/**
* Domino bot that tracks line and builds domino pieces
*
* Author: Jan Dvořák z Vozerovic
* E-mail: dvorkaman@gmail.com
* Web: dvorkaman.asp2.cz
* Created: 2014
*/

/* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements.  See the NOTICE file distributed with
* this work for additional information regarding copyright ownership.
* The ASF licenses this file to You under the Apache License, Version 2.0
* (the "License"); you may not use this file except in compliance with
* the License.  You may obtain a copy of the License at
*
*     http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/

// Libraries
#include "stdio.h"

#define _define_bool_ 0x01

#include "libSystem.c"
#include "libSystemTime.c"
#include "libGPIO.c"
#include "libPWM.c"
#include "libPWMTone.c"
#include "libUSART.c"
#include "libAnalog.c"
#include "libMotor.c"
#include "libServo.c"
#include "libUtils.c"
#include "libXbeeApi.c"
#include "libRemote.c"
#include "libEXTI.c"
#include "libSensors.c"

// Defines
#define ANALOG_INPUTS 3
#define LEVER_IN 0x00
#define LEVER_OUT 0xA0

#define SELECTOR_1 0x20
#define SELECTOR_2 0x6B
#define SELECTOR_3 0xB6

#define BELT_SPEED 100 // %
#define STEER_SPEED 60 // %
#define BARRIER_SPEED 100 // %
#define DRIVE_SPEED 70 // %

#define LEVER_MOVE_TIME 1000 // ms
#define SELECTOR_MOVE_TIME 500 // ms

#define BELT_MOVE_TIME 2400 // ms

#define BARRIER_MOVE_AFTER_BELT 2000 // ms
#define BARRIER_UP_TIME 1500 // ms
#define BARRIER_DOWN 1700 // ms
#define BARRIER_KEEP_UP_TIME 500 // ms

#define STEER_TIME 250 // ms
#define STEER_AVAILABLE_TIME 10 // ms

#define LINE_TRESHOLD (1000 >> ANALOG_FILTER_INGORE_LSB) // units

#define DRIVE_TIME 200 // ms

// Structs
typedef struct
{
	// 0 = available
	// 1 = move command
	// 2 = lever in
	// 3 = lever out
	// 4 = selector moving
	uint8_t mode;

	uint8_t selected; // 1 - 4
	uint8_t direction; // 0 = increment; 1 = decrement

	systemTime nextStepTime;
} selectorUnitStruct;

typedef struct
{
	// 0 = available
	// 1 = rotating
	uint8_t mode;

	systemTime offTime;
} beltUnitStruct;

typedef struct
{
	// 0 = available
	// 1 = waiting to move
	// 2 = moving up
	// 3 = waiting to move down
	// 4 = moving down
	uint8_t mode;

	systemTime nextStepTime;
} barrierUnitStruct;

typedef struct
{
	// 0 = available
	// 1 = rotating
	// 2 = waiting to be available
	uint8_t mode;

	// 0 = keep
	// 1 = left
	// 2 = right
	uint8_t dir;

	uint8_t lastDir;

	systemTime offTime;
} steerStruct;

typedef struct
{
	// 0 = available
	// 1 = driving
	uint8_t mode;

	systemTime offTime;
} driveUnitStruct;

// Headers
void initializePeriherals(void);
void clearPeriherals(void);
void processLineValues(BitAction left, BitAction middle, BitAction right);
BitAction parseLineValue(uint16_t value);
void selectorDebug(void);
void checkDebug(void);

void selectorLoop(void);
void beltLoop(void);
void barrierLoop(void);
void steerLoop(void);
void driveLoop(void);