Autoline.h

00001 #include "mbed.h"
00002 
00003 // Our libraries
00004 #include "Connectivity.h"
00005 #include "Digitalio.h"
00006 #include <iostream>
00007 #include <sstream>
00008 
00009 #include <vector>
00010 using namespace std;
00011 
00012 #ifndef AUTOLINE_AUTOLINE_H_
00013 #define AUTOLINE_AUTOLINE_H_
00014 
00015 #define MAX_SIZE_OF_CMMD 5
00016 
00017 
00018 // General states
00019 #define MAINTENANCE_MODE    0
00020 #define AUTOMATIC_MODE      1
00021 #define EMERGENCY_MODE      2
00022 #define PAUSED_MODE         3
00023 
00024 
00025 // Autoline's network protocol
00026 #define CMMD_1 '1'      // Read I/Os 0-79 Sensors       - {1}
00027 #define CMMD_2 '2'      // Activate actuator            - {2 XX Y} XX - Actuator ADDR || Y = 1 or 0 (on or off)
00028 //#define CMMD_3 '3'    // Start test (CLP never receives it)
00029 #define CMMD_4 '4'      // Read I/Os 80-179 Actuators   - {4}
00030 #define CMMD_5 '5'      // Enter MAINTENANCE MODE       - {5}
00031 #define CMMD_6 '6'      // Enter AUTOMATIC MODE         - {6}
00032 #define CMMD_7 '7'      // Test finished                - {7 X} X - Station where test has finished (B being the release button on power station)
00033 #define CMMD_S 'S'      // Configure SKIP               - {S X X X X} X - 1 or 0 (1 to do the test, 0 to skip it)
00034 #define CMMD_P 'P'      // Safe pause                   - {P X} x - 1 or 0 (1 to pause, 0 to leave pause)
00035 #define CMMD_E 'E'      // Emergency command            - {E}     - IHM Asks if its on emergency mode or not  
00036 
00037 class Autoline {
00038 public:
00039     Autoline();
00040     virtual ~Autoline();
00041     
00042     
00043     void run();
00044     void parser(char *cmmd, int size);
00045     
00046 private:
00047     // Attributes
00048     
00049     Connectivity connection;
00050     DigitalIO dio;
00051     Serial pc;
00052     
00053     short int state;            // It could be a char for less memory usage
00054     
00055     
00056     vector<char*> queue;
00057     
00058     void protocoler(char *receivedFromEth, int size);
00059     void print_queue();
00060     
00061     std::string read_ios_in_range(int start, int end);
00062     
00063     // General functions
00064     void set_state(short int newState);
00065     
00066     // CMMD's functions
00067     void read_sensors();
00068     
00069     // Stations
00070     void input_elevator();
00071     void supply_station();
00072     void hipot_wait_station();
00073     void hipot_station();
00074     void pf_station();
00075     void ate_wait_station();
00076     void ate1_station();
00077     void ate2_station();
00078     void eprom_station();
00079     void remove_station();
00080     void output_elevator();
00081   
00082     Mutex _mutex;  
00083 };
00084 
00085 
00086 #endif