Treesmc Final

/****************************************************************************
Module
TreeSM.c
Description
This is the state machine for the overall project that controls the
distribution
of services depending on events
Notes
History
When
Who
What/Why
-------------- ---------11/14/16
16:10 mwm
Created
****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
/* include header files for this state machine as well as any machines at the
next lower level in the hierarchy that are sub-machines to this machine
*/
#include "ES_Configure.h"
#include "ES_Framework.h"
#include "TreeSM.h"
#include "TimingMotor.h"
#include "AudioBoard.h"
#include "BranchService.h"
#include "StartButton.h"
/*----------------------------- Module Defines ----------------------------*/
/*---------------------------- Module Functions ---------------------------*/
/* prototypes for private functions for this machine.They should be functions
relevant to the behavior of this state machine
*/
/*---------------------------- Module Variables ---------------------------*/
// everybody needs a state variable, you may need others as well.
// type of state variable should match htat of enum in header file
static TreeState_t CurrentState;
// with the introduction of Gen2, we need a module level Priority var as well
static uint8_t MyPriority;
static uint8_t GrowingBranch = 0;
/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function
InitTreeSM
Parameters
uint8_t : the priority of this service
Returns
bool, false if error in initialization, true otherwise
Description
Saves away the priority, sets up the initial transition and does any
other required initialization for this state machine
Notes
Author
Matthew Miller, 11/14/16
****************************************************************************/
bool InitTreeSM ( uint8_t Priority )
{
ES_Event ThisEvent;
MyPriority = Priority;
// put us into the Initial PseudoState
CurrentState = InitTSM;
// post the initial transition event
ThisEvent.EventType = ES_INIT;
if (ES_PostToService( MyPriority, ThisEvent) == true)
{
return true;
}else
{
return false;
}
/****************************************************************************
Function
PostTreeSM
Parameters
EF_Event ThisEvent , the event to post to the queue
Returns
boolean False if the Enqueue operation failed, True otherwise
Description
Posts an event to this state machine's queue
Notes
Author
Matthew Miller, 11/14/16, 16:25
****************************************************************************/
bool PostTreeSM( ES_Event ThisEvent )
{
return ES_PostToService( MyPriority, ThisEvent);
}
/****************************************************************************
Function
RunTreeSM
Parameters
ES_Event : the event to process
Returns
ES_Event, ES_NO_EVENT if no error ES_ERROR otherwise
Description
add your description here
Notes
uses nested switch/case to implement the machine.
Author
****************************************************************************/
ES_Event RunTreeSM( ES_Event ThisEvent )
{
ES_Event ReturnEvent;
ES_Event PostEvent;
ReturnEvent.EventType = ES_NO_EVENT; // assume no errors
switch ( CurrentState )
{
case InitTSM :
// If current state is initial Psedudo State
if ( ThisEvent.EventType == ES_INIT )// only respond to
ES_Init
{
printf("\rEverything Initialized - Now Waiting for
Artist\n\r");
// Set CurrentState to WaitingForArtist
CurrentState = WaitingForArtist;
//Post Waiting event to this service
PostEvent.EventType = WAITING;
PostTreeSM(PostEvent);
}
break;
case WaitingForArtist :
// If current state is
WaitingForArtist State
{
if ( ThisEvent.EventType == WAITING) // If ThisEvent is
WAITING
{
//Post Waiting Event to Motor, Audio, and Start Button
services
PostTimingMotor(PostEvent);
PostAudioBoard(PostEvent);
PostStartButton(PostEvent);
}
if(ThisEvent.EventType == DONE_REPLAYING) // If ThisEvent is
DONE_REPLAYING
{
// Post WELCOME_REPLAY to Branch Service
PostEvent.EventType = WELCOME_REPLAY;
Post_BranchService(PostEvent);
}
BTN_START
if ( ThisEvent.EventType == BTN_START )// If ThisEvent is

{
//Set SEASON_TIMER for fraction of a second

ES_Timer_InitTimer(SEASON_TIMER, 50);
// Post RESET Event to branch and motor services
PostEvent.EventType = RESET;
}
if ( ThisEvent.EventType == ES_TIMEOUT && ThisEvent.EventParam
== SEASON_TIMER) // If ThisEvent is ES_TIMEOUT and timer is SEASON_TIMER
{
// Set CurrentState to Spring
CurrentState = Spring;
//Set SEASON_TIMER for SEASON_TIME
ES_Timer_InitTimer(SEASON_TIMER, SEASON_TIME);
//Post START Event to all services (Motors, Branch,
Audio, Start Button)
PostEvent.EventType = START;
break;
case Spring : // If current state is Spring State
{
switch(ThisEvent.EventType)
{
case ES_TIMEOUT:
if(ThisEvent.EventParam == SEASON_TIMER) // If
ThisEvent is ES_TIMEOUT and timer is SEASON_TIMER
{
// Set CurrentState to Summer
CurrentState = Summer;
// Call ChangeSeasonTo function with
parameter SUMMER
ChangeSeasonTo(SUMMER);
}
break;
case BTN_WEATHER: // If ThisEvent is BTN_WEATHER

// Call HandleWeather function with parameter
SPRING
HandleWeather(SPRING);
break;
case PROX_NEAR: // If ThisEvent is PROX_NEAR
// Set CurrentState to Spring Growing
CurrentState = SpringGrowing;
// Call HandleProx function with parameter of
ThisEvent
HandleProx(ThisEvent);
break;
case ANALOG_CHANGE: // If ThisEvent is ANALOG_CHANGE
// Call HandleAnalog function with parameter
ThisEvent
HandleAnalog(ThisEvent);
break;
default:
break;
}
break;
case SpringGrowing :
State
// If current state is SpringGrowing
{
case ES_TIMEOUT:
ThisEvent Param is SEASON_TIMER
{
// Set CurrentState to SummerGrowing
CurrentState = SummerGrowing;
parameter SUMMER

ChangeSeasonTo(SUMMER);
}
else if(ThisEvent.EventParam == GROWING_TIMER) //
Elseif ThisEvent Param is GROWING_TIMER
{
HandleGrow(); // Call HandleGrow function
}
break;
SPRING
HandleWeather(SPRING);
break;
case PROX_FAR: // If ThisEvent is PROX_FAR
// Set CurrentState to Spring
CurrentState = Spring;
ThisEvent
break;
// Call HandleAnalog function with parameter of
ThisEvent
break;
default:
break;
}
break;
case Summer :
// If current state is Summer State
{
{
case ES_TIMEOUT:
{
// Set CurrentState to Fall
CurrentState = Fall;
parameter FALL
SUMMER
ChangeSeasonTo(FALL);
}
break;
HandleWeather(SUMMER);
break;
// Set CurrentState to SummerGrowing
CurrentState = SummerGrowing;
ThisEvent

break;

ThisEvent
break;
default:
break;
}
State
break;
case SummerGrowing :
// If current state is SummerGrowing
{
case ES_TIMEOUT:
{
// Set CurrentState to FallGrowing
CurrentState = FallGrowing;
parameter FALL
ChangeSeasonTo(FALL);
}
{
// Call HandleGrow function
HandleGrow();
}
break;
SUMMER
HandleWeather(SUMMER);
break;
case PROX_FAR: // If ThisEvent is PROX_FAR with param
for which sensor
// Set CurrentState to Summer

CurrentState = Summer;
ThisEvent
break;
ThisEvent
break;
default:
break;
}
break;
case Fall :
{
// If current state is Fall State
{
case ES_TIMEOUT:
{
// Set CurrentState to Winter
CurrentState = Winter;
parameter WINTER
ChangeSeasonTo(WINTER);
}
break;
// Call HandleWeather function with parameter FALL
HandleWeather(FALL);
break;
// Set CurrentState to FallGrowing
CurrentState = FallGrowing;
ThisEvent
break;
ThisEvent
break;
default:
break;
break;
case FallGrowing :
// If current state is FallGrowing State
{
{
case ES_TIMEOUT:
{
// Set CurrentState to WinterGrowing
CurrentState = WinterGrowing;
parameter WINTER
ChangeSeasonTo(WINTER);
}
{
HandleGrow();
}
break;
// Call HandleWeather function with parameter FALL
HandleWeather(FALL);
break;
// Set CurrentState to Fall
CurrentState = Fall;
ThisEvent
break;
ThisEvent
break;
default:
break;
}
break;
case Winter :
// If current state is Winter State
{
{
case ES_TIMEOUT:
{
// Set CurrentState to ReplayTree
CurrentState = ReplayTree;
// Post REPLAY event to Branch Service
PostEvent.EventType = REPLAY;
// Turn vibration motor off
ChangeVibrationMotor(VIB_MOT_OFF);
parameter SPRING
}
ChangeSeasonTo(SPRING);

WINTER
HandleWeather(WINTER);
break;
// Set CurrentState to WinterGrowing
CurrentState = WinterGrowing;
ThisEvent

break;
ThisEvent
break;
default:
break;
}
State
break;
case WinterGrowing :
// If current state is WinterGrowing
{
case ES_TIMEOUT:
{
// Set CurrentState to ReplayTree
CurrentState = ReplayTree;
// Post REPLAY event to Branch Service
//Put Vibration Motor OFF
parameter SPRING
ChangeSeasonTo(SPRING);
}
{
HandleGrow();
}
break;
WINTER
HandleWeather(WINTER);
break;
// Set CurrentState to Winter
CurrentState = Winter;
ThisEvent
break;
ThisEvent
break;
default:
break;
}
break;
case ReplayTree :
// If current state is ReplayTree State
if ( ThisEvent.EventType == REPLAY ) //If this event is REPLAY
{
// Post REPLAY event to AudioBoard Service
}
DONE_REPLAYING
if(ThisEvent.EventType == DONE_REPLAYING) // If ThisEvent is

{
// Post WAITING event to services (Audio, Motors, Start
Button)
// Set CurrentState to WaitingForArtist
CurrentState = WaitingForArtist;
// Post WELCOME_REPLAY event to Branch Service
PostEvent.EventType = WELCOME_REPLAY;
}
break;
default :
break;
}
return ReturnEvent;
}
/****************************************************************************
Function
QueryTreeSM
Parameters
None
Returns
TreeState_t The current state of the tree state machine
Description
returns the current state of the tree state machine
Notes
Author
****************************************************************************/
TreeState_t QueryTreeFSM ( void )
{
return CurrentState;
}
/****************************************************************************
Function
HandleWeather
Parameters
Integer Season indicating the season of the year
Returns
Nothing
Description
Performs the actions that occur when a weather event happens
Notes
Author
****************************************************************************/
void HandleWeather(uint8_t Season)
{
// Post WEATHER event to Audio and Branch Service with EventParam Season
ES_Event PostEvent;
PostEvent.EventType = WEATHER;
PostEvent.EventParam = Season;
}
/****************************************************************************
Function
HandleProx
Parameters
An event, either PROX_NEAR or PROX_FAR
Returns
Nothing
Description
Performs the actions that occur when a hand trips or untrips sensor
Notes
Author
****************************************************************************/
void HandleProx(ES_Event ThisEvent)
{
if(ThisEvent.EventType == PROX_NEAR) // If ThisEvent is PROX_NEAR
{
// Store the branch which is growing in GrowingBranch from ThisEvent
EventParam
GrowingBranch = ThisEvent.EventParam;
//Put Vibration Motor ON
ChangeVibrationMotor(VIB_MOT_ON);
// Set GROWING_TIMER for GROWING_TIME
ES_Timer_InitTimer(GROWING_TIMER, GROWING_TIME);
}
else if(ThisEvent.EventType == PROX_FAR) // Elseif ThisEvent is PROX_FAR
{
//Put Vibration Motor OFF
}
/****************************************************************************
Function
HandleAnalog
Parameters
An event with parameter of the analog value
Returns
Nothing
Description
Performs the actions that occur when the slide potentiometer moves
Notes
Author
****************************************************************************/
void HandleAnalog(ES_Event ThisEvent)
{
// Call SetNewColorLimit function with parameter EventParam from input
ThisEvent
SetNewColorLimit(ThisEvent.EventParam);
}
/****************************************************************************
Function
ChangeSeasonTo
Parameters
An integer indicating the season of the year
Returns
Nothing
Description
Performs the actions that occur when the SEASON_TIMER times out and it is
a new season of the year
Notes
Author
****************************************************************************/
void ChangeSeasonTo(uint8_t Season)
{
// Post SEASON_CHANGE event with EventParam Season to Branch Service
ES_Event PostEvent;
PostEvent.EventType = SEASON_CHANGE;
PostEvent.EventParam = Season;
//Set SEASON_TIMER for SEASON_TIME
if(CurrentState != ReplayTree) ES_Timer_InitTimer(SEASON_TIMER,
SEASON_TIME);
}
/****************************************************************************
Function
HandleGrow
Parameters
Nothing
Returns
Nothing
Description
Performs the actions that occur when a hand is in front of a sensor and
a branch is growing
Notes
Author
****************************************************************************/
void HandleGrow(void)
{
// Post GROW event with EventParam GrowingBranch to BranchService
ES_Event PostEvent;
PostEvent.EventType = GROW;
PostEvent.EventParam = GrowingBranch;
//Set GROWING_TIMER for GROWING_TIME
ES_Timer_InitTimer(GROWING_TIMER, GROWING_TIME);
}

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/****************************************************************************

if ( ThisEvent.EventType == BTN_START )// If ThisEvent is

//Set SEASON_TIMER for fraction of a second

case BTN_WEATHER: // If ThisEvent is BTN_WEATHER

// If current state is SpringGrowing

// Call ChangeSeasonTo function with

// Call HandleProx function with parameter of

case ANALOG_CHANGE: // If ThisEvent is ANALOG_CHANGE

// If current state is SummerGrowing

for which sensor

// Set CurrentState to Summer

// If current state is Fall State

// Call ChangeSeasonTo function with

case BTN_WEATHER: // If ThisEvent is BTN_WEATHER

// Call HandleProx function with parameter of

// If current state is WinterGrowing

if(ThisEvent.EventType == DONE_REPLAYING) // If ThisEvent is

// Post WAITING event to services (Audio, Motors, Start

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