main.cpp

00001 bool operationMode      = true; //the MBED starts in operation mode.
00002 
00003 #include "mbed.h"
00004 Serial pc(USBTX, USBRX);
00005 Serial glcd(p13, p14);
00006 #include "rtos.h"
00007 #include "Language.h"
00008 DigitalIn languageButton(p30);
00009 Language currentLanguage = ENGLISH;
00010 #include <sstream>
00011 #include <string>
00012 #include "mbedStorage.h"
00013 #include "mbedLCD.h"
00014 #include "stateMachine.h"
00015 #include "FPGAcomms.h"
00016 #ifndef serialComm
00017 #define serialComm
00018 #include "serialCommunication.h"
00019 #endif
00020 
00021 
00022 DigitalOut led1(LED1);
00023 DigitalOut led2(LED2);
00024 DigitalOut led3(LED3);
00025 DigitalOut led4(LED4);
00026 
00027 StateMachine stateMachine;
00028 
00029 //Boolean values to easily enable and disable certain features for individual testing
00030 bool colourSensor   =   true;
00031 bool cardReader     =   true;
00032 bool sorter         =   true;
00033 bool dispensor      =   true;
00034 bool testFunctions  =   true;
00035 bool serialComms    =   true;
00036 
00037 int mode = 0;   //mode select
00038 int maintenanceModeSelect = 0;
00039 
00040 //Call to check if an MBED button is pressed
00041 bool buttonPressed(int buttonNumber)
00042 {
00043     if(buttonNumber > -1 && buttonNumber < 4) {
00044         return par_port->read_bit(buttonNumber + 8);
00045     }
00046     return false;
00047 }
00048 //Run a mode, defined by 'mode'.
00049 void checkSortDispenseButtons()
00050 {
00051 
00052     if(buttonPressed(3)) {
00053         mode = !mode;
00054     }
00055     /* NOTICE: Enable the modes below for more maintenace functions, good for debugging.
00056      */
00057 
00058 
00059     /*
00060         if(mode == 0) {                                    //Dispense Mode
00061             printLCD("Dispense Mode");
00062             operationMode=false;
00063             if(buttonPressed(0)) {
00064                 printLCD("Red Button pressed");
00065                 dispense(RED);
00066             } else if(buttonPressed(1)) {
00067                 printLCD("Green Button pressed");
00068                 dispense(GREEN);
00069             } else if(buttonPressed(2)) {
00070                 printLCD("Blue Button pressed");
00071                 dispense(BLUE);
00072             }
00073 
00074         } *//*else if(mode == 1) {                               //Sort Mode
00075 printLCD("Sort Mode");
00076 operationMode=false;
00077 if(buttonPressed(0)) {
00078 log("Red Button pressed");
00079 sort(RED);
00080 } else if(buttonPressed(1)) {
00081 log("Green Button pressed");
00082 sort(GREEN);
00083 } else if(buttonPressed(2)) {
00084 log("Blue Button pressed");
00085 sort(BLUE);
00086 }
00087 
00088 }*//* else if(mode == 2) {                               //Bin/Recycle Mode
00089 printLCD("Bin/Recycle Mode");
00090 operationMode=false;
00091 if(buttonPressed(0)) {
00092 log("Bin button pressed");
00093 sort(BIN);
00094 } else if(buttonPressed(1)) {
00095 log("Recycle Button");
00096 recycle();
00097 }
00098 } */
00099     /*else if(mode == 4) {                               //Card Reader Mode
00100         operationMode= true;
00101         if(cardReader && cardDetect) {
00102             cardAcquisition();
00103 
00104         }*/
00105     if(mode == 0) {                               //Storage Mode
00106         operationMode=true;
00107         stringstream ss;
00108         ss << "Operation:   " << "R:" << redAmount << "G:" << greenAmount << "B:" << blueAmount << "RE:" << recycleAmount;
00109         string tmp = ss.str();
00110         printLCD(tmp.c_str());
00111         wait(0.1);
00112         if(buttonPressed(0)) {
00113             //log("Dispense all button pressed");
00114             dispenseAll();
00115         } else if(buttonPressed(1)) {
00116             //log("Clear stored numbers button pressed");
00117             writeFile(0,0,0,recycleAmount);
00118             redAmount = 0;
00119             greenAmount = 0;
00120             blueAmount = 0;
00121             printLCD("Cleared values");
00122 
00123         } else if(buttonPressed(2)) {
00124             //log("Increment all stored values by 2.");
00125             redAmount += 2;
00126             greenAmount += 2;
00127             blueAmount += 2;
00128             writeFile(redAmount,greenAmount,blueAmount,recycleAmount);
00129 
00130             printLCD("set values to 2");
00131 
00132         }
00133     } else if(mode == 1) {
00134         operationMode = false;
00135         stringstream ss;
00136         ss << maintenanceModeSelect;
00137         string mainModeSelect = ss.str();
00138         printLCD("Maintenance: " + mainModeSelect);
00139         wait(0.1);                           //Maintenance Mode
00140        
00141         if(buttonPressed(0)) {                     //Next maintenance function
00142             maintenanceModeSelect++;
00143             if(maintenanceModeSelect > 13) maintenanceModeSelect = 0;
00144         } else if(buttonPressed(1)) {               //Previous maintenance function
00145             maintenanceModeSelect--;
00146             if(maintenanceModeSelect < 0) maintenanceModeSelect = 13;
00147         } else if(buttonPressed(2)) {              //Process Instruction
00148             switch(maintenanceModeSelect) {
00149                 case 0://RB_LEFT:
00150                     printLCD("Moving Red/Blue Slider left.");
00151                     maintain(RB_LEFT);
00152                     break;
00153 
00154                 case 1://RB_CENTRE:
00155                     printLCD("Centering Red/Blue Slider.");
00156                     maintain(RB_CENTRE);
00157                     break;
00158 
00159                 case 2://RB_RIGHT:
00160                     printLCD("Moving Red/Blue Slider right.");
00161                     maintain(RB_RIGHT);
00162                     break;
00163 
00164                 case 3://GO_UP:
00165                     printLCD("Moving Green Slider up.");
00166                     maintain(GO_UP);
00167                     break;
00168 
00169                 case 4://GO_CENTRE:
00170                     printLCD("Centering Green Slider.");
00171                     maintain(GO_CENTRE);
00172                     break;
00173 
00174                 case 5://GO_DOWN:
00175                     printLCD("Moving Green Slider down.");
00176                     maintain(GO_DOWN);
00177                     break;
00178 
00179                 case 6://BR_LEFT:
00180                     printLCD("Moving Bin Slider left.");
00181                     maintain(BR_LEFT);
00182                     break;
00183 
00184                 case 7://BR_RIGHT:
00185                     printLCD("Moving Bin Slider right.");
00186                     maintain(BR_RIGHT);
00187                     break;
00188 
00189                 case 8://R_PUSH:
00190                     printLCD("Pushing red dispensor");
00191                     maintain(R_PUSH);
00192                     break;
00193 
00194                 case 9://R_HOME:
00195                     printLCD("Homing red dispensor");
00196                     maintain(R_HOME);
00197                     break;
00198 
00199                 case 10://GB_LEFT:
00200                     printLCD("Pushing green dispensor");
00201                     maintain(GB_LEFT);
00202                     break;
00203 
00204                 case 11://GB_CENTRE:
00205                     printLCD("Centre green/blue dispensor");
00206                     maintain(GB_CENTRE);
00207                     break;
00208 
00209                 case 12://GB_RIGHT:
00210                     printLCD("Pushing blue dispensor");
00211                     maintain(GB_RIGHT );
00212                     break;
00213 
00214                 case 13: //MaintenanceEND
00215                     printLCD("Ending Maintenance Mode");
00216                     maintain(maintenanceEND);
00217                     break;
00218             }
00219             printLCD("Ready for next command");
00220             wait(1);
00221         }
00222     }
00223 }
00224 //Coordinate changing language on PC and Arduino.
00225 void changeLanguage()
00226 {
00227     currentLanguage = nextLanguage(currentLanguage);        //Change the language on teh MBED.
00228     sendLanguageCharacter();                                //Tell PC & Arduino to change language.
00229     wait(1);
00230 }
00231 
00232 /* void sortFunction()
00233  *  Read sensor and sort according to the colour.
00234  */
00235 void sortFunction()
00236 {
00237     //Read the colour twice and make sure both are the same. If not then return and try again.
00238     Thread::wait(100);
00239     Colour colour = readColourSensor();
00240     Thread::wait(100);
00241     Colour colour2 = readColourSensor();
00242     if(colour != colour2) {
00243         return;
00244     }
00245     //Ensure a bin read is valid by ensuring it is the same as earlier. Prevents a bin read being valid if the chip is out of place on the sensor.
00246     if(colour == BIN) {
00247         Thread::wait(100);
00248         Colour binCheck = readColourSensor();
00249         if(binCheck != colour) {
00250             return;
00251         }
00252     }
00253 
00254     //log("Sorting colour");
00255     sort(colour);
00256 }
00257 
00258 //Run sortFunction with a small delay between iterations, pulses LED.
00259 void sortMode(void const* args)
00260 {
00261     while(colourSensor && sorter) {
00262         if(operationMode) {
00263             led2 = 1;
00264             sortFunction();
00265             led2 = 0;
00266             Thread::wait(50);
00267         }
00268     }
00269 }
00270 
00271 bool pcReady = false;   //Defines  whether the PC is ready to accept characters on the COM port.
00272 //handles dispensing from a card, changing language
00273 void dispenseFunction()
00274 {
00275     if(!pcReady) {
00276         if(pc.getc() == '*') {
00277             pcReady = true;
00278         }
00279     } else {
00280         //Check language button
00281         if(languageButton) {
00282             changeLanguage();
00283         }
00284         if(cardReader && cardDetect) {
00285             //Read card
00286             int cardNumber = cardAcquisition();
00287 
00288             //Send message to pc
00289             pc.putc('*');
00290             wait(0.5);
00291 
00292             //Send card number to pc
00293             pc.printf("%i\n",cardNumber);
00294 
00295             int red = 0;
00296             int green = 0;
00297             int blue = 0;
00298 
00299             //Get order from pc, convert characters to integers.
00300             red = (int) pc.getc() - '0';
00301             green = (int) pc.getc() - '0';
00302             blue = (int) pc.getc() - '0';
00303 
00304             //Check if there are enough chips to dispense order
00305             Thread::wait(100);
00306             if(red > redAmount || green > greenAmount || blue > blueAmount) {
00307                 //If not then do not dispense
00308                 pc.putc('<');
00309                 pcReady = false;
00310             } else if(red ==0 && green == 0 && blue ==0) {
00311                 pc.putc('@');
00312                 pcReady = false;
00313             } else {
00314                 //Otherwise there are enough tokens so dispense the order
00315                 pc.putc('>');
00316 
00317                 //Display order on LCD
00318                 glcd.putc(27);
00319                 glcd.putc(18);
00320                 glcd.putc(red + '0'); //Convert int to char
00321                 glcd.putc(green + '0');//Convert int to char
00322                 glcd.putc(blue + '0');//Convert int to char
00323                 glcd.putc(255);
00324 
00325                 //Dispense Order
00326                 dispenseOrder(red,green,blue);
00327 
00328                 //Display finished dispensing on lcd
00329                 glcd.putc(27);
00330                 glcd.putc(19);
00331                 glcd.putc(255);
00332 
00333                 //Reset pc ready
00334                 pcReady = false;
00335                 wait(1);
00336                 pc.putc('(');
00337             }
00338 
00339         }
00340     }
00341 }
00342 //Runs dispenseFunction with a small delay between iterations, pulses LED.
00343 void dispenseMode(void const* args)
00344 {
00345 
00346     while(true) {
00347         if(operationMode) {
00348             led3 = 1;
00349             dispenseFunction();
00350             led3 =0;
00351             Thread::wait(50);
00352         }
00353 
00354     }
00355 }
00356 
00357 
00358 int main()
00359 {
00360     led1 = 0;
00361     setupLCD();
00362     printLCD("Welcome to the  Chipin Sorter");
00363     Thread::wait(1000);
00364     readChipNumbers();
00365     printStoredChipValues();
00366     printLCD("Resetting all sliders");
00367     maintain(maintenanceEND);   //reset sliders on FPGA
00368     printLCD("");
00369     Thread::wait(1000);
00370     sendLanguageCharacter();    //Synchronise language on PC and arduino
00371 
00372     Thread sortThread(sortMode);    //Start the sorting thread.
00373     if(!languageButton) {   //Decide whether to start in operation mode or maintenance mode.
00374         operationMode = true;
00375         mode = 0;
00376 
00377     } else {
00378         operationMode = false;
00379         mode = 1;
00380     }
00381     Thread dispenseThread(dispenseMode);    //Start the dispensing thread.
00382     while(true) {
00383         led1 = 1;   //pulse led1
00384         led4 = cardDetect;
00385 
00386         if(!operationMode) {    //Check for maintenance commands if in maintenance mode.
00387             checkSerial();
00388         }
00389         if(testFunctions) checkSortDispenseButtons();   //Run the MBED modes if enabled.
00390         Thread::wait(100);
00391         led1=0;
00392         Thread::wait(100);
00393     }
00394 }