CoffeePi/CoffeeCode/coffee.cpp

/*
 * coffee.cpp
 *
 *  Created on: Sep 25, 2017
 *      Author: sebastian
 */

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <stdint.h>
#include <wiringPi.h>
#include <pthread.h>
#include <unistd.h>
#include <iostream>
#include <csignal>
#include <time.h>
#include "coffee.h"
#include "hal.h"
#include "logger.h"
#include "timer.h"


int state;
int sigValue;
int brewTime; //Brew time in ms
timer brewTimer(&brewTimeHandler);

/**
 * Thread for the finite state machine
 * It represents the current state of the machine and handles signals coming from
 * the pressure control, buttons, the brew switch and the proximity sensor
 * @param threadid the ID of the thread
 */

void *coffeeThread(void *threadid) {
	logger(V_BASIC, "Initializing coffee thread...\n");

	//installing new Signal handler for coffeethread
	struct sigaction action;
	sigemptyset(&action.sa_mask);
	action.sa_flags = SA_SIGINFO;
	action.sa_sigaction = coffeeHandler;
	sigaction(SIGUSR2, &action, NULL);

	brewTimer.setDivider(4);
	brewTimer.stop();
	brewTime = 0;

	state = STATE_OFF;
	logger(V_BREW, "Determining inital state\n");
	//determine inital state
	if (halGetRelaisState(RELAIS_POWER) && halGetRelaisState(RELAIS_HEAT) && !halGetRelaisState(RELAIS_PUMP)) {
		//wait for heat relais to switch
		sleep(1);
		if (halIsHeating()) { //Heating is on
			changeState(STATE_INITALHEATING);
		} else {
			changeState(STATE_IDLE);
		}
	} else if (halGetRelaisState(RELAIS_PUMP)) {
		logger_error("Whoops, why is the pump running...\n");
		changeState(STATE_ERROR);
	}

	logger(V_BREW, "Start Coffee FSM\n");
	//begin FSM
	while(1){
		switch(state){
		case STATE_OFF:
			pause();
			if (getSigValue() == SigInt0Rls) {
				if (halProxSensorCovered()) { //Check Waterlevel
					//turn machine on
					logger(V_BREW, "Turn machine on\n");
					halRelaisOn(RELAIS_HEAT);
					halRelaisOff(RELAIS_PUMP);
					halRelaisOn(RELAIS_POWER);
					sleep(1);
					if (halIsHeating()) { //check if System starts to heat when turned on
						changeState(STATE_INITALHEATING);
					} else {
						changeState(STATE_IDLE);
					}
				} else {
					changeState(STATE_ERROR);
				}
				break;
			}
			break;
		case STATE_INITALHEATING:
			pause();
			switch (getSigValue()) {
			case SigInt1Rls:
				//Turn machine off again
				logger(V_BREW, "Turn machine off\n");
				halRelaisOff(RELAIS_HEAT);
				halRelaisOff(RELAIS_PUMP);
				halRelaisOff(RELAIS_POWER);
				changeState(STATE_OFF);
				break;
			case SigPressOpn:
				//Inital heating finished
				changeState(STATE_IDLE);
				break;
			}
			break;
		case STATE_HEATING:
			pause();
			switch(getSigValue()){
			case SigInt1Rls:
				//Turn machine off again
				logger(V_BREW, "Turn machine off\n");
				halRelaisOff(RELAIS_HEAT);
				halRelaisOff(RELAIS_PUMP);
				halRelaisOff(RELAIS_POWER);
				changeState(STATE_OFF);
				break;
			case SigPressOpn:
				logger(V_BREW, "Change state: IDLE\n");
				changeState(STATE_IDLE);
				break;
			case SigInt0Psh:
				//start to brew a delicious coffee
				changeState(STATE_BREW);
				break;
			case SigBrewOn:
				//someone brews manually
				changeState(STATE_BREWMANUAL);
				break;
			}
			break;
		case STATE_IDLE:
			pause();
			switch(getSigValue()){
			case SigInt1Rls:
				//Turn machine off again
				logger(V_BREW, "Turn machine off\n");
				halRelaisOff(RELAIS_HEAT);
				halRelaisOff(RELAIS_PUMP);
				halRelaisOff(RELAIS_POWER);
				changeState(STATE_OFF);
				break;
			case SigPressCls:
				changeState(STATE_HEATING);
				break;
			case SigInt0Psh:
				//start to brew a delicious coffee
				changeState(STATE_BREW);
				break;
			case SigBrewOn:
				//someone brews manually
				changeState(STATE_BREWMANUAL);
				break;
			}
			break;
		case STATE_BREW:
			//Preinfusion
			logger(V_BREW, "Starting preinfusion...\n");
			halRelaisOn(RELAIS_PUMP);
			brewTime = 0;
			brewTimer.start();
			while(brewTime < TIME_PREINFUSION){
				usleep(100000);
			}
			brewTimer.stop();
			brewTime = 0;
			halRelaisOff(RELAIS_PUMP);
			sleep(TIME_SOAK/1000);
			logger(V_BREW, "Starting infusion...\n");
			halResetFlow();
			halRelaisOn(RELAIS_PUMP);
			brewTimer.start();
			while(brewTime < TIME_INFUSION && halGetFlow() < TIME_DBLESPRESSO){
				usleep(100000);
			}
			halRelaisOff(RELAIS_PUMP);
			brewTimer.stop();
			brewTime = 0;
			logger(V_BREW, "Finish brewing\n");
			changeState(STATE_IDLE);
			break;
		case STATE_BREWMANUAL:
			pause();
			break;
		case STATE_CLEANING:
			pause();
			break;
		case STATE_ERROR:
			pause();
			break;
		}
	}
	pthread_exit(EXIT_SUCCESS);
}
/**
 * Handler for the Signal send to this thread
 * It safes a value sent with the signal in sigValue
 * @param signum
 * @param siginfo
 * @param context
 */
void coffeeHandler(int signum, siginfo_t *siginfo, void *context) {
	sigval_t sigVal = (siginfo->si_value);
	sigValue = sigVal.sival_int;
	logger(V_BREW, "CoffeeHandler called with %d\n", sigValue);
}

/**
 * returns the Signal value from the last received Signal and clears the variable
 * @return value sent with the last signal
 */
int getSigValue(void){
	int tmp = sigValue;
	sigValue = 0;
	return tmp;
}

/**
 * Changes the state of the machine to newState
 * prints the change to the logger
 * @param newState
 */
void changeState(int newState){
	logger(V_BREW, "Change state to %d\n", newState);
	state = newState;
}


/**
 * Counter for the brew time
 * refresh every 200ms
 */
void brewTimeHandler (void){
	brewTime += 200;
}