Diff: System/Process/Process.cpp

Revision:

0:669ef71cba68

Child:

1:b1219d8ca117

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/System/Process/Process.cpp	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,277 @@
+#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/Potentiometer/Potentiometer.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