/**
* Vending machine with cookies
*
* Author: Jan Dvořák z Vozerovic
* E-mail: dvorkaman@gmail.com
* Web: dvorkaman.asp2.cz
* Created: 2015 - 2016
*/

/* 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.
*/

// INCLUDES
#include "main.h"
#include "dvorkaman.c"

/* MAP */
/*
MOTOR 1:
MOTOR 2: Belt
MOTOR 3:
MOTOR 4:

SERVO 1: Up
SERVO 2: Down
SERVO 3: Coin
SERVO 4: Door

LIGHT 1: GREEN - OK
LIGHT 2: RED - WAIT
LIGHT 3:
LIGHT 4:

!! PC 10 and 11 used for PRINTER USART
*/

libF4Mini f4mini;

libMatrixSwitch inputs;
uint16_t input_in[] = { GPIO_Pin_0, GPIO_Pin_1, GPIO_Pin_2, GPIO_Pin_4 };
uint16_t input_out[] = { GPIO_Pin_0, GPIO_Pin_1, GPIO_Pin_2 };
bool enableRead;
bool readNext;
bool lastGreen, greenOn; // TRUE if COIN, FALSE if belt moved
bool coinInserted;
uint8_t selectedBelt, lastMovedBelt;
uint8_t cookiesBought;
uint8_t cookiesBoughtIndexes[8];
uint8_t cookies[4][PRINTER_COLUMNS + 1] =
{
	{ 'C', 'o', 'k', 'e', 't', 'k', 'a', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '1', '0', ',', '-', '\0' },
	{ 'P', 'e', 'a', 'n', 'u', 't', '&', 'c', 'h', 'o', 'c', 'o', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '1', '0', ',', '-', '\0' },
	{ 'M', 'i', 'l', 'k', 'y', 'W', 'a', 'y', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '1', '0', ',', '-', '\0' },
	{ 'F', 'i', 'd', 'o', 'r', 'k', 'a', ' ', 'k', 'o', 'k', 'o', 's', 'o', 'v', 'a', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '.', '1', '0', ',', '-', '\0' },
};

libAnalogToDigital irSensor;

libPrinter printer;

// MAIN
int main(void)
{
	system_initialize(3); // A..C
	systemTime_initialize();

	F4Mini_initialize( // !! PC 10 and 11 used for PRINTER USART
		&f4mini,

		XBEE_API_COORD_MSB, XBEE_API_COORD_LSB, // coordinator xbee addresses (me is slave)

		io_adc, 				  // A0..A3 type
		libPin_OPEN_DRAIN, 	// A0 - [1, 4, 7, *] - OUTPUT [3]
		libPin_OPEN_DRAIN,	// A1 - [2, 5, 8, 0]					[1]
		libPin_OPEN_DRAIN,	// A2 - [3, 6, 9, #]					[5]
		libPin_ANALOG,	// A3 - IR input

		libPin_OUTPUT,	// A8

		libPin_OUTPUT,	// B12
		libPin_OUTPUT,	// B13

		libPin_INPUT_UP,	// C0 - [1, 2, 3] - INPUT				[2]
		libPin_INPUT_UP,	// C1 - [4, 5, 6]								[7]
		libPin_INPUT_UP,	// C2 - [7, 8, 9]								[6]
		libPin_INPUT_UP,	// C4 - [*, 0, #]								[4]
		libPin_OUTPUT,	// C5
		libPin_OUTPUT	  // C9
		);

	initializePeripherals();

	//Main loop
	while (1)
	{
		readInputs();
		setLights();

		// Analog
		if (analogFilter_isReady(&f4mini.af) == TRUE)
		{
			evaluateIrSensor(analogToDigital_read(&irSensor));
			analogFilter_clear(&f4mini.af);
		}
	}
}

// READ
void readInputs(void)
{
	uint32_t in;
	if (enableRead == FALSE) { return; }

	in = matrixSwitch_read(&inputs);
	if (in > 0 && readNext == FALSE) { return; } // must be pressed zero before next read

	// process value
	if (in == 0)
	{
		readNext = TRUE;
		return;
	}

	// non - zero value
	readNext = FALSE;

	if ((in & 0x0001) > 0 && coinInserted == TRUE) // Key 1 - up left
	{
		selectBelt(1);
		moveBelt(1);
		return;
	}

	if ((in & 0x0100) > 0 && coinInserted == TRUE) // Key 3 - up right
	{
		selectBelt(2);
		moveBelt(2);
		return;
	}

	if ((in & 0x0004) > 0 && coinInserted == TRUE) // Key 7 - down left
	{
		selectBelt(3);
		moveBelt(3);
		return;
	}

	if ((in & 0x0400) > 0 && coinInserted == TRUE) // Key 9 - down right
	{
		selectBelt(4);
		moveBelt(4);
		return;
	}

	// ----------------------------------------
	if ((in & 0x0008) > 0) // Key * - start belt, servo MIN
	{
		pwmServo_setPosition(&f4mini.servo3, COIN_MIN);
		pwmServo_setPosition(&f4mini.servo4, DOOR_MIN);

		if (selectedBelt == 0)
		{
			motor_runForwardsPercent(&f4mini.motor2, BELT_SPEED);
		}
		else
		{
			runMotor(selectedBelt);
		}

		return;
	}

	if ((in & 0x0800) > 0) // Key # - stop belt, servo MAX
	{
		pwmServo_setPosition(&f4mini.servo3, COIN_MAX);
		pwmServo_setPosition(&f4mini.servo4, DOOR_MAX);

		motor_stop(&f4mini.motor2);
		return;
	}

	// ----------------------------------------
	if ((in & 0x0010) > 0) // Key 2 - printer test
	{
		printer_writeln(&printer, "Printer test");
		return;
	}

	if ((in & 0x0020) > 0) // Key 5 - emg stop
	{
		clearPeripherals();
		return;
	}

	// ----------------------------------------
	if ((in & 0x0080) > 0 && cookiesBought > 0 && coinInserted == FALSE) // Key 0 - Print bill
	{
		finishOrder();
		return;
	}

	// ----------------------------------------
}

// SELECT BELT
void selectBelt(uint8_t number)
{
	// 0 = none; 1 = left top, 2 = right top; 3 = left botom, 4 = right bottom
	selectedBelt = number;
	switch (number)
	{
		case 0:
			pwmServo_setPosition(&f4mini.servo1, UP_MID);
			pwmServo_setPosition(&f4mini.servo2, DOWN_MID);
			break;
		case 1:
			pwmServo_setPosition(&f4mini.servo1, UP_MAX);
			pwmServo_setPosition(&f4mini.servo2, DOWN_MID);
			break;
		case 2:
			pwmServo_setPosition(&f4mini.servo1, UP_MIN);
			pwmServo_setPosition(&f4mini.servo2, DOWN_MID);
			break;
		case 3:
			pwmServo_setPosition(&f4mini.servo1, UP_MID);
			pwmServo_setPosition(&f4mini.servo2, DOWN_MIN);
			break;
		case 4:
			pwmServo_setPosition(&f4mini.servo1, UP_MID);
			pwmServo_setPosition(&f4mini.servo2, DOWN_MAX);
			break;
	}
}

// INIT
void initializePeripherals()
{
	matrixSwitch_initialize(&inputs, GPIOC, &input_in[0], 4, GPIOA, &input_out[0], 3);
	printer_initialize(&printer, USART3);

	// IR
	analogToDigital_initializeAnalogFilter(&irSensor, &f4mini.af, 0);

	// Turn on lights for a moment
	gpioPin_write(&f4mini.light1, Bit_SET);
	gpioPin_write(&f4mini.light2, Bit_SET);
	gpioPin_write(&f4mini.light3, Bit_SET);
	gpioPin_write(&f4mini.light4, Bit_SET);
	systemTime_delayMs(1000);

	clearPeripherals();
}

// CLEAR
void clearPeripherals()
{
	F4Mini_clearPerihperals(&f4mini);

	selectBelt(0);

	enableRead = TRUE;
	readNext = TRUE;
	lastGreen = TRUE; // force change
	greenOn = FALSE;
	lastMovedBelt = 0;
	cookiesBought = 0;

	coinInserted = FALSE;
	pwmServo_setPosition(&f4mini.servo3, COIN_MAX);
	pwmServo_setPosition(&f4mini.servo4, DOOR_MAX);
}

// RUN MOTOR FOR BELT
void runMotor(uint8_t beltNumber)
{
	motor_stop(&f4mini.motor2); // always

	// Down - FW
	if (beltNumber == 3 || beltNumber == 4)
	{
		motor_runForwardsPercent(&f4mini.motor2, BELT_SPEED);
	}

	// Up - BW
	if (beltNumber == 1 || beltNumber == 2)
	{
		motor_runBackwardsPercent(&f4mini.motor2, BELT_SPEED);
	}
}

// MOVE BELT
void moveBelt(uint8_t beltNumber)
{
	// Disable read, show lights state
	enableRead = FALSE;
	greenOn = FALSE; // red LED
	setLights();

	systemTime_delayMs(SERVO_MOVE_TIME);

	runMotor(beltNumber);
	systemTime_delayMs(beltNumber == lastMovedBelt ? BELT_SAME_MOVE_TIME : BELT_MOVE_TIME);
	lastMovedBelt = beltNumber;

	runMotor(0); // stop

	// Enable input
	enableRead = TRUE;
	cookiesBoughtIndexes[cookiesBought] = beltNumber - 1; // one based
	cookiesBought = cookiesBought + 1;

	// Enable coin, clear inserted flag
	pwmServo_setPosition(&f4mini.servo3, COIN_MAX); // open coin
	coinInserted = FALSE;
}

// SET LIGHTS
void setLights()
{
	if (lastGreen != greenOn)
	{
		lastGreen = greenOn;
		gpioPin_write(&f4mini.light1, greenOn ? Bit_SET : Bit_RESET); // green
		gpioPin_write(&f4mini.light2, greenOn ? Bit_RESET : Bit_SET); // red
	}
}

// IR sensor
void evaluateIrSensor(BitAction value)
{
	if (coinInserted == TRUE)
	{
		return;
	}

	// Coin inserted
	if (value == Bit_SET)
	{
		coinInserted = TRUE;

		// Set lights
		greenOn = TRUE;
		setLights();

		// Move servo
		pwmServo_setPosition(&f4mini.servo3, COIN_MIN); // close coin
	}
}

// FINISH ORDER
void finishOrder(void)
{
	uint8_t i, c;
	uint8_t price[3] = { '0', '0', '\0' };
	pwmServo_setPosition(&f4mini.servo4, DOOR_MIN);
	price[0] = '0' + cookiesBought;

	// Header
	printer_writeBitmap(&printer, 384, 52, (uint8_t *)&dvorkaman[0]);
	printer_feedLines(&printer, 1);

	// Goods
	for (i = 0; i < cookiesBought; i++)
	{
		c = cookiesBoughtIndexes[i];
		printer_writeln(&printer, &cookies[c][0]);
	}

	// Footer
	printer_writeln(&printer, "--------------------------------");
	printer_write(&printer, "Total: ");
	printer_write(&printer, &price[0]);
	printer_writeln(&printer, ",-");
	printer_feedLines(&printer, 6);

	systemTime_delayMs(1500);

	pwmServo_setPosition(&f4mini.servo4, DOOR_MAX);
	
	cookiesBought = 0;
}