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Dependencies:   mbed

Fork of MainBoard2018_Auto_Master_A by Akihiro Nakabayashi

System/Process/Process.cpp

Committer:
7ka884
Date:
2018-09-10
Revision:
1:b1219d8ca117
Parent:
0:669ef71cba68
Child:
2:c015739085d3

File content as of revision 1:b1219d8ca117:

#include "mbed.h"
#include "Process.h"

#include "../../Communication/RS485/ActuatorHub/ActuatorHub.h"
#include "../../Communication/Controller/Controller.h"
#include "../../Input/ExternalInt/ExternalInt.h"
#include "../../Input/Switch/Switch.h"
#include "../../Input/ColorSensor/ColorSensor.h"
#include "../../Input/AccelerationSensor/AccelerationSensor.h"
#include "../../Input/Potentiometer/Potentiometer.h"
#include "../../Input/Rotaryencoder/Rotaryencoder.h"
#include "../../LED/LED.h"
#include "../../Safty/Safty.h"
#include "../Using.h"

using namespace SWITCH;

static CONTROLLER::ControllerData *controller;
ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
ACTUATORHUB::SOLENOID::SolenoidStatus solenoid;

static bool lock;
static bool processChangeComp;
static int current;

static void AllActuatorReset();

#ifdef USE_SUBPROCESS
static void (*Process[USE_PROCESS_NUM])(void);
#endif

#pragma region USER-DEFINED_VARIABLES_AND_PROTOTYPE

/*Replace here with the definition code of your variables.*/

#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE

#ifdef USE_SUBPROCESS
#if USE_PROCESS_NUM>0
static void Process0(void);
#endif
#if USE_PROCESS_NUM>1
static void Process1(void);
#endif
#if USE_PROCESS_NUM>2
static void Process2(void);
#endif
#if USE_PROCESS_NUM>3
static void Process3(void);
#endif
#if USE_PROCESS_NUM>4
static void Process4(void);
#endif
#if USE_PROCESS_NUM>5
static void Process5(void);
#endif
#if USE_PROCESS_NUM>6
static void Process6(void);
#endif
#if USE_PROCESS_NUM>7
static void Process7(void);
#endif
#if USE_PROCESS_NUM>8
static void Process8(void);
#endif
#if USE_PROCESS_NUM>9
static void Process9(void);
#endif
#endif

void SystemProcessInitialize()
{
	#pragma region USER-DEFINED_VARIABLE_INIT
	
	/*Replace here with the initialization code of your variables.*/

	#pragma endregion USER-DEFINED_VARIABLE_INIT

	lock = true;
	processChangeComp = true;
	current = DEFAULT_PROCESS;

	#ifdef USE_SUBPROCESS
	#if USE_PROCESS_NUM>0
	Process[0] = Process0;
	#endif
	#if USE_PROCESS_NUM>1
	Process[1] = Process1;
	#endif
	#if USE_PROCESS_NUM>2
	Process[2] = Process2;
	#endif
	#if USE_PROCESS_NUM>3
	Process[3] = Process3;
	#endif
	#if USE_PROCESS_NUM>4
	Process[4] = Process4;
	#endif
	#if USE_PROCESS_NUM>5
	Process[5] = Process5;
	#endif
	#if USE_PROCESS_NUM>6
	Process[6] = Process6;
	#endif
	#if USE_PROCESS_NUM>7
	Process[7] = Process7;
	#endif
	#if USE_PROCESS_NUM>8
	Process[8] = Process8;
	#endif
	#if USE_PROCESS_NUM>9
	Process[9] = Process9;
	#endif
	#endif
}

static void SystemProcessUpdate()
{
	#ifdef USE_SUBPROCESS
	if(controller->Button.HOME) lock = false;
	
	if(controller->Button.START && processChangeComp)
	{
		current++;
		if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
		processChangeComp = false;
	}
	else if(controller->Button.SELECT && processChangeComp)
	{
		current--;
		if (current < 0) current = 0;
		processChangeComp = false;
	}
	else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
	#endif
	
	#ifdef USE_MOTOR
	ACTUATORHUB::MOTOR::Motor::Update(motor);
	#endif
	
	#ifdef USE_SOLENOID
	ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
	#endif

	#ifdef USE_RS485
	ACTUATORHUB::ActuatorHub::Update();
	#endif
	
}

void SystemProcess()
{
	SystemProcessInitialize();

	while(1)
	{
		#ifdef USE_MU
		controller = CONTROLLER::Controller::GetData();
		#endif

		#ifdef USE_ERRORCHECK
		if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost)
		{
			CONTROLLER::Controller::DataReset();
			AllActuatorReset();
			lock = true;
		}
		else
		#endif
		{

			#ifdef USE_SUBPROCESS
			if(!lock)
			{
				Process[current]();
			}
			else
			#endif
			{
				//ロック時の処理
			}
		}
		
		SystemProcessUpdate();
	}
}

#pragma region PROCESS
#ifdef USE_SUBPROCESS
#if USE_PROCESS_NUM>0
static void Process0()
{

}
#endif

#if USE_PROCESS_NUM>1
static void Process1()
{

}
#endif

#if USE_PROCESS_NUM>2
static void Process2()
{

}
#endif

#if USE_PROCESS_NUM>3
static void Process3()
{

}
#endif

#if USE_PROCESS_NUM>4
static void Process4()
{

}
#endif

#if USE_PROCESS_NUM>5
static void Process5()
{

}
#endif

#if USE_PROCESS_NUM>6
static void Process6()
{

}
#endif

#if USE_PROCESS_NUM>7
static void Process7()
{

}
#endif

#if USE_PROCESS_NUM>8
static void Process8()
{

}
#endif

#if USE_PROCESS_NUM>9
static void Process9()
{

}
#endif
#endif
#pragma endregion PROCESS

static void AllActuatorReset()
{

	#ifdef USE_SOLENOID
	solenoid.all = ALL_SOLENOID_OFF;
	#endif

	#ifdef USE_MOTOR
	for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++)
	{
		motor[i].dir = FREE;
		motor[i].pwm = 0;
	}
	#endif
}

#pragma region USER-DEFINED-FUNCTIONS

#pragma endregion