CoffeePi/CoffeeCode/hal.cpp

/*
 * hal.cpp
 *
 *  Created on: Aug 3, 2016
 *      Author: Philipp Hinz, Sebastian Vendt
 */
#include <wiringPi.h>
#include <stdlib.h>
#include <stdint.h>
#include <errno.h>
#include <string.h>
#include <signal.h>
#include <ctime>
#include <time.h>
#include <unistd.h>
#include "hal.h"
#include "global.h"
#include "logger.h"
#include "timer.h"
#include "database.h"

const char* SigName[] = {
		"NULL",
		"SigInt0Psh",
		"SigInt0Rls",
		"SigInt0RlsLong",
		"SigInt1Psh",
		"SigInt1Rls",
		"SigInt1RlsLong",
		"SigPressCls",
		"SigPressOpn",
		"SigProxOpn",
		"SigProxCvrd",
		"SigBrewOn",
		"SigBrewOff",
		"SigPowerUp",
		"SigPowerDown",
		"SigRotCW",
		"SigRotCCW"};

typedef struct timespec timespec;

volatile int flowcnt = 0;
int lastFlowcnt = 0;
int flowResetValue = -1;
bool brewmanual = false;

time_t heatingCycleStart = 0;
uint64_t totalHeatingTime = 0; //local copies of the corresponding database entries

int Int0Time, Int1Time;
int idleCounter;
bool idle;
bool flagIgnoreRlsInt0, flagIgnoreRlsInt1;

//storage for the last state of the buttons, the proximity sensor and the pressure sensor
int pinState[4] = {1, 1, 1, 0};
//state of the rotary encoder
//0: rotary1 state at t-1
//1: rotary2 state at t-1
//2: rotary1 state at t
//3: rotary2 state at t
int rotaryState[4] = {1, 0, 0, 1};

timer Int0Timer(&halInt0TimerHandler);
timer Int1Timer(&halInt1TimerHandler);
timer idleTimer(&halIdleTimerHandler);
timer flowResetTimer (&flowResetTimerHandler);
timer flowTimer(&halFlowTimerHandler);


timespec flowTimestep[] = {{0,0},{0,0}};
uint8_t flowIndex = 0;
int16_t tickCounter = 0; //rotary encoder
uint16_t flowtime = 0;
uint16_t lastFlowTime = 0;
bool brewSigFired = false;

//delay of the debounce in milliseconds
#define DELAY_DEBOUNCE	50
#define DELAY_MICRODEB	2


//display turn off after idle time in min
//minimal time is 2min
#define IDLE_TIME	10


/**
 * Initializes HAL
 */

void halInit(void) {
	pinMode(RELAIS_HEAT, OUTPUT);
	pinMode(RELAIS_PUMP, OUTPUT);
	pinMode(RELAIS_POWER, OUTPUT);
	pinMode(PIN_PRESSURE_CTRL, INPUT);
	pinMode(PIN_PROXIMITY_SENSOR, INPUT);
	pinMode(PIN_INT0, INPUT);
	pinMode(PIN_INT1, INPUT);
	pinMode(PIN_FLOW, INPUT);
	pinMode(PIN_DISP, OUTPUT);
	pinMode(PIN_ROTARY1, INPUT);
	pinMode(PIN_ROTARY2, INPUT);


	idleTimer.setDivider(ms2Divider(60000));
	idleCounter = 0;
	idle = false;
	clock_gettime(CLOCK_REALTIME, &flowTimestep[0]);
	clock_gettime(CLOCK_REALTIME, &flowTimestep[1]);
	halDisplayOn();

	if (!(totalHeatingTime = sqlGetConf(CFGHeatingTime))) {
		logger_error("hal.cpp: Couldn't read the total heating time from the database\n");
		//pthread_exit(EXIT_SUCCESS);
		exit(EXIT_FAILURE);
	}

	if (optPower) {
		halMachineOn();
	} else {
		halMachineOff();
	}
	sleep(1); //wait till the machine eventually turned on when optPower

	pinState[3] = halIsHeating();

	Int0Timer.setDivider(ms2Divider(200));
	Int1Timer.setDivider(ms2Divider(200));
	Int0Time = 0;
	Int1Time = 0;


	flowResetTimer.setDivider(ms2Divider(TIME_FLOWRESET));
	flowTimer.setDivider(ms2Divider(200));

	flagIgnoreRlsInt0 = false;
	flagIgnoreRlsInt1 = false;

	event_subscribe("terminate", &halTerminate, "hal.cpp");

	if (wiringPiISR(PIN_INT0, INT_EDGE_BOTH, &halInt0) < 0) {
		logger_error("Unable to setup ISR0: %s\n", strerror(errno));
		return;
	}
	if (wiringPiISR(PIN_INT1, INT_EDGE_BOTH, &halInt1) < 0) {
		logger_error("Unable to setup ISR1: %s\n", strerror(errno));
		return;
	}
	if (wiringPiISR(PIN_FLOW, INT_EDGE_FALLING, &halIntFlow) < 0) {
		logger_error("Unable to setup ISRFLOW: %s\n", strerror(errno));
		return;
	}
	if (wiringPiISR(PIN_PRESSURE_CTRL, INT_EDGE_BOTH, &halIntPressure) < 0) {
		logger_error("Unable to setup ISRPressure: %s\n", strerror(errno));
		return;
	}
	if (wiringPiISR(PIN_PROXIMITY_SENSOR, INT_EDGE_BOTH, &halIntProximity) < 0) {
		logger_error("Unable to setup ISRProximity: %s\n", strerror(errno));
		return;
	}
	if (wiringPiISR(PIN_ROTARY1, INT_EDGE_BOTH, &halIntRotary) < 0) {
		logger_error("Unable to setup ISRRotary2: %s\n", strerror(errno));
		return;
	}
	logger(V_BASIC, "hal.cpp: Initialized\n");
}

/**
 * Switches relais on
 * @param relais Relais ID
 */
void halRelaisOn(int relais) {
	halRelaisSet(relais, LOW);
}

/**
 * Turn the display off
 */
void halDisplayOff(){
	digitalWrite(PIN_DISP, LOW);
}

/**
 * Turn the display on
 */
void halDisplayOn(){
	digitalWrite(PIN_DISP, HIGH);
}

/**
 * Switches relais off
 * @param relais Relais ID
 */
void halRelaisOff(int relais) {
	halRelaisSet(relais, HIGH);
}

/**
 * Switches relais to state
 * @param relais Relais ID
 * @param state LOW(0) or HIGH(1)
 */
void halRelaisSet(int relais, int state) {
	if (state != HIGH && state != LOW)
		return;
	switch (relais) {
	case RELAIS_POWER:
	case RELAIS_HEAT:
	case RELAIS_PUMP:
		digitalWrite(relais, state);
		break;
	}
}

/**
 * Returns the state of the relais relais
 * Returns HIGH when Relais is ON
 * @param relais Relais ID
 */
int halGetRelaisState(int relais) {
	switch (relais) {
	case RELAIS_POWER:
	case RELAIS_HEAT:
	case RELAIS_PUMP:
		return !digitalRead(relais);
		break;
	}
	return -1;
}

/**
 *
 */
void halIntRotary(void) {
	//delay(DELAY_MICRODEB);
	rotaryState[2] = digitalRead(PIN_ROTARY1);
	rotaryState[3] = digitalRead(PIN_ROTARY2);

	if (rotaryState[0] != rotaryState[2]) {
		//check for the status of the other pin
		if (rotaryState[1] != rotaryState[3]) {
			if ((rotaryState[2] == HIGH && rotaryState[3] == LOW) || (rotaryState[2] == LOW && rotaryState[3] == HIGH)) {
				//clockwise rotation
				tickCounter++;
				if (!(abs(tickCounter) % ROTARY_STEPSIZE)) {
					//logger(V_HAL, "rotary encoder CW \n");
					halSendSignal(SigRotCW);
					tickCounter = 0;
				}
			} else if ((rotaryState[2] == HIGH && rotaryState[3] == HIGH) || (rotaryState[2] == LOW && rotaryState[3] == LOW)) {
				//counterclockwise rotation
				tickCounter--;
				if (!(abs(tickCounter) % ROTARY_STEPSIZE)) {
					//logger(V_HAL, "rotary encoder CCW \n");
					halSendSignal(SigRotCCW);
					tickCounter = 0;
				}
			}
			rotaryState[1] = rotaryState[3];
		}
		rotaryState[0] = rotaryState[2];
	}
}


/**
 * Interrupt routine for Int0 (Top button)
 */
void halInt0(void) {
	//wait for a debounce
	delay(DELAY_DEBOUNCE);
	if (halGetInt0() && !pinState[0]) { //released
		logger(V_HAL, "Int0 released\n");
		pinState[0] = 1;
		if (flagIgnoreRlsInt0) {
			flagIgnoreRlsInt0 = false;
		} else {
			Int0Time = 0;
			Int0Timer.stop();
			halSendSignal(SigInt0Rls);
		}
	} else if(!halGetInt0() && pinState[0]) { //pressed
		logger(V_HAL, "Int0 pushed\n");
		pinState[0] = 0;
		halSendSignal(SigInt0Psh);
		Int0Time = 0;
		Int0Timer.start();
	}
}

/**
 *
 */
void halInt0TimerHandler(void) {
	Int0Time += 200;
	if (Int0Time >= (TIME_BUTTONLONGPRESS * 1000)) {
		halSendSignal(SigInt0RlsLong);
		flagIgnoreRlsInt0 = true;
		Int0Time = 0;
		Int0Timer.stop();
	}
}

/**
 *
 */
void halIdleTimerHandler(void) {
	if(++idleCounter == IDLE_TIME){
		halEnterIdle();
	}
}

/**
 * Interrupt routine for Int1 (Bottom button)
 */
void halInt1(void) {
	delay(DELAY_DEBOUNCE);
	if (halGetInt1() && !pinState[1]) {
		logger(V_HAL, "Int1 released\n");
		pinState[1] = 1;
		if (flagIgnoreRlsInt1) {
			flagIgnoreRlsInt1 = false;
		} else {
			Int1Time = 0;
			Int1Timer.stop();
			halSendSignal(SigInt1Rls);
		}
	} else if(!halGetInt1() && pinState[1]) {
		logger(V_HAL, "Int1 pushed\n");
		pinState[1] = 0;
		halSendSignal(SigInt1Psh);
		Int1Time = 0;
		Int1Timer.start();
	}
}

/*
 *
 */
void halInt1TimerHandler(void) {
	Int1Time += 200;
	if (Int1Time >= (TIME_BUTTONLONGPRESS * 1000)) {
		halSendSignal(SigInt1RlsLong);
		flagIgnoreRlsInt1 = true;
		Int1Time = 0;
		Int1Timer.stop();
	}
}

/**
 * Timer handler to auto-reset the flow counter.
 * The timer is started when the flow interrupt is triggered.
 * It compares the last value (flowResetValue) with the current flow value
 * If they match (e.g no flow within 1000ms) the flow counter is reseted.
 * Setting the last value to -1 ensures that when the timer gets called immediately after it is started the comparison will fail.
 * This implementation is read-only and so it doesn't need semaphores.
 */
void flowResetTimerHandler() {
	if(flowResetValue == flowcnt) {
		halResetFlow();
		return;
	}
	flowResetValue = flowcnt;
}

/**
 *
 */
void halFlowTimerHandler() {
	flowtime += 200;
}

/**
 * Interrupt routine for the flow sensor
 * It counts the edges and stores the value in flowcnt
 */
void halIntFlow(void) {
	//halRelaisOff(RELAIS_POWER);
	if(!flowResetTimer.isActive()) flowResetTimer.start();
	flowcnt++;
	logger(V_HAL, "IntFlow triggered #%d total: %.2fml\n", flowcnt, halGetFlow());

	//tracking of flowtime
	if(!flowTimer.isActive()) flowTimer.start();

	if (halGetFlow() >= BREW_MANUAL_TRIGGER && !brewSigFired) {
		halSendSignal(SigBrewOn);
		brewSigFired = true;
	}

	//subroutine to log the flow to the database
	/*timespec deltaT;
	clock_gettime(CLOCK_REALTIME, &flowTimestep[flowIndex]);
	timespec_diff(&flowTimestep[((flowIndex + 1) % 2)], &flowTimestep[flowIndex], &deltaT);

	if (sqlLogFlow(logcycle, halGetFlow()*1000, deltaT.tv_sec * 1000 + deltaT.tv_nsec/1000000)) {
		logger_error("hal.cpp: could not log flow to database!");
		return;
	}
	flowIndex = (flowIndex + 1) % 2;*/
}

/**
 * Interrupt routine for the pressure control
 * It captures the time at closing point and opening point
 * Reading heating time via the getHeatingTime function
 */
void halIntPressure(void) {
	delay(DELAY_DEBOUNCE);
	if (halIsHeating() && !pinState[3]) {
		logger(V_HAL, "hal.cpp: Pressure Control closed\n");
		pinState[3] = 1;
		halStartHeatingTime();
		halSendSignal(SigPressCls);
	} else if(!halIsHeating() && pinState[3]) {
		logger(V_HAL, "hal.cpp: Pressure Control opened\n");
		pinState[3] = 0;
		halStopHeatingTime();
		halSendSignal(SigPressOpn);
	}
}

/**
 *
 */
void halStartHeatingTime(void) {
	time(&heatingCycleStart);
}

/**
 *
 */
void halStopHeatingTime(void) {
	if (heatingCycleStart != 0) { //only track time if stopwatch was started!
		uint64_t timediff = (uint64_t) difftime(time(0), heatingCycleStart);
		logger(V_HAL, "Heating time: %f\n", timediff);
		totalHeatingTime += timediff;
		heatingCycleStart = 0;
	}
}

/**
 * Method to handle toggle of the proximity sensor
 */
void halIntProximity(void) {
	delay(DELAY_DEBOUNCE);
	if (halProxSensorCovered() && !pinState[2]) {
		logger(V_HAL, "IntProximity triggered\n");
		pinState[2] = 1;
		halSendSignal(SigProxCvrd);
	} else if(!halProxSensorCovered() && pinState[2]){
		logger(V_HAL, "IntProximity triggered\n");
		pinState[2] = 0;
		halSendSignal(SigProxOpn);
	}
}

/**
 * Returns total flow through sensor in ml
 */
float halGetFlow(void) {
	return flowcnt * FLOW_ML_PULSE;
}

/**
 * Returns the total flow time in ms
 */
uint16_t halGetFlowTime(void){
	return flowtime;
}

/*
 * Returns the last total flow through the sensor in ml after reset
 */
float halGetLastFlow(void) {
	return lastFlowcnt * FLOW_ML_PULSE;
}

/**
 * Returns the total flow time in ms before the last reset.
 */
uint16_t halGetLastFlowTime(void){
	return lastFlowTime;
}
/**
 * Resets the Flow counter. Do not call this function manually. It will be automatically triggered
 * from the flow reset timer routine!
 */
void halResetFlow(void) {
	logger(V_HAL, "Flow counter reset, amount so far: %.2f ml\n", halGetFlow());
	lastFlowcnt = flowcnt;
	flowcnt = 0;

	lastFlowTime = flowtime;
	flowtime = 0;

	flowResetTimer.stop();
	flowTimer.stop();

	flowResetValue = -1;
	if(brewSigFired) {
		brewSigFired = false;
		halSendSignal(SigBrewOff);
	}
}

/**
 * Reads the status of the Pressure Control
 * @return 1 (true) for closed Pressure Control (heating) and 0 (false) for open
 */
bool halIsHeating(void) {
	//TODO: eventually rely on the pinState variable instead of reading the pin
	//then the state of the pin needs to be set at the very beginning of the initialization
	if (digitalRead(PIN_PRESSURE_CTRL) == 0) return true;
	else return false;
}

/**
 *
 */
uint64_t getTotalHeatingTime() {
	return totalHeatingTime;
}
/**
 * Returns status of the proximity switch
 * @return 1 if the proximity switch is covered and 0 if uncovered
 */
bool halProxSensorCovered(void) {
	if(digitalRead(PIN_PROXIMITY_SENSOR) == 0){
	 return false;
	 } else {
	 return true;
	 }
}

/**
 * Returns the value of the top button Int0 (low active)
 * @return LOW or HIGH
 */
int halGetInt0(void) {
	return digitalRead(PIN_INT0);
}

/**
 * Returns the value of the bottom button Int1 (low active)
 * @return LOW or HIGH
 */
int halGetInt1(void) {
	return digitalRead(PIN_INT1);
}

/**
 * send Signal to coffee thread
 * @param val Integer value assigned to signal
 */
void halSendSignal(HalSig val) {
	//reboot pi when lower button is pressed long
	if (val == SigInt1RlsLong) {
		event_trigger("terminate");
		sleep(3);
		system("reboot");
	}

	if (halIdle(val)) return;

	sigval value = { 0 };
	value.sival_int = (int) val;

	try {
		if (pthread_sigqueue(thread[THREAD_COFFEE], SIGUSR2, value)) {
			logger_error("hal.cpp: Failed to queue signal %d %s\n", val, strerror(errno));
			//No Signals reach the state machine anymore...
			exit(EXIT_FAILURE);
		}
	} catch (int e) {
		logger_error("Whoops.. %d\n", e);
	}
}

/**
 * Turn machine on
 */
void halMachineOn(void) {
	halRelaisOn(RELAIS_HEAT);
	halRelaisOff(RELAIS_PUMP);
	halRelaisOn(RELAIS_POWER);

	idleTimer.stop();
	if(halIsHeating()) halStartHeatingTime();
	logger(V_HAL, "hal.cpp: Turning machine on\n");
}

/**
 * Turn machine off
 */
void halMachineOff(void) {
	halRelaisOff(RELAIS_HEAT);
	halRelaisOff(RELAIS_PUMP);
	halRelaisOff(RELAIS_POWER);

	idleCounter = 0;
	idleTimer.start();
	halStopHeatingTime();
	halWriteBackCache();
	logger(V_HAL, "hal.cpp: Turning machine off\n");
}

/**
 *
 */
void halEnterIdle(void){
	logger(V_HAL, "hal.cpp: Entering Idle Mode\n");
	idleTimer.stop();
	halDisplayOff();
	idle = true;
}

/**
 *
 */
void halLeaveIdle(void) {
	idleCounter = 0;
	logger(V_HAL, "hal.cpp: Leaving Idle Mode\n");
	halDisplayOn();
	idleTimer.start();
	idle = false;
}

/**
 * processes the signal value with respect to the idle state
 * returns true, if the current signal should be dropped
 */
bool halIdle(HalSig val){
	//idle processing filter for signals
	if (idle) {
		switch (val) {
		case SigInt0Psh:
		case SigInt1Psh:
			return true;
			break;

		case SigInt0Rls:
		case SigInt0RlsLong:
		case SigInt1Rls:
		case SigRotCCW:
		case SigRotCW:
			halLeaveIdle();
			return true;
			break;
		case SigPowerUp:
			halLeaveIdle();
			return false;
			break;
		default:
			return false;
		}
	} else {
		//reset the idle time on every input
		halResetIdleTimer();
		return false;
	}
}

/**
 *
 */
void halResetIdleTimer(void) {
	idleCounter = 0;
}

/**
 * Wrapper function to turn the pump on.
 */
void halPumpOn(){
	halRelaisOn(RELAIS_PUMP);
}

/**
 * Wrapper function to turn the pump off
 * and to measure how long the pump is running
 */
void halPumpOff(void){
	halRelaisOff(RELAIS_PUMP);
}

/**
 * Function to calculate the difference between two timespecs
 */
void timespec_diff(timespec *start, timespec *stop, timespec *result) {
	long int secDiff = stop->tv_sec - start->tv_sec;
	long int nsecDiff = stop->tv_nsec - start->tv_nsec;

	if (secDiff > 0) {
		if (nsecDiff >= 0) {
			result->tv_sec = secDiff;
			result->tv_nsec = nsecDiff;
		} else if (nsecDiff < 0) {
			result->tv_sec = --secDiff;
			result->tv_nsec = 1000000000 + nsecDiff;
		}
	} else if (secDiff < 0) {
		if (nsecDiff >= 0) {
			result->tv_sec = ++secDiff;
			result->tv_nsec = -(1000000000 - nsecDiff);

		} else if (nsecDiff < 0) {
			result->tv_sec = secDiff;
			result->tv_nsec = nsecDiff;
		}
	} else if (secDiff == 0){
		result->tv_sec = secDiff;
		result->tv_nsec = nsecDiff;
	}
	return;
}

/*
 * Handler for Termination of the hal
 */
void halTerminate(event_t *event){
	halStopHeatingTime();
	halWriteBackCache();
}

/*
 * writing back non volatile variables of the hal to the database: totalHeatingTime
 */
void halWriteBackCache(){
	if (sqlSetConf(CFGHeatingTime, totalHeatingTime)) {
		logger_error("hal.cpp: Couldn't write heating time to database");
		return;
	}
	logger(V_BREW, "Writing back heating time: %lld sec\n", totalHeatingTime);
}