File content as of revision 24:8868101d01d0:

bool operationMode      = true; //the MBED starts in operation mode.


#include "mbed.h"
Serial pc(USBTX, USBRX);
Serial glcd(p13, p14);
#include "rtos.h"
#include "Language.h"
DigitalIn languageButton(p30);
Language currentLanguage = ENGLISH;
#include <sstream>
#include <string>
#include "mbedStorage.h"
#include "mbedLCD.h"
#include "stateMachine.h"
#include "FPGAcomms.h"
#ifndef serialComm
#define serialComm
#include "serialCommunication.h"
#endif


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

StateMachine stateMachine;

//Boolean values to easily enable and disable certain features for individual testing
bool colourSensor   =   true;
bool cardReader     =   true;
bool sorter         =   true;
bool dispensor      =   true;
bool testFunctions  =   true;
bool serialComms    =   true;

int mode = 0;
int maintenanceModeSelect = 0;



bool buttonPressed(int buttonNumber)
{
    if(buttonNumber > -1 && buttonNumber < 4) {
        return par_port->read_bit(buttonNumber + 8);
    }
    return false;
}

void checkSortDispenseButtons()
{

    if(buttonPressed(3)) {
        mode = !mode;
    }

    /*
        if(mode == 0) {                                    //Dispense Mode
            printLCD("Dispense Mode");
            operationMode=false;
            if(buttonPressed(0)) {
                printLCD("Red Button pressed");
                dispense(RED);
            } else if(buttonPressed(1)) {
                printLCD("Green Button pressed");
                dispense(GREEN);
            } else if(buttonPressed(2)) {
                printLCD("Blue Button pressed");
                dispense(BLUE);
            }

        } *//*else if(mode == 1) {                               //Sort Mode
printLCD("Sort Mode");
operationMode=false;
if(buttonPressed(0)) {
log("Red Button pressed");
sort(RED);
} else if(buttonPressed(1)) {
log("Green Button pressed");
sort(GREEN);
} else if(buttonPressed(2)) {
log("Blue Button pressed");
sort(BLUE);
}

}*//* else if(mode == 2) {                               //Bin/Recycle Mode
printLCD("Bin/Recycle Mode");
operationMode=false;
if(buttonPressed(0)) {
log("Bin button pressed");
sort(BIN);
} else if(buttonPressed(1)) {
log("Recycle Button");
recycle();
}
} */
    /*else if(mode == 4) {                               //Card Reader Mode
        operationMode= true;
        if(cardReader && cardDetect) {
            cardAcquisition();

        }*/
    if(mode == 0) {                               //Storage Mode
        operationMode=true;
        stringstream ss;
        ss << "Operation:   " << "R:" << redAmount << "G:" << greenAmount << "B:" << blueAmount << "RE:" << recycleAmount;
        string tmp = ss.str();
        printLCD(tmp.c_str());
        wait(0.1);
        if(buttonPressed(0)) {
            //log("Dispense all button pressed");
            dispenseAll();
        } else if(buttonPressed(1)) {
            //log("Clear stored numbers button pressed");
            writeFile(0,0,0,recycleAmount);
            redAmount = 0;
            greenAmount = 0;
            blueAmount = 0;
            printLCD("Cleared values");

        } else if(buttonPressed(2)) {
            //log("Increment all stored values by 2.");
            redAmount += 2;
            greenAmount += 2;
            blueAmount += 2;
            writeFile(redAmount,greenAmount,blueAmount,recycleAmount);

            printLCD("set values to 2");

        }
    } else if(mode == 1) {
        operationMode = false;
        stringstream ss;
        ss << maintenanceModeSelect;
        string mainModeSelect = ss.str();
        printLCD("Maintenance: " + mainModeSelect);
        wait(0.1);                           //Maintenance Mode
        //printLCD("Maintenance Mode");
        if(buttonPressed(0)) {                     //Next maintenance function
            maintenanceModeSelect++;
            if(maintenanceModeSelect > 13) maintenanceModeSelect = 0;
        } else if(buttonPressed(1)) {               //Previous maintenance function
            maintenanceModeSelect--;
            if(maintenanceModeSelect < 0) maintenanceModeSelect = 13;
        } else if(buttonPressed(2)) {              //Process Instruction
            switch(maintenanceModeSelect) {
                case 0://RB_LEFT:
                    printLCD("Moving Red/Blue Slider left.");
                    maintain(RB_LEFT);
                    break;

                case 1://RB_CENTRE:
                    printLCD("Centering Red/Blue Slider.");
                    maintain(RB_CENTRE);
                    break;

                case 2://RB_RIGHT:
                    printLCD("Moving Red/Blue Slider right.");
                    maintain(RB_RIGHT);
                    break;

                case 3://GO_UP:
                    printLCD("Moving Green Slider up.");
                    maintain(GO_UP);
                    break;

                case 4://GO_CENTRE:
                    printLCD("Centering Green Slider.");
                    maintain(GO_CENTRE);
                    break;

                case 5://GO_DOWN:
                    printLCD("Moving Green Slider down.");
                    maintain(GO_DOWN);
                    break;

                case 6://BR_LEFT:
                    printLCD("Moving Bin Slider left.");
                    maintain(BR_LEFT);
                    break;

                case 7://BR_RIGHT:
                    printLCD("Moving Bin Slider right.");
                    maintain(BR_RIGHT);
                    break;

                case 8://R_PUSH:
                    printLCD("Pushing red dispensor");
                    maintain(R_PUSH);
                    break;

                case 9://R_HOME:
                    printLCD("Homing red dispensor");
                    maintain(R_HOME);
                    break;

                case 10://GB_LEFT:
                    printLCD("Pushing green dispensor");
                    maintain(GB_LEFT);
                    break;

                case 11://GB_CENTRE:
                    printLCD("Centre green/blue dispensor");
                    maintain(GB_CENTRE);
                    break;

                case 12://GB_RIGHT:
                    printLCD("Pushing blue dispensor");
                    maintain(GB_RIGHT );
                    break;

                case 13: //MaintenanceEND
                    printLCD("Ending Maintenance Mode");
                    maintain(maintenanceEND);
                    break;


            }
            printLCD("Ready for next command");
            wait(1);
        }
    }

}

void changeLanguage()
{
    currentLanguage = nextLanguage(currentLanguage);        //Change the language on teh MBED.
    sendLanguageCharacter();                                //Tell PC to change language
    //Change Language                                       //Tell Arduino to change language.
    wait(1);
}


void sortFunction()
{
    Thread::wait(100);
    Colour colour = readColourSensor();
    Thread::wait(100);
    Colour colour2 = readColourSensor();
    if(colour != colour2) {
        return;
    }
    if(colour == BIN) {
        Thread::wait(100);
        Colour binCheck = readColourSensor();
        if(binCheck != colour) {
            return;
        }
    }

    /* Tries to prevent a colour mis-read. When a chip is read as NONE,
    the chip may be falling down the tube as the reading was taken. The chip may
    also be out of position on the slider. Ignoring the next reading is trying to
    prevent a mis-read being valid.*/


    //log("Sorting colour");
    sort(colour);
}

void sortMode(void const* args)
{

    while(colourSensor && sorter) {
        if(operationMode) {
            led2 = 1;
            sortFunction();
            led2 = 0;
            Thread::wait(50);
        }
    }
}
bool pcReady = false;
void dispenseFunction()
{
    if(!pcReady) {
        if(pc.getc() == '*') {
            pcReady = true;
        }
    } else {
        //Check language button
        if(languageButton) {
            changeLanguage();
        }
        if(cardReader && cardDetect) {
            //Read card
            int cardNumber = cardAcquisition();

            //Send message to pc
            pc.putc('*');
            wait(0.5);

            //Send card number to pc
            pc.printf("%i\n",cardNumber);

            int red = 0;
            int green = 0;
            int blue = 0;

            //Get order from pc
            red = (int) pc.getc() - '0';
            green = (int) pc.getc() - '0';
            blue = (int) pc.getc() - '0';

            //Check if there are enough chips to dispense order
            Thread::wait(100);
            if(red > redAmount || green > greenAmount || blue > blueAmount) {
                //If not then do not dispense
                pc.putc('<');
                pcReady = false;
            } else if(red ==0 && green == 0 && blue ==0){
                pc.putc('@');
                pcReady = false;
             }else {
                //Otherwise there are enough tokens so dispense the order
                pc.putc('>');

                //Display order on LCD
                glcd.putc(27);
                glcd.putc(18);
                glcd.putc(red + '0');
                glcd.putc(green + '0');
                glcd.putc(blue + '0');
                glcd.putc(255);

                //Dispense Order
                dispenseOrder(red,green,blue);

                //Display finished dispensing on lcd
                glcd.putc(27);
                glcd.putc(19);
                glcd.putc(255);

                //Reset pc ready
                pcReady = false;
                wait(1);
                pc.putc('(');
            }

        }
    }
}

void dispenseMode(void const* args)
{

    while(true) {
        if(operationMode) {
            led3 = 1;
            dispenseFunction();
            led3 =0;
            Thread::wait(50);
        }

    }
}


int main()
{
    led1 = 0;
    setupLCD();
    printLCD("Welcome to the  Chipin Sorter");
    Thread::wait(1000);
    readChipNumbers();
    printStoredChipValues();
    printLCD("Resetting all sliders");
    maintain(maintenanceEND);
    printLCD("");
    Thread::wait(1000);
    sendLanguageCharacter();

    Thread sortThread(sortMode);
if(!languageButton){
    operationMode = true;
    mode = 0;
    
}else{
    operationMode = false;
    mode = 1;
    }
Thread dispenseThread(dispenseMode);
    while(true) {
        led1 = 1;
        led4 = cardDetect;

        if(!operationMode) {
            checkSerial();
        }
        if(testFunctions) checkSortDispenseButtons();
        Thread::wait(100);
        led1=0;
        Thread::wait(100);
    }
}