Process.cpp

00001 #include "mbed.h"
00002 #include "Process.h"
00003 
00004 #include <stdlib.h>
00005 #include "../../CommonLibraries/PID/PID.h"
00006 #include "../../Communication/RS485/ActuatorHub/ActuatorHub.h"
00007 #include "../../Communication/RS485/LineHub/LineHub.h"
00008 #include "../../Communication/Controller/Controller.h"
00009 #include "../../Switch/Switch.h"
00010 
00011 #include "../../LED/LED.h"
00012 #include "../../Safty/Safty.h"
00013 #include "../Using.h"
00014 
00015 using namespace SWITCH;
00016 using namespace PID_SPACE;
00017 
00018 using namespace LINEHUB;
00019 
00020 static CONTROLLER::ControllerData *controller;
00021 ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
00022 ACTUATORHUB::SOLENOID::SolenoidStatus solenoid;
00023 
00024 static bool lock;
00025 static bool processChangeComp;
00026 static int current;
00027 
00028 static void AllActuatorReset();
00029 
00030 #ifdef USE_SUBPROCESS
00031 static void (*Process[USE_PROCESS_NUM])(void);
00032 #endif
00033 
00034 #pragma region USER-DEFINED_VARIABLES_AND_PROTOTYPE
00035 
00036 /*Replace here with the definition code of your variables.*/
00037 
00038 
00039 Serial pc(USBTX, USBRX);
00040 
00041 uint8_t SetStatus(int);
00042 uint8_t SetPWM(int);
00043 
00044 #pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
00045 
00046 #ifdef USE_SUBPROCESS
00047 #if USE_PROCESS_NUM>0
00048 static void Process0(void);
00049 #endif
00050 #if USE_PROCESS_NUM>1
00051 static void Process1(void);
00052 #endif
00053 #if USE_PROCESS_NUM>2
00054 static void Process2(void);
00055 #endif
00056 #if USE_PROCESS_NUM>3
00057 static void Process3(void);
00058 #endif
00059 #if USE_PROCESS_NUM>4
00060 static void Process4(void);
00061 #endif
00062 #if USE_PROCESS_NUM>5
00063 static void Process5(void);
00064 #endif
00065 #if USE_PROCESS_NUM>6
00066 static void Process6(void);
00067 #endif
00068 #if USE_PROCESS_NUM>7
00069 static void Process7(void);
00070 #endif
00071 #if USE_PROCESS_NUM>8
00072 static void Process8(void);
00073 #endif
00074 #if USE_PROCESS_NUM>9
00075 static void Process9(void);
00076 #endif
00077 #endif
00078 
00079 void SystemProcessInitialize()
00080 {
00081     #pragma region USER-DEFINED_VARIABLE_INIT
00082     /*Replace here with the initialization code of your variables.*/
00083 
00084     #pragma endregion USER-DEFINED_VARIABLE_INIT
00085 
00086     lock = true;
00087     processChangeComp = true;
00088     current = DEFAULT_PROCESS;
00089 
00090 #ifdef USE_SUBPROCESS
00091 #if USE_PROCESS_NUM>0
00092     Process[0] = Process0;
00093 #endif
00094 #if USE_PROCESS_NUM>1
00095     Process[1] = Process1;
00096 #endif
00097 #if USE_PROCESS_NUM>2
00098     Process[2] = Process2;
00099 #endif
00100 #if USE_PROCESS_NUM>3
00101     Process[3] = Process3;
00102 #endif
00103 #if USE_PROCESS_NUM>4
00104     Process[4] = Process4;
00105 #endif
00106 #if USE_PROCESS_NUM>5
00107     Process[5] = Process5;
00108 #endif
00109 #if USE_PROCESS_NUM>6
00110     Process[6] = Process6;
00111 #endif
00112 #if USE_PROCESS_NUM>7
00113     Process[7] = Process7;
00114 #endif
00115 #if USE_PROCESS_NUM>8
00116     Process[8] = Process8;
00117 #endif
00118 #if USE_PROCESS_NUM>9
00119     Process[9] = Process9;
00120 #endif
00121 #endif
00122 }
00123 
00124 static void SystemProcessUpdate()
00125 {
00126 #ifdef USE_SUBPROCESS
00127     if(controller->Button.HOME) lock = false;
00128 
00129     if(controller->Button.START && processChangeComp) {
00130         current++;
00131         if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
00132         processChangeComp = false;
00133     } else if(controller->Button.SELECT && processChangeComp) {
00134         current--;
00135         if (current < 0) current = 0;
00136         processChangeComp = false;
00137     } else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
00138 #endif
00139 
00140 #ifdef USE_MOTOR
00141     ACTUATORHUB::MOTOR::Motor::Update(motor);
00142 #endif
00143 
00144 #ifdef USE_SOLENOID
00145     ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
00146 #endif
00147 
00148 #ifdef USE_RS485
00149     ACTUATORHUB::ActuatorHub::Update();
00150     //LINEHUB::LineHub::Update();
00151 #endif
00152 
00153 }
00154 
00155 void SystemProcess()
00156 {
00157     SystemProcessInitialize();
00158     
00159     while(1) {
00160         
00161         
00162         
00163         
00164 
00165         #ifdef USE_MU
00166         controller = CONTROLLER::Controller::GetData();
00167         #endif
00168 
00169         #ifdef USE_ERRORCHECK
00170         if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost) {
00171             CONTROLLER::Controller::DataReset();
00172             AllActuatorReset();
00173             lock = true;
00174         } else
00175         #endif
00176         {
00177 
00178             #ifdef USE_SUBPROCESS
00179             if(!lock) {
00180                 Process[current]();
00181             } else
00182             #endif
00183             {
00184                 //ロック時の処理
00185             }
00186         }
00187         
00188         SystemProcessUpdate();
00189     }
00190 }
00191 
00192 
00193 
00194 
00195 #pragma region PROCESS
00196 #ifdef USE_SUBPROCESS
00197 #if USE_PROCESS_NUM>0
00198 static void Process0()
00199 {
00200     AllActuatorReset();
00201 }
00202 #endif
00203 
00204 #if USE_PROCESS_NUM>1
00205 static void Process1()
00206 {
00207 
00208 }
00209 #endif
00210 
00211 #if USE_PROCESS_NUM>2
00212 static void Process2()
00213 {
00214 
00215 }
00216 #endif
00217 
00218 #if USE_PROCESS_NUM>3
00219 static void Process3()
00220 {
00221     
00222 }
00223 #endif
00224 
00225 #if USE_PROCESS_NUM>4
00226 static void Process4()
00227 {
00228     
00229 }
00230 #endif
00231 
00232 #if USE_PROCESS_NUM>5
00233 static void Process5()
00234 {
00235 
00236 }
00237 #endif
00238 
00239 #if USE_PROCESS_NUM>6
00240 static void Process6()
00241 {
00242 
00243 }
00244 #endif
00245 
00246 #if USE_PROCESS_NUM>7
00247 static void Process7()
00248 {
00249    
00250 }
00251 #endif
00252 
00253 #if USE_PROCESS_NUM>8
00254 static void Process8()
00255 {
00256     
00257 }
00258 #endif
00259 
00260 #if USE_PROCESS_NUM>9
00261 static void Process9()
00262 {
00263 
00264 }
00265 #endif
00266 #endif
00267 #pragma endregion PROCESS
00268 
00269 static void AllActuatorReset()
00270 {
00271     #ifdef USE_SOLENOID
00272         solenoid.all = ALL_SOLENOID_OFF;
00273     #endif
00274     
00275     #ifdef USE_MOTOR
00276         for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
00277             motor[i].dir = FREE;
00278             motor[i].pwm = 0;
00279         }
00280     #endif
00281 }
00282 
00283 #pragma region USER-DEFINED-FUNCTIONS
00284 
00285 uint8_t SetStatus(int pwmVal)
00286 {
00287     if (pwmVal < 0) return BACK;
00288     else if (pwmVal > 0) return FOR;
00289     else if (pwmVal == 0) return BRAKE;
00290     else return BRAKE;
00291 }
00292 
00293 uint8_t SetPWM(int pwmVal)
00294 {
00295     if (pwmVal == 0 || pwmVal >  255 || pwmVal < -255) return 255;
00296     else return abs(pwmVal);
00297 }
00298 
00299 #pragma endregion