow = 0x66; //forward slow speed (step 9)
            const unsigned int DCCinst_forward_medium = 0x68; //forward half speed
            const unsigned int DCCinst_forward_fast = 0x6C; //Forward fast speed (step 22)
            const unsigned int DCCinst_forward_full = 0x6F; //Forward full speed 
            const unsigned int DCCinst_reverse_medium = 0x48; //reverse half speed
            const unsigned int DCCinst_stop = 0x50;    //stop the train
            
            switch(speed){
                case STOP:
                    DCC_send_command(train_address, DCCinst_stop,times);
                    break;
                case SLOW:
                    DCC_send_command(train_address, DCCinst_forward_slow,times);
                    break;
                case MEDIUM:
                    DCC_send_command(train_address, DCCinst_forward_medium,times);
                    break;
                case FAST:
                    DCC_send_command(train_address, DCCinst_forward_fast,times);
                    break;
                case FULL:
                    DCC_send_command(train_address, DCCinst_forward_full,times);
                    break;
                case R_MEDIUM:
                    DCC_send_command(train_address, DCCinst_reverse_medium,times);
                    break;
            }
        }
        
        void set_position(int pos){
            
            position = &positions[pos]; //Taking the new position from the positions vector
        }
        
        void set_goes_cw(bool cw){
            
            going_cw = cw;
        }   
        
        Position get_position(){
            
            return *position;
        }
        
        int get_position_number(){
            
            return position->get_pos();
        }
        
        bool goes_cw(){
            
            return going_cw;
        }
        
        
        /**
        *
        *Checks if the element exists within the vector.
        *
        *@v - The vector (of ints) the method will go through.
        *@element - The element the method will look for.
        *
        **/
        bool in_vector(vector<int>v,int element){
            
            bool exist = false;
            
            for(int i=0; i< v.size(); i++){
                
                if(v[i] == element){
                    
                    exist = true;
                }
            }   
            return exist;
        }
        
        bool is_in_A(){
            return in_vector(area_A,get_position_number());
            
        }
        
        bool is_in_B(){
            
            return in_vector(area_B,get_position_number());
        }
};


//------GLOBAL VARS AND INITS

//......POSITIONS INIT

//Creation of all the positions. One for every sensor on the table - Position name(mapping)
Position d0(D0);
Position d1(D1);
Position d2(D2);
Position d3(D3);
Position d4(D4);
Position d5(D5);
Position d6(D6);
Position d7(D7);
Position d8(D8);
Position d9(D9);
Position d10(D10);
Position d11(D11);
Position d12(D12);
Position d13(D13);
Position d21(D21);
Position d22(D22);


//......TRAINS INIT

/**
*Creation of 2 Train objects. 
*Using boolean constructor because position initialization will be done after initializing all position vectors.
*DR_train = Dark Red train - LR_train = Light Red Train
**/
Train DR_train(DCCaddressDR,MEDIUM);
Train LR_train(DCCaddressLR,MEDIUM);


//......FLAGS INIT

//possibility of an array having {dr_train, lr_train}? for reuse and modularity of functions

int speedcheck = 0;

bool station_stop = false;



//**************** FUNCTIONS FOR DENVER TRAIN ****************//


/**
*
*Activates the buzzer for 0.5 seconds.
*
**/
void doBuzz(){
    
    buzz = 1;
    wait(0.5);
    buzz = 0;    
}


/**
*
*Initializes every position's vectors (prev_cw and prev_ccw) with the corresponding sensors.
*prev_cw - Sensors previous to the current in clockwise sense.
*prev_ccw - Sensors previous to the current in counter-clockwise sense.
*
**/
void init_positions(){
      
    d0.add_prev_cw(D1);
    d0.add_prev_ccw(D13);
    
    d1.add_prev_cw(D22);
    d1.add_prev_ccw(D0);
    
    d22.add_prev_cw(D2);
    d22.add_prev_ccw(D1);
    
    d2.add_prev_cw(D21);
    d2.add_prev_ccw(D22);
    
    d21.add_prev_cw(D3);
    d21.add_prev_cw(D4);
    d21.add_prev_ccw(D2);
    
    d3.add_prev_cw(D9);
    d3.add_prev_ccw(D21);
    
    d4.add_prev_cw(D6);
    d4.add_prev_ccw(D21);
    
    d5.add_prev_cw(D6);
    d5.add_prev_ccw(D11); 
    
    d6.add_prev_cw(D7);
    d6.add_prev_ccw(D4);
    d6.add_prev_ccw(D5);
    
    d7.add_prev_cw(D8);
    d7.add_prev_ccw(D6);
    
    d8.add_prev_cw(D9);
    d8.add_prev_cw(D10);
    d8.add_prev_ccw(D7);
        
    d9.add_prev_cw(D3);
    d9.add_prev_ccw(D8);
    
    d10.add_prev_cw(D12);
    d10.add_prev_ccw(D8);  
    
    d11.add_prev_cw(D12);
    d11.add_prev_ccw(D5);  
    
    d12.add_prev_cw(D13);
    d12.add_prev_ccw(D10); 
    d12.add_prev_ccw(D11);  
    
    d13.add_prev_cw(D0);
    d13.add_prev_ccw(D12);  
    
    //Initialize array with positions
    positions.push_back(d0);
    positions.push_back(d1);
    positions.push_back(d2);
    positions.push_back(d3);
    positions.push_back(d4);
    positions.push_back(d5);
    positions.push_back(d6);
    positions.push_back(d7);
    positions.push_back(d8);
    positions.push_back(d9);
    positions.push_back(d10);
    positions.push_back(d11);    
    positions.push_back(d12);
    positions.push_back(d13);
    positions.push_back(d21);
    positions.push_back(d22);
}


/**
*
*Here we initialize the mcp that will be used to manage the interrupts.
*
**/
void initialize_mcp(){
    mcp = new MCP23017(i2c,0x40); //Connect to SCL - p28 and SDA - p27 and MPC I2C address 0x40 
    
    mcp->_write(IODIRA, (unsigned char )0xff);
    mcp->_write(IODIRB, (unsigned char )0xff);
    mcp->_write(IPOLA, (unsigned char )0x00);
    mcp->_write(IPOLB, (unsigned char )0x00);
    mcp->_write(DEFVALA, (unsigned char )0xff);
    mcp->_write(DEFVALB, (unsigned char )0xff); 
    mcp->_write(INTCONA, (unsigned char )0xff); 
    mcp->_write(INTCONB, (unsigned char )0xff); 
    mcp->_write(IOCONA, (unsigned char )0x2); 
    mcp->_write(IOCONB, (unsigned char )0x2); 
    mcp->_write(GPPUA, (unsigned char )0xff); 
    mcp->_write(GPPUB, (unsigned char )0xff);    
    
}


/**
*
*Returns the number of the sensor where the train was detected.
*
*@number - 
*@interrupt - 
*
**/
int get_sensor(unsigned int number,int interrupt){
    
    int sensor = -1;
    
    for(int i=0; i<8; i++){
        
        if(~number & 1<<i){
                        
            sensor = i; 
        }
    }
    
    if(interrupt == 1){
        
        sensor+= 8; // Sensors caught by interreupt1 are identified from 8 to 15.
    }
    
    return sensor;
}


/**
*
*Method to flip the switches
*
*@switchId - (1-4)The ID of the switch we want to flip
*@times - The number of times we want to send the command
*@activate - True if the switch is going to be activated. False if it needs to go back to rest position.
*
**/
void flip_switch(int switchId, int times, bool activate=true){
    
    unsigned int SWBflip = SWBidle; //IDLE - Flip last activated SW.
    
    switch(switchId){
        
        case 1:
            SWBflip = SWBflip_1;     //FLIP SW1
            break;
            
        case 2:
            SWBflip = SWBflip_2;     //FLIP SW2
            break;
            
        case 3:
            SWBflip = SWBidle;     //FLIP SW3
            break;
            
        case 4:
            SWBflip = SWBflip_4;     //FLIP SW4
            break;
            
        default:
            break;    
    }          

        //Security measure not to burn the switch.
        DCC_send_command(SWBaddress,SWBflip,times); //Activating switch         
        
        if(!activate){
              if(switchId == 3){
                    DCC_send_command(SWBaddress,SWBflip_3,times); // Exception for switch 3
                }else{
                    DCC_send_command(SWBaddress,SWBidle,times);
                }              
        }
     
}


/**
* Action to do when NAC is detected 
* Booster is disabled and the buzz is activated
* 
*/
void NAC_action(){
    enable = 0;
    doBuzz();
}



/**
*
*This method will check if there is a non-avoidable frontal collision(NAFC).
*A NAFC will happen if:
*
*Both trains in area A or B with different direction
*Trains in (D11 and D5) or (D9 and D3) with same direction 
*
**/
bool check_NAC(){
    
    bool NAC = false;
    
    if((DR_train.is_in_A() && LR_train.is_in_A()) || (DR_train.is_in_B() && LR_train.is_in_B()) ){ //Check if both are in same area
    
        if(DR_train.goes_cw() ^ LR_train.goes_cw()){ //XOR: They must have different values to be true (Different direction)
            lcd.cls();
            lcd.printf("NAC Both area A or B");
            NAC = true;
        }
    }else if(((DR_train.get_position_number() == D11) && (LR_train.get_position_number() == D5 ) ) || ((LR_train.get_position_number() == D5) && (DR_train.get_position_number() == D11 ))){ //Check if they are in position D11 and D5
    
        if(!(DR_train.goes_cw() ^ LR_train.goes_cw())){ // NOT XOR: They must have same values to be true (Same direction)
            lcd.cls();
            lcd.printf("NAC  D11 and D5");
            NAC = true;
        }
    }else if(((DR_train.get_position_number() == D9) && (LR_train.get_position_number() == D3)) || ((LR_train.get_position_number() == D9) && (DR_train.get_position_number() == D3)) ){//Check if they are in position D9 and D3
    
        if(!(DR_train.goes_cw() ^ LR_train.goes_cw())){ // NOT XOR: They must have same values to be true (Same direction)
            lcd.cls();
            lcd.printf("NAC D9 and D3");
            NAC = true;
        }   
    }
    return NAC;     
}


/**
* Switch_n switch that needs to switch
* cont_sensor sensor that when activated the stopped train continues
* switch_sensor sensor where the switch should be activated
*/
void AFC_action(int switch_n, int cont_sensor, int switch_sensor, Train *stop_train, Train * cont_train ){
    
    bool send_pack_switch = false;
        
    if(switch_n == 3){
        DCC_send_command(SWBaddress,SWBflip_3,15); //Activating switchç
    }
    
    while(cont_train->get_position_number() != cont_sensor){
        
        if(cont_train->get_position_number() == switch_sensor){
            
            send_pack_switch = true;          
        }
        stop_train->set_speed(STOP);
        stop_train->run(); //Stopping train on sensor D4 or D10
        cont_train->run();
        
        if(send_pack_switch){
            
            lcd.cls();
            lcd.printf("Switching SW%d",switch_n);
            flip_switch(switch_n,5);
        }
    }
    
    if(switch_n == 3){
        
        DCC_send_command(SWBaddress,SWBflip_3,15); //Activating switch
    }else{
        
        flip_switch(5,5); //Send IDLE command
    }
    stop_train->set_speed(MEDIUM);
}


/**
*
* Switch_n switch that needs to switch
* cont_sensor sensor that when activated the stopped train continues
* switch_sensor sensor where the switch should be activated
*
*/
void ALC_action(int cont_sensor, Train *stop_train, Train * cont_train ){
        
    while(cont_train->get_position_number() != cont_sensor){

        stop_train->set_speed(STOP);
        stop_train->run(); //Stopping train on sensor D4 or D10
        cont_train->run();
    }    
    stop_train->set_speed(MEDIUM);
}


/**
*
*The function will check if there is an Avoidable Frontal Collision (AFC).
*AFC will occur if:
*
*Train in area A(ccw) and train in D4(cw)
*Train in area A(cw) and train in D10(ccw)
*Train in area B(cw) and train in D4(ccw)
*Train in area B(ccw) and train in D10(ccw)
*
*stop_train is the train that is going to stop in sensors D4 or D10 until the other train passes
*cont_train is the train that won't stop and will do the switch 
*
**/
bool check_AFC(Train *stop_train, Train *cont_train){   //TODO - Add same for LR train

    bool detected_AFC = false;
    if( stop_train->get_position_number() == D4){  
             
            if(stop_train->goes_cw()){
                
                if(cont_train->is_in_A() && !cont_train->goes_cw()){
                    
                    detected_AFC = true;
                    lcd.cls();
                    lcd.printf("AFC!!! STOP D4 SW2 CONT D3");
                    
                    AFC_action(2,D3,D2,stop_train,cont_train); 
                    //Activate switch2
                    //When cont_train is at D3 stop_train continues
                }
            }else{ //DR goes ccw
            
                if(cont_train->is_in_B() && cont_train->goes_cw()){
                    
                    detected_AFC = true;
                    lcd.cls();
                    lcd.printf("AFC!!! STOP D4 SW3 CONT D5");
                    
                    AFC_action(3,D5,D6,stop_train,cont_train); 
                    //DR_train stops
                    //Activate switch3
                    //When LR is at D5 DR continues
                }
            }
    }else if(stop_train->get_position_number() == D10){
        
        if(stop_train->goes_cw()){
            
            if(cont_train->is_in_B() && !cont_train->goes_cw()){
                
                detected_AFC = true;
                lcd.cls();
                lcd.printf("AFC!!! STOP D10 SW4 CONT D9");
                
                AFC_action(4,D9,D8,stop_train,cont_train); 
                //DR train stops
                //Activate switch4
                //When LR is at D9 DR continues
            }
        }else{
            
            if(cont_train->is_in_A() && cont_train->goes_cw()){
                
                detected_AFC = true;
                lcd.cls();
                lcd.printf("AFC!!! STOP D10 SW1 CONT D11");
                AFC_action(1,D11,D12,stop_train,cont_train); 
                //DR train stops
                //Activate switch1
                //When LR is at D11 DR continues
            }
        }
    }else if(stop_train->get_position_number() == D9){
    
        if(stop_train->goes_cw()){
            
            if(cont_train->is_in_B() && !cont_train->goes_cw()){
                
                detected_AFC = true;
                lcd.cls();
                lcd.printf("AFC!!! STOP D9 CONT D8");
                AFC_action(5, D10, D4, stop_train, cont_train);
                //train in 9 stops
                //when cont_train is at d10 stop train continues 
            }
        }
    }else if(stop_train->get_position_number() == D11){
        
        if(!stop_train->goes_cw()){
            
            if(cont_train->is_in_A() && cont_train->goes_cw()){
                
                detected_AFC = true;
                lcd.cls();
                lcd.printf("AFC!!! STOP D11 CONT D12");
                AFC_action(5, D10, D4, stop_train, cont_train);
                //train in 11 stops
                //when cont_train is at d10 stop train continues
            }
        }
    }else if(stop_train->get_position_number() == D3){

        if(stop_train->goes_cw()){
            
            if(cont_train->is_in_A() && !cont_train->goes_cw()){
                
                detected_AFC = true;
                lcd.cls();
                lcd.printf("AFC!!! STOP D3 CONT D14");
                AFC_action(5, D4, D10, stop_train, cont_train);
                //train in 3 stops
                //when cont_train is at d4 stop train continues
            }
        }
        
    }else if(stop_train->get_position_number() == D5){
        
        if(!stop_train->goes_cw()){
            
            if(cont_train->is_in_B() && cont_train->goes_cw()){
                
                detected_AFC = true;
                lcd.cls();
                lcd.printf("AFC!!! STOP D5 CONT D6");
                AFC_action(5, D4, D10, stop_train, cont_train);
                //train in 5 stops
                //when cont_train is at d4 stop train continues
            }
        }
    }
    return detected_AFC;
}


/**
*
*
*
**/
bool check_ALC(Train *stop_train, Train *cont_train){   //TODO - Add same for LR train

    bool detected_ALC = false;
    
    if( stop_train->get_position_number() == D4){  
             
            if(stop_train->goes_cw()){
                
                if(cont_train->get_position_number() == D3 && cont_train->goes_cw()){
                    
                    detected_ALC = true;
                    lcd.cls();
                    lcd.printf("ALC!!! STOP D4 CONT D3");
                    ALC_action(2, stop_train, cont_train ); 
                    //When cont_train is at D22 stop_train continues
                }
            }else{ //DR goes ccw
            
                if(cont_train->get_position_number() == D5 && !cont_train->goes_cw()){
                    
                    detected_ALC = true;
                    lcd.cls();
                    lcd.printf("ALC!!! STOP D4 SW3 CONT D5");
                    ALC_action(7, stop_train, cont_train ); 
                    //Train stops
                    //When CONT is at D6 DR continues
                }
            }
    }else if(stop_train->get_position_number() == D10){
        
        if(stop_train->goes_cw()){
            
            if(cont_train->get_position_number() == D9 && cont_train->goes_cw()){
                
                detected_ALC = true;
                lcd.cls();
                lcd.printf("ALC!!! STOP D10 CONT D9");
                ALC_action(8, stop_train, cont_train ); 
                //D10 train stops
                //When CONT is at D8, D10 continues
            }
        }else{
            
            if(cont_train->get_position_number() == D11 && !cont_train->goes_cw()){
                
                detected_ALC = true;
                lcd.cls();
                lcd.printf("ALC!!! STOP D10 CONT D11");
                ALC_action(12, stop_train, cont_train ); 
                //D10 train stops
                //When CONT is at D12, D10 continues
            }
        }
    }
    return detected_ALC;
}


/**
*
*
*
**/
void stay_at_distance(Train* train_front, Train* train_back){
    
    led1 = 0;
    led2 = 0;
    led3 = 0;
        
    for(int i=0; i<train_back->get_next_sensors().size(); i++){
            
        for(int j=0; j<train_front->get_previous_sensors().size(); j++){
                
            while(train_back->get_next_sensors()[i] == train_front->get_previous_sensors()[j]){
                    
                //lcd.cls();
                //lcd.printf("TOO CLOSE! S %d", train_back->get_next_sensors()[i]);
                led1 = 1;
                led3 = 1;
                //stop back train
                train_back->set_speed(STOP);
                train_back->run();
                train_front->run();
                led1 = 0;
                led2 = 0;
                led3 = 0;
           }
        led1 = 1;
        led2 = 1;
        led3 = 1;
        train_back->set_speed(MEDIUM);
        train_back->run();
        }
    }
    led1 = 0;
    led2 = 0;
    led3 = 0;
}



/**
*
*The method check_position will check if any of the trains is in any of the areas.
*It will go through all the area vectors (A,B) and call the function in_vector to check inside the vectors.
*
**/
void check_position(){    
    
    //stay_at_distance(&DR_train,&LR_train);
    //stay_at_distance(&LR_train,&DR_train);
    
    if(check_NAC()){ NAC_action(); }
    
    check_AFC(&DR_train,&LR_train);       
    check_AFC(&LR_train,&DR_train);
    check_ALC(&LR_train,&DR_train);
    check_ALC(&DR_train,&LR_train);
}


/**
*
*
*
**/
void printPos(int sensor){
   
    string DR_dir,LR_dir;
    
    if(DR_train.goes_cw()){ DR_dir = "cw";}
        else{DR_dir = "ccw";}
    
    if(LR_train.goes_cw()){LR_dir = "cw";}
        else{LR_dir = "ccw";}    
            
    lcd.cls();
    lcd.printf("S:D%d DR%d(",sensor,DR_train.get_position_number());
        
    for(int i=0; i<DR_train.get_next_sensors().size(); i++){ 
        
        lcd.printf("%d,",DR_train.get_next_sensors()[i]);
    }
        
    lcd.printf(")%s LR%d(",DR_dir,LR_train.get_position_number());
        
    for(int i=0; i<LR_train.get_next_sensors().size(); i++){ 
           
        lcd.printf("%d,",LR_train.get_next_sensors()[i]);
    }
    lcd.printf(")%s",LR_dir);    
}


/**
*
*Description
*
*@sensor - 
*
**/
void update_train_pos(int sensor){
 
    //bool found_DR = false;
    //bool found_LR = false;
    

    if(sensor == DR_train.get_position_number() || sensor == LR_train.get_position_number()){
        redled = 1;        
    }else{  

        redled = 0;
        printPos(sensor);
        
        //Checking next sensors for DR train
        for(int i=0; i<DR_train.get_next_sensors().size(); i++){         
            
            if(DR_train.get_next_sensors()[i] == sensor){ //If the sensor is one expected to visit by the train we update the position
            
                //found_DR = true;
                
                if(DR_train.goes_cw()){
                    if(DR_train.get_position_number() == D5 || DR_train.get_position_number() == D11){             
                                                   
                        DR_train.set_goes_cw(false); //If train goes cw and passes D5 or D11 we change orientation
                    }    
                }else{
                    
                    if(DR_train.get_position_number() == D9 || DR_train.get_position_number() == D3){ 
                        
                        DR_train.set_goes_cw(true); //If train goes ccw and passes D9 or D3 we change orientation
                    }
                } 
                
                DR_train.set_position(sensor);
                               
            }
        }
        
        //Checking next sensors for LR train
        for(int i=0; i<LR_train.get_next_sensors().size(); i++){
            
            if(LR_train.get_next_sensors()[i] == sensor){
                
                //found_LR = true;
                            
                if(LR_train.goes_cw()){   
                    
                    if(LR_train.get_position_number() == D5 || LR_train.get_position_number() == D11){    
                        LR_train.set_goes_cw(false); //If train goes cw and passes D5 or D11 we change orientation
                    }    
                }else{
                   
                    if(LR_train.get_position_number() == D9 || LR_train.get_position_number() == D3 ){                  
                        
                        LR_train.set_goes_cw(true); //If train goes ccw and passes D9 or D3 we change orientation
                    }
                }
                LR_train.set_position(sensor); 
                
                if(sensor == D2 && station_stop){
                    
                    DR_train.set_speed(STOP);
                    LR_train.set_speed(STOP);                    
                } 
            }
        }
    }
}


/**
*
*Method to catch interrupts 0
*
**/
void on_int0_change(){
     
     wait_us(2000);
     int sensor_data = mcp->_read(INTCAPA);
     int sensor = get_sensor(sensor_data,0);
     update_train_pos(sensor);
}


/**
*
*Method to catch interrupts 1
*
**/
void on_int1_change(){
    
    wait_us(2000);
     int sensor_data = mcp->_read(INTCAPB);
     int sensor = get_sensor(sensor_data,1);
     update_train_pos(sensor);
}


/**
*
*Clear current interrupts 
*
**/
void init() { 

    mcp->_read(GPIOA); 
    mcp->_read(GPIOB); // Register callbacks 
    int0.fall(&on_int0_change); 
    int1.fall(&on_int1_change); // Enable interrupts on MCP 
    mcp->_write(GPINTENA, (unsigned char )0xff); 
    mcp->_write(GPINTENB, (unsigned char )0xff); // Ready to go! 
  }


/**
*
*Checks if any of the switches of the box has been activated. 
*Calls necessary function and displays LCD text.
*
**/
void checkSwitch(){
    
    if(switch1 == 1){
        
        //lcd.cls();
        //lcd.printf("TRAIN NOW WILL STOP AT STATION");
        station_stop = true;
     }else{
        
        station_stop = false;
        LR_train.set_speed(MEDIUM);                    
        DR_train.set_speed(MEDIUM);                       
    } 
    if(switch2 == 1){
        
            //lcd.cls();
            //lcd.printf("SPEEDCHECKMODE");
            //change to speedcheckmode
            speedcheck = 1;
        }else{
            
            //lcd.cls();
            //lcd.printf("NORMAL MODE");
            speedcheck = 0;
        }if(switch3 == 0){
                
                if(speedcheck>0){
                    
                    //lcd.cls();
                    //lcd.printf("SPEED TRAIN DARK RED");
                    speedcheck = 2;
                }
            }else if(switch4 == 0){
                    
                    if(speedcheck>0){

                        //lcd.cls();
                        //lcd.printf("SPEED TRAIN LIGHT RED");
                        speedcheck = 3;
                    }
            }
    }


/**
*
* Returns a sensor number depending on how many times switch3 flips.
* When pressing switch4 it confirms the switch
* Init_sensor is the value where we start counting. 
* string train is the name of the train that will be prited with the sensor
*
*/
int select_sensor(int init_sensor, string train){
    
    lcd.cls();
    lcd.printf("%s SENSOR D%d",train,init_sensor);
    
    int sensor = init_sensor;
    bool changed = false;
    bool exit = false;
    
    while(!exit){
        
        if(switch3 == 0){
            
            if(changed){
               
               sensor++;
               sensor=sensor%15; //Only sensors from 0 to 15.
               changed=false; 
               lcd.cls();
               lcd.printf("%s: D%d",train,sensor);
            }
        }else{
            
            changed = true;
            wait(0.2);
        }
        if(switch4 == 0){
            
            exit = true;
            wait(0.2);
        }
    }
    return sensor;
}


/**
* Returns a boolean representing the direction. Everytimew switch3 is 0 it changes the direction.
* When switch4 is 0 the selection is confirmed.
* Init_going_cw is the initial direction.
* Train is the string with the name of the train  that will be printed next to the direction
*/
bool select_direction(bool init_going_cw,string train){
    
    string dir_string;
    
    if(init_going_cw){dir_string = "cw";}
        else{dir_string = "ccw";}
    
    lcd.cls();
    lcd.printf("%s DIRECTION %s ",train,dir_string);
    
    bool exit = false;
    bool going_cw = init_going_cw;
    bool changed = false;
    
    while(!exit){
        
        if(switch3 == 0){
            
            if(changed){
                
                going_cw = !going_cw;
                changed = false;
                string dir;
                
                if(going_cw){dir = "cw";}
                    else{dir = "ccw";}
                    
                lcd.cls();
                lcd.printf("%s: %s",train,dir);
            }
        }else{
            
            changed = true;
            wait(0.2);
        }
        if(switch4 == 0){
            
            exit = true;
            wait(0.2);
        }
    }
    return going_cw;
}


/**
*
*
*
**/
void adjustSpeed(Train* train){
    
    float f = pot.read();
    float vin = f * 3.3;
    
    if(0<=vin && vin<0.60){
        
        //speed = slow
        train->set_speed(SLOW);             
        }else if(0.60<vin && vin<1.20){
            
            //speed medium
            train->set_speed(MEDIUM);            
            }else if(1.20<vin && vin<2.20){
                
                //speed fast
                train->set_speed(FAST);             
                }else if(2.20<vin && vin<3.20){
                    
                    //speed full
                    train->set_speed(FULL);            
            }
}

/**
*
*
*
**/
void switch_toSpeed(){
    
    switch(speedcheck){
        
        case 1:
            adjustSpeed(&DR_train);
            adjustSpeed(&LR_train);
        
        case 2:
            adjustSpeed(&DR_train);
            
        case 3:
            adjustSpeed(&LR_train);
            
    }
}



//**************** MAIN PROGRAM FOR DENVER TRAIN ****************//


int main()
{
    
    enable = 0;
    
    //Led routine to start main program
    wait(0.2);
    led1 = 1;
    
    init_positions();
    initialize_mcp();   //mcp initialization for interrupts before train running
    init();
       
    int DR_init_sensor = select_sensor(D4,"DR");
    bool DR_init_dir = select_direction(false,"DR");
    
    wait(0.5);
    
    int LR_init_sensor = select_sensor(D10,"LR");
    bool LR_init_dir = select_direction(false,"LR");
    
    DR_train.set_position(DR_init_sensor);
    DR_train.set_goes_cw(DR_init_dir);
    
    LR_train.set_position(LR_init_sensor);
    LR_train.set_goes_cw(LR_init_dir);
    
    string DR_print_dir, LR_print_dir;
    
    if(DR_train.goes_cw()){DR_print_dir = "cw";}
        else{DR_print_dir = "ccw";}
    
    if(LR_train.goes_cw()){LR_print_dir = "cw";}
        else{LR_print_dir = "ccw";}
    
    lcd.cls();
    lcd.printf("DR(%d)%s \n LR(%d)%s",DR_train.get_position_number(),DR_print_dir,LR_train.get_position_number(),LR_print_dir);
    
    wait(2);
    
    //LED2+LED3 Shows start of route + LCD notif
    led2 = 1; // Entering the while
    wait(0.4);
    led3 = 1; // Entering the while
    wait(0.4);

    lcd.cls();
    lcd.printf("Ready to start");
    wait(1);
    
    enable = 1;
    
    led1 = 0;
    led2 = 0;
    led3 = 0;
    
    //Demo for stopping at the station
    while(1) {
    
        DR_train.run();
        LR_train.run(); 
        check_position();   
        //checkSwitch();  //Checks for switch commands everytime. 
        //switch_toSpeed();

    }
}


//**********************SAVED CODE CHUNKS****************************//


/**Flip switch-idle routine

    flip_switch(5,15);//Send IDLE command at the beginning
    flip_switch(1,40);
    wait(0.5);
    flip_switch(5,15);
    flip_switch(2,15);
    wait(0.5);
    flip_switch(5,15);
    flip_switch(3,40);
    wait(0.5);
    flip_switch(5,15);
    flip_switch(4,15);
    wait(0.5);
    flip_switch(5,15);
    
**/

/**Code for train to stop at station

    if(station == 1){      //If train is on the sensor at the middle of the station it stops and displays LCD text.
            
            lcd.cls();
            lcd.printf("All aboard\n mind the gap");
            DCC_send_command(DCCaddressDR,DCCinst_stop,400);  
            lcd.cls();
            
        }else{
            DR_train.run();
            LR_train.run();
            
        } 

**/


/**Train light routine to start running
    
    
    DCC_send_command(DCCaddressDR,DCC_func_lighton,200); // turn light on full
    DCC_send_command(DCCaddressDR,DCC_func_dimlight,400); // dim light
    DCC_send_command(DCCaddressDR,DCC_func_lighton,200);  // light full again
    

**/

/**Print if train is found and updated in update_Train_pos();
        if(found_DR){
            
            //doBuzz();
            lcd.cls();
            lcd.printf("DR is at D%d",DR_train.get_position_number());
        }
        
        if(found_LR){
    
            lcd.cls();
            lcd.printf("LR is at D%d",LR_train.get_position_number());   
        }
        
        if(!found_DR && !found_LR){
            
            lcd.cls();
            lcd.printf("No train before :(");
        }
**/


/**Print sensor interrupts in int0 and int1 functions

     //lcd.cls();
     //lcd.printf("int0 0x%x \n Sensor: %d",sensor_data,sensor);
     
**/

/**Print the potentiometer value 

    //lcd.cls();
   // lcd.printf("vin: %.4f",vin);
   
**/

/** Chunk 1 of comments from main

    //RISE FOR INTERRUPTS?? NOT WORKING ATM
    //int0.rise(&interrupt0);
    //int1.rise(&interrupt1);
    
    //Read and display potentiometer
    //float f = pot.read();
    //float vin = f * 3.3;
    //lcd.printf("vin: %.4f",vin);
    
    //0xFFFC     //1111111111111100
    
**/