CoffeePi/CoffeeCode/coffee.cpp

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

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

coffee_status_t state;
coffee_menuPage_t page;
coffee_mode_t mode;

int sigValue;
int menuTimeout;
timer menuTimer(&menuTimerHandler);
timer brewTimer(&brewTimerHandler);

uint16_t brewCounter;
uint16_t brewTime;
uint16_t currentCleanCycle;
bool initalHeating;
bool descaling; //flag to indicate descaling and cleaning
uint16_t descBrewcount;
time_t descRawTimestamp;
uint16_t oldCoffeeCFGVal; //temporary variable to save any old config value to restore when aborting the config change

const char* PageName[] = {
		"SOFTOFF",
		"KILL",
		"SINGLEESPRESSO"
		"STATS",
		"STATS2",
		"DESCALING",
		"TEMP",
		"CLEAN",
		"REBOOT",
		"SETTINGS",
		"RESETKWH",
		"RESETKWH_VAL",
		"CHANGEPREINF",
		"CHANGEPREINF_VAL",
		"CHANGEBREWTIME",
		"CHANGEBREWTIME_VAL",
		"CHANGEBREWML",
		"CHANGEBREWML_VAL",
		"CHANGESOAKTIME",
		"CHANGESOAKTIME_VAL",
		"CHANGEAUTORESET",
		"CHANGEAUTORESET_VAL",
		"LEAVESETTINGS",
		"Exit",
		"PAGE_NULL"
};

const char* StateName[] = {
		"OFF",
		"HEATING",
		"INITHEAT",
		"IDLE",
		"BREW",
		"BREWMAN",
		"CLEAN",
		"ERROR",
		"WAITOFF",
		"FULLTANK",
		"STATE_NULL",
};

//the reference configuration for brewing coffees
coffeeConfig coffeeCFG = {AMOUNT_PREINFUSION, TIME_SOAK, TIME_INFUSION, AMOUNT_DBLESPRESSO};
bool brewSingleEspresso = false; //flag to brew a single espresso only

/**
 * 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, "coffee.cpp: 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);

	currentCleanCycle = 0;

	menuTimer.setDivider(ms2Divider(200));
	menuTimer.stop();
	menuTimeout = 0;

	brewTimer.setDivider(ms2Divider(200));
	brewTimer.stop();
	brewTime = 0;

	initalHeating = true;
	mode = MODE_STATE; //Unless we enter the menu we start in state mode
	page = PAGE_SOFTOFF;
	descaling = false;

	if (!(brewCounter = sqlGetConf(CFGbrewcounter))) {
		logger_error("coffee.cpp: Couldn't read the brew counter from the database\n");
		//pthread_exit(EXIT_SUCCESS);
		exit(EXIT_FAILURE);
	}
	if (!(descRawTimestamp = (time_t) sqlGetConf(CFGDescTimestamp))) {
		logger_error("coffee.cpp: Couldn't read the descaling time from the database\n");
		//pthread_exit(EXIT_SUCCESS);
		exit(EXIT_FAILURE);
	}
	if (!(descBrewcount = sqlGetConf(CFGDescBrewCount))) {
		logger_error("coffee.cpp: Couldn't read the descaling brewcount time from the database\n");
		//pthread_exit(EXIT_SUCCESS);
		exit(EXIT_FAILURE);
	}
	if (!(coffeeCFG.amount_espresso = sqlGetConf(CFGAmountDblEspresso))) {
		coffeeCFG.amount_espresso = AMOUNT_DBLESPRESSO;
		logger_error("coffee.cpp: Couldn't read config CFGAmountDblEspresso from database\nFalling back to default!\n");
	}
	if (!(coffeeCFG.amount_preinfusion = sqlGetConf(CFGAmountPreinfusion))) {
		coffeeCFG.amount_preinfusion = AMOUNT_PREINFUSION;
		logger_error("coffee.cpp: Couldn't read config CFGAmountPreinfusion from database\nFalling back to default!\n");
	}
	if (!(coffeeCFG.time_infusion = sqlGetConf(CFGTimeInfusion))) {
		coffeeCFG.time_infusion = TIME_INFUSION;
		logger_error("coffee.cpp: Couldn't read config CFGTimeInfusion from database\nFalling back to default!\n");
	}
	if (!(coffeeCFG.time_soak = sqlGetConf(CFGTimeSoak))) {
		coffeeCFG.time_soak = TIME_SOAK;
		logger_error("coffee.cpp: Couldn't read config CFGTimeSoak from database\nFalling back to default!\n");
	}

	checkDescaling();

	event_subscribe("terminate", &coffeeTerminate, "coffee.cpp");

	logger(V_BREW, "Determining inital state\n");
	//determine initial state
	if (halGetRelaisState(RELAIS_POWER) && halGetRelaisState(RELAIS_HEAT)
			&& !halGetRelaisState(RELAIS_PUMP)) {
		//wait for heat relais to switch
		coffeeNap(1,0);
		if (halIsHeating()) { //Heating is on
			changeState(STATE_INITALHEATING);
		} else {
			initalHeating = false;
			changeState(STATE_IDLE);
		}
	} else if (halGetRelaisState(RELAIS_PUMP)) {
		logger_error("coffee.cpp: Whoops, why is the pump running...\n");
		changeState(STATE_ERROR);
	} else {
		changeState(STATE_OFF);
	}

	logger(V_BREW, "Starting Coffee FSM\n");
	//begin FSM
	while (1) {
		/*
		 * Menu FSM
		 */
		switch (page) {
		case PAGE_NULL:
			break;

		case PAGE_SOFTOFF: //this page is only available when the machine is on
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				if(halIsHeating()){
					changeState(STATE_WAIT_OFF);
				}
				else {
					changeState(STATE_OFF);
				}
				leaveMenu();
				break;

			case SigRotCW:
				changePage(PAGE_KILL);
				break;

			case SigRotCCW:
				changePage(PAGE_EXIT);
				break;
			}
			break;
		case PAGE_KILL: //this page is only available when the machine is on
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				changeState(STATE_OFF);
				leaveMenu();
				break;

			case SigRotCW:
				if (state == STATE_HEATING || state == STATE_IDLE) {
					changePage(PAGE_SINGLEESPRESSO);
				} else {
					changePage(PAGE_REBOOT);
				}
				break;

			case SigRotCCW:
				changePage(PAGE_SOFTOFF);
				break;
			}
			break;
		case PAGE_SINGLEESPRESSO: //this page is only available when the machine is hot
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				brewSingleEspresso = true;
				changeMode(MODE_STATE);
				changeState(STATE_BREW);
				leaveMenu();
				break;

			case SigRotCW:
				changePage(PAGE_CLEAN);
				break;

			case SigRotCCW:
				changePage(PAGE_KILL);
				break;
			}
			break;
		case PAGE_CLEAN: //this page is only be available when the machine is hot
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				changeMode(MODE_STATE);
				changeState(STATE_CLEANING);
				leaveMenu();
				break;

			case SigRotCW:
				changePage(PAGE_REBOOT);
				break;

			case SigRotCCW:
				changePage(PAGE_SINGLEESPRESSO);
				break;
			}
			break;
		case PAGE_REBOOT:
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				event_trigger("terminate");
				coffeeNap(4, 0);
				system("reboot");
				//prevent any further user action
				coffeeNap(30, 0);
				break;
			case SigRotCW:
				changePage(PAGE_TEMP);
				break;

			case SigRotCCW:
				if(state == STATE_IDLE || state == STATE_HEATING){
					changePage(PAGE_CLEAN);
				} else if (state == STATE_ERROR || state == STATE_INITALHEATING) {
					changePage(PAGE_KILL);
				} else {
					changePage(PAGE_EXIT);
				}
				break;
			}
			break;
		case PAGE_TEMP:
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigRotCW:
				changePage(PAGE_STATS);
				break;

			case SigRotCCW:
				changePage(PAGE_REBOOT);
				break;
			}
			break;

		case PAGE_STATS:
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigRotCW:
				changePage(PAGE_STATS2);
				break;

			case SigRotCCW:
				changePage(PAGE_TEMP);
				break;
			}
			break;
		case PAGE_STATS2:
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigRotCW:
				changePage(PAGE_DESCALING);
				break;

			case SigRotCCW:
				changePage(PAGE_STATS);
				break;
			}
			break;
		case PAGE_DESCALING:
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigRotCW:
				changePage(PAGE_SETTINGS);
				break;

			case SigRotCCW:
				changePage(PAGE_STATS2);
				break;
			}
			break;
		case PAGE_SETTINGS:
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				changePage(PAGE_RESETKWH);
				break;
			case SigRotCW:
				changePage(PAGE_EXIT);
				break;
			case SigRotCCW:
				changePage(PAGE_DESCALING);
				break;
			}
			break;
		case PAGE_RESETKWH:
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				changePage(PAGE_RESETKWH_VAL);
				break;
			case SigRotCW:
				changePage(PAGE_CHANGEPREINF);
				break;
			case SigRotCCW:
				changePage(PAGE_LEAVESETTINGS);
				break;
			}
			break;
		case PAGE_RESETKWH_VAL:
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				//Reset the KWH counter
				halSetTotalHeatingTime(0);
				halWriteBackCache();
				changePage(PAGE_RESETKWH);
				break;
			case SigInt1Rls:
				//Abort reseting the KWH counter
				changePage(PAGE_RESETKWH);
				break;
			case SigRotCW:
				break;
			case SigRotCCW:
				break;
			}
			break;
		case PAGE_CHANGEPREINF:
			if (SigValueEmpty() && mode == MODE_MENU)
			    pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				//temporary store the old value of the config to restore when the change process is aborted
				oldCoffeeCFGVal = coffeeCFG.amount_preinfusion;
				changePage(PAGE_CHANGEPREINF_VAL);
			    break;
			case SigRotCW:
			    changePage(PAGE_CHANGEBREWTIME);
			    break;
			case SigRotCCW:
			    changePage(PAGE_RESETKWH);
			    break;
			}
			break;
		case PAGE_CHANGEPREINF_VAL:
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				writeBackCache();
				oldCoffeeCFGVal = 0;
				changePage(PAGE_CHANGEPREINF);
				break;
			case SigInt1Rls:
				//Abort the change of the preinfusion
				//restore the previous value
				coffeeCFG.amount_preinfusion = oldCoffeeCFGVal;
				oldCoffeeCFGVal = 0;
				changePage(PAGE_CHANGEPREINF);
				break;
			case SigRotCW:
				coffeeCFG.amount_preinfusion += 1;
				break;
			case SigRotCCW:
				if (coffeeCFG.amount_preinfusion >= 1) coffeeCFG.amount_preinfusion -= 1;
				break;
			}
			break;
		case PAGE_CHANGEBREWTIME:
			if (SigValueEmpty() && mode == MODE_MENU)
			    pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				oldCoffeeCFGVal = coffeeCFG.time_infusion;
				changePage(PAGE_CHANGEBREWTIME_VAL);
			    break;
			case SigRotCW:
				changePage(PAGE_CHANGEBREWML);
			    break;
			case SigRotCCW:
				changePage(PAGE_CHANGEPREINF);
			    break;
			}
			break;
		case PAGE_CHANGEBREWTIME_VAL:
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				writeBackCache();
				oldCoffeeCFGVal = 0;
				changePage(PAGE_CHANGEBREWTIME);
				break;
			case SigInt1Rls:
				//abort the change of the brew time
				coffeeCFG.time_infusion = oldCoffeeCFGVal;
				oldCoffeeCFGVal = 0;
				changePage(PAGE_CHANGEBREWTIME);
				break;
			case SigRotCW:
				coffeeCFG.time_infusion += 1000;
				break;
			case SigRotCCW:
				if (coffeeCFG.time_infusion >= 1000) coffeeCFG.time_infusion -= 1000;
				break;
			}
			break;
		case PAGE_CHANGEBREWML:
			if (SigValueEmpty() && mode == MODE_MENU)
			    pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				oldCoffeeCFGVal = coffeeCFG.amount_espresso;
				changePage(PAGE_CHANGEBREWML_VAL);
			    break;
			case SigRotCW:
				changePage(PAGE_CHANGESOAKTIME);
			    break;
			case SigRotCCW:
				changePage(PAGE_CHANGEBREWTIME);
			    break;
			}
			break;
		case PAGE_CHANGEBREWML_VAL:
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				writeBackCache();
				oldCoffeeCFGVal = 0;
				changePage(PAGE_CHANGEBREWML);
				break;
			case SigInt1Rls:
				//abort the change of the brew amout
				coffeeCFG.amount_espresso = oldCoffeeCFGVal;
				oldCoffeeCFGVal = 0;
				changePage(PAGE_CHANGEBREWML);
				break;
			case SigRotCW:
				coffeeCFG.amount_espresso += 1;
				break;
			case SigRotCCW:
				if (coffeeCFG.amount_espresso >= 1) coffeeCFG.amount_espresso -= 1;
				break;
			}
			break;
		case PAGE_CHANGESOAKTIME:
			if (SigValueEmpty() && mode == MODE_MENU)
			    pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				oldCoffeeCFGVal = coffeeCFG.time_soak;
				changePage(PAGE_CHANGESOAKTIME_VAL);
			    break;
			case SigRotCW:
				changePage(PAGE_CHANGEAUTORESET);
			    break;
			case SigRotCCW:
				changePage(PAGE_CHANGEBREWML);
			    break;
			}
			break;
		case PAGE_CHANGESOAKTIME_VAL:
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				writeBackCache();
				oldCoffeeCFGVal = 0;
				changePage(PAGE_CHANGESOAKTIME);
				break;
			case SigInt1Rls:
				//abort the change of the soak time
				coffeeCFG.time_soak = oldCoffeeCFGVal;
				oldCoffeeCFGVal = 0;
				changePage(PAGE_CHANGESOAKTIME);
				break;
			case SigRotCW:
				coffeeCFG.time_soak += 100;
				break;
			case SigRotCCW:
				if (coffeeCFG.time_soak >= 100) coffeeCFG.time_soak -= 100;
				break;
			}
			break;
		case PAGE_CHANGEAUTORESET:
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				oldCoffeeCFGVal = halGetFlowResetTime();
				changePage(PAGE_CHANGEAUTORESET_VAL);
				break;
			case SigRotCW:
				changePage(PAGE_LEAVESETTINGS);
				break;
			case SigRotCCW:
				changePage(PAGE_CHANGESOAKTIME);
				break;
			}
			break;
		case PAGE_CHANGEAUTORESET_VAL:
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				halWriteBackCache();
				oldCoffeeCFGVal = 0;
				changePage(PAGE_CHANGEAUTORESET);
				break;
			case SigInt1Rls:
				//abort the change of the auto reset
				halSetFlowResetTime(oldCoffeeCFGVal);
				oldCoffeeCFGVal = 0;
				changePage(PAGE_CHANGEAUTORESET);
				break;
			case SigRotCW:
				halSetFlowResetTime(halGetFlowResetTime() + 100);
				break;
			case SigRotCCW:
				if (halGetFlowResetTime() >= 100) halSetFlowResetTime(halGetFlowResetTime() - 100);
				break;
			}
			break;
		case PAGE_LEAVESETTINGS:
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				changePage(PAGE_SETTINGS);
				break;
			case SigRotCW:
				changePage(PAGE_RESETKWH);
				break;
			case SigRotCCW:
				changePage(PAGE_CHANGESOAKTIME);
				break;
			}
			break;
		case PAGE_EXIT:
			if (SigValueEmpty() && mode == MODE_MENU)
				pause();

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Rls:
				leaveMenu();
				break;

			case SigRotCW:
				if (state == STATE_HEATING || state == STATE_ERROR
						|| state == STATE_IDLE
						|| state == STATE_INITALHEATING) {
					changePage(PAGE_SOFTOFF);
				} else {
					changePage(PAGE_REBOOT);
				}
				break;

			case SigRotCCW:
				changePage(PAGE_SETTINGS);
				break;
			}
			break;
		} //end switch (page)

		/*
		 * Hardware FSM
		 */
		switch (state) {
		case STATE_NULL:
			break;
		/*
		 *
		 */
		case STATE_OFF:
			if (mode == MODE_STATE) {
				halMachineOff();
				writeBackCache();
				// his might be a bit confusing to change the page here even if the menu isn't actually displayed
				changePage(PAGE_REBOOT);
				if (SigValueEmpty())
					pause();
			}

			switch (getSigValue(MODE_STATE)) {
			case SigInt0Rls:
			case SigPowerUp:
				//Check waterlevel in gray water tank
				//turn machine on
				halMachineOn();
				coffeeNap(1,500000000);
				if (halIsHeating() && !halProxSensorCovered()) { //check if System starts to heat when turned on
					changeState(STATE_INITALHEATING);
				} else if (!halIsHeating() && !halProxSensorCovered()) {
					changeState(STATE_IDLE);
				} else if (halProxSensorCovered()) {
					logger_error("coffee.cpp: Full graywater tank detected\n");
					changeState(STATE_FULLTANK);
				}
				if (page != PAGE_SOFTOFF)
					changePage(PAGE_SOFTOFF); //the machine is on, the menu starts with the turning off page
				break;

			case SigRotCCW:
			case SigRotCW:
			case SigInt1Rls:
				//Enter the menu
				enterMenu();
				break;
			}
			break;

			/*
			 *
			 */
		case STATE_WAIT_OFF:
			if (SigValueEmpty() && mode == MODE_STATE)
				pause();
			switch (getSigValue(MODE_STATE)) {
			case SigPressOpn:
				coffeeNap(1,0); //wait so no load will be switched
				changeState(STATE_OFF);
				break;

			case SigInt0Rls:
			case SigInt1Rls:
			case SigPowerUp:
				if (halProxSensorCovered()) {
					changeState(STATE_FULLTANK);
				} else if (initalHeating) {
					changeState(STATE_INITALHEATING);
				} else {
					changeState(STATE_HEATING);
				}
				break;
			}
			break;

			/*
			 *
			 */
		case STATE_INITALHEATING:
			initalHeating = true;

			if (SigValueEmpty() && mode == MODE_STATE)
				pause();
			switch (getSigValue(MODE_STATE)) {
			case SigPressOpn:
				//Inital heating finished
				initalHeating = false;
				changeState(STATE_IDLE);
				break;

			case SigPowerDown:
				changeState(STATE_WAIT_OFF);
				break;

			case SigRotCCW:
			case SigRotCW:
			case SigInt1Rls:
				enterMenu();
				break;
			}
			break;

			/*
			 *
			 */
		case STATE_HEATING:
			if (SigValueEmpty() && mode == MODE_STATE)
				pause();
			switch (getSigValue(MODE_STATE)) {
			case SigPressOpn:
				changeState(STATE_IDLE);
				break;

			case SigInt0Rls:
				//start to brew a delicious coffee
				changeState(STATE_BREW);
				break;

			case SigBrewOn:
				//someone brews manually
				coffeeManualBrewStart();
				changeState(STATE_BREWMANUAL);
				break;

			case SigPowerDown:
				changeState(STATE_WAIT_OFF);
				break;

			case SigRotCCW:
			case SigRotCW:
			case SigInt1Rls:
				//Enter the menu
				enterMenu();
				break;
			}
			break;

			/*
			 *
			 */
		case STATE_IDLE:
			if (SigValueEmpty() && mode == MODE_STATE)
				pause();
			switch (getSigValue(MODE_STATE)) {
			case SigPressCls:
				changeState(STATE_HEATING);
				break;

			case SigInt0Rls:
				changeState(STATE_BREW);
				break;

			case SigBrewOn:
				//someone brews manually
				coffeeManualBrewStart();
				changeState(STATE_BREWMANUAL);
				break;

			case SigPowerDown:
				changeState(STATE_OFF);
				break;

			case SigRotCCW:
			case SigRotCW:
			case SigInt1Rls:
				//Enter the menu
				enterMenu();
				break;
			}
			break;

			/*
			 *
			 */
		case STATE_BREW:
			//make sure the tank is not full
			if (halProxSensorCovered()) {
				changeState(STATE_FULLTANK);
			} else {
				if (brewSingleEspresso) {
					coffeeBrew(coffeeCFG.amount_preinfusion, coffeeCFG.time_soak, coffeeCFG.time_infusion, coffeeCFG.amount_espresso / 2);
					brewSingleEspresso = false;
				}
				else {
					coffeeBrew(coffeeCFG.amount_preinfusion, coffeeCFG.time_soak, coffeeCFG.time_infusion, coffeeCFG.amount_espresso);
				}
				checkDescaling();
				logger(V_BREW, "coffee.cpp: Finished brewing\n");
				if (halProxSensorCovered()) {
					changeState(STATE_FULLTANK);
				} else if (halIsHeating()) {
					changeState(STATE_HEATING);
				} else {
					changeState(STATE_IDLE);
				}
			}
			break;

			/*
			 *
			 */
		case STATE_BREWMANUAL:
			if (SigValueEmpty() && mode == MODE_STATE)
				pause();
			switch (getSigValue(MODE_STATE)) {
			case SigBrewOff:
				if (halProxSensorCovered()) {
					changeState(STATE_FULLTANK);
				} else if (halIsHeating()) {
					changeState(STATE_HEATING);
				} else {
					changeState(STATE_IDLE);
				}
				break;
			}
			break;

			/*
			 *
			 */
		case STATE_CLEANING: //this can only be executed once the machine is hot!
			if (!halProxSensorCovered()) {
				//execute the cleaning procedure
				coffeeClean();
				if (halProxSensorCovered()) {
					changeState(STATE_FULLTANK);
				} else if (halIsHeating()) {
					changeState(STATE_HEATING);
				} else {
					changeState(STATE_IDLE);
				}
			} else {
				changeState(STATE_FULLTANK);
			}
			break;

			/*
			 * Full tank is detected at the beginning and the end of a brewing process, during
			 * idle times, initial heating and heating
			 */
		case STATE_FULLTANK:
			if (SigValueEmpty() && mode == MODE_STATE)
				pause();
			switch (getSigValue(MODE_STATE)) {
			case SigInt1RlsLong:
			case SigInt0RlsLong:
				if (!halProxSensorCovered()) {
					if (halIsHeating() && initalHeating) {
						changeState(STATE_INITALHEATING);
					} else if (halIsHeating() && !initalHeating) {
						changeState(STATE_HEATING);
					} else {
						changeState(STATE_IDLE);
					}
				}
				break;
			}
			break;

			/*
			 *
			 */
		case STATE_ERROR:
			if (SigValueEmpty() && mode == MODE_STATE)
				pause();
			switch (getSigValue(MODE_STATE)) {
			case SigInt0RlsLong:
				changeState(STATE_OFF);
				break;
			}
		}
	}
	pthread_exit(EXIT_SUCCESS);
}
/**
 * Handler for the Signal send to this thread
 * It saves the type of signal received and tracks the time between a push and release event of up to 4 signals
 * The time is stored in the HalEvent variable when a release event is received
 * @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, "coffee.cpp: CoffeeHandler called with Signal %s\n",
			SigName[sigValue]);
}

/**
 * returns the Signal value from the last received Signal for the given mode and clears the variable
 * @return value sent with the last signal
 */
int getSigValue(coffee_mode_t mode) {
	int tmp = sigValue;
	if (mode == MODE_MENU) {
		switch (sigValue) {
		case SigInt0Psh:
		case SigInt0Rls:
		case SigInt0RlsLong:
		case SigInt1Psh:
		case SigInt1Rls:
		case SigRotCCW:
		case SigRotCW:
			sigValue = 0;
			menuTimeout = 0;
			return tmp;
			break;

		default:
			break;
		}
	} else { //State Mode
		sigValue = 0;
		return tmp;
	}
	//int tmp = sigValue;
	//sigValue = 0;
	//return tmp;
	return 0;
}

bool SigValueEmpty(void) {
	if (sigValue == 0)
		return true;
	else
		return false;
}

/**
 * Changes the state of the machine to newState
 * prints the change to the logger
 * @param newState
 */
void changeState(coffee_status_t newState) {
	logger(V_BREW, "coffee.cpp: Changing state to %s\n", StateName[newState]);
	state = newState;
	event_trigger("statechange", &state, sizeof(state));
}

/*
 * Change Page to new menu page
 */
void changePage(coffee_menuPage_t newPage) {
	logger(V_BREW, "coffee.cpp: Change Page to %s\n", PageName[newPage]);
	event_trigger("pagechange", &newPage, sizeof(newPage));
	page = newPage;
}

/*
 * Changes the mode of the machine to the given mode
 */
void changeMode(coffee_mode_t newMode) {
	if (newMode == MODE_MENU)
		logger(V_BREW, "coffee.cpp: Changing to menu mode\n");
	else
		logger(V_BREW, "coffee.cpp: Changing to state mode\n");

	event_trigger("modechange", &newMode, sizeof(newMode));
	mode = newMode;
}

/*
 * leaving the menu
 *  sets the start page for the next menu call to softoff
 */
void leaveMenu(void) {
	logger(V_BREW, "coffee.cpp: Leaving the menu again\n");
	//leave the menu again
	changeMode(MODE_STATE);
	//change page to initial page
	changePage(PAGE_SOFTOFF);

	//stop the timeout counter
	menuTimeout = 0;
	menuTimer.stop();
}

/**
 * entering the menu
 * starts the timeoutcounter and changes the mode to the Menu Mode
 */
void enterMenu(void) {
	logger(V_BREW, "coffee.cpp: Entering the menu\n");
	changeMode(MODE_MENU);
	menuTimeout = 0;
	menuTimer.start();
}

/**
 * Returns the current cleaning cycle
 */
uint16_t getCurrentCleanCycle(void) {
	return currentCleanCycle;
}

/**
 * Returns the current state of the FSM
 */
coffee_status_t getState(void) {
	return state;
}

/**
 * Returns the local up-to-date brewcounter
 */
uint16_t getBrewCounter(void) {
	return brewCounter;
}

/**
 * Returns the value of the brewcounter when the last descaling happened
 */
uint16_t getDescBrewCounter (void) {
	return descBrewcount;
}

/**
 * Returns the raw time stamp when the last descaling happened
 */
time_t * getDescTimestamp (void) {
	return &descRawTimestamp;
}

/**
 * Returns a pointer to the current coffee config
 */
coffeeConfig* getCoffeeCfg (void) {
	return &coffeeCFG;
}


/**
 * Counter for the menu timeout
 * When no input is coming from the user the machine leaves the menu automatically after MENUTIMEOUT seconds
 */
void menuTimerHandler(void){
	menuTimeout += 200;
	if((menuTimeout/1000) >= MENUTIMEOUT)  {
		leaveMenu();
	}
}

/**
 * handles program termination
 */
void coffeeTerminate(event_t *event) {
	logger(V_BREW, "Coffee.cpp: Terminating\n");
	//stop brewing
	halRelaisOff(RELAIS_PUMP);
	writeBackCache();
}

/**
 * coffeeNap does almost the same as sleep() but resumes to sleep after a signal got delivered
 * sec: seconds to sleep
 * nanosec: nanoseconds to sleep
 */
void coffeeNap (uint64_t sec, uint64_t nanosec){
	struct timespec sleepTime;
	clock_gettime(CLOCK_REALTIME, &sleepTime);
	sleepTime.tv_sec += sec;
	sleepTime.tv_nsec += nanosec;
	//overflow
	if(sleepTime.tv_nsec >= 1000000000) {
		sleepTime.tv_nsec -= 1000000000;
		sleepTime.tv_sec++;
	}
	int errval = 0;
	do{
		errval = clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &sleepTime, NULL);
	}
	while(errval == EINTR);
	if(errval) logger_error("coffee.cpp: Suspending thread failed with error %d\n", errval);
}

/**
 * Function to write back the values of the local copies
 * brewCounter and totalHeatingTime
 *
 */
void writeBackCache(void) {
	logger(V_BREW, "Writing back cache...\n");
	logger(V_BREW, "Writing back brewCounter: %d\n", brewCounter);
	if (sqlSetConf(CFGbrewcounter, brewCounter)) {
		logger_error("coffee.cpp: Couldn't write brewcounter to database!\n");
	}
	logger(V_BREW, "Writing back descaling brew counter: %d\n", descBrewcount);
	if (sqlSetConf(CFGDescBrewCount, descBrewcount)) {
		logger_error("coffee.cpp: Couldn't write descaling brewcount to database!\n");
	}
	struct tm * timeinfo;
	timeinfo = localtime(&descRawTimestamp);
	logger(V_BREW, "Writing back descaling timestamp %d-%d-%d %d:%d\n", timeinfo->tm_mday, timeinfo->tm_mon, timeinfo->tm_year+1900, timeinfo->tm_hour, timeinfo->tm_min);
	if (sqlSetConf(CFGDescTimestamp, (uint64_t)descRawTimestamp)) {
		logger_error("coffee.cpp: Couldn't write descaling timestamp to database!\n");
	}
	logger(V_BREW, "Writing back CFGAmountPreinfusion: %d\n", coffeeCFG.amount_preinfusion);
	if (sqlSetConf(CFGAmountPreinfusion, coffeeCFG.amount_preinfusion)) {
		logger_error("coffee.cpp: Couldn't write CFGAmountPreinfusion to database!\n");
	}
	logger(V_BREW, "Writing back CFGTimeSoak: %d\n", coffeeCFG.time_soak);
	if (sqlSetConf(CFGTimeSoak, coffeeCFG.time_soak)) {
		logger_error("coffee.cpp: Couldn't write CFGTimeSoak to database!\n");
	}
	logger(V_BREW, "Writing back CFGTimeInfusion: %d\n", coffeeCFG.time_infusion);
	if (sqlSetConf(CFGTimeInfusion, coffeeCFG.time_infusion)) {
		logger_error("coffee.cpp: Couldn't write CFGTimeInfusion to database!\n");
	}
	logger(V_BREW, "Writing back CFGAmountDblEspresso: %d\n", coffeeCFG.amount_espresso);
	if (sqlSetConf(CFGAmountDblEspresso, coffeeCFG.amount_espresso)) {
		logger_error("coffee.cpp: Couldn't write CFGAmountDblEspresso to database!\n");
	}
}

/*
 * Procedure for cleaning the machine
 */
void coffeeClean(void) {
	logger(V_BREW, "coffee.cpp: Cleaning...\n");
	for (int i = 0; i < CLEANING_CYCLES; i++) {
		currentCleanCycle++;
		halPumpOn();
		coffeeNap(3,0);
		halPumpOff();
		coffeeNap(15,0);
	}
	updateDescaling();
	descaling = false;
	currentCleanCycle = 0;
	event_trigger("descaling", &descaling, sizeof(bool));
}

/*
 *
 */
void coffeeManualBrewStart (void) {
	logger(V_BREW, "coffee.cpp: Starting manual brewing...\n");
	coffeeIncreaseBrewCounter();
}

/**
 * Brewing process
 */
void coffeeBrew(uint16_t amount_preinfusion, uint16_t time_soak, uint16_t time_infusion, uint16_t amount_espresso) {
	coffeeIncreaseBrewCounter();
	/*
	 * Preinfusion
	 */
	logger(V_BREW, "coffee.cpp: Starting preinfusion...\n");
	halPumpOn();
	while (halGetFlow() < amount_preinfusion && halGetFlowTime() < TIME_PREINFUSION) {
		//Don't use coffeeNap here since we don't want to resume to sleep after a signal got caught...
		//coffeeNap(0, 50000000);
		usleep(50000);
		if (getSigValue(MODE_STATE) == SigInt0Rls) {
			halPumpOff();
			return;
		}
	}
	halPumpOff();

	/*
	 * Wait for coffee to soak in infused water
	 */
	brewTimer.start();
	while (brewTime < time_soak) {
		//coffeeNap(1, 100000000);
		usleep(100000);
		if (getSigValue(MODE_STATE) == SigInt0Rls) {
			brewTimer.stop();
			brewTime = 0;
			return;
		}
	}
	brewTimer.stop();
	brewTime = 0;

	/*
	 * Brewing the actual espresso
	 */
	logger(V_BREW, "coffee.cpp: Starting infusion...\n");
	halPumpOn();
	while (brewTime < time_infusion && halGetFlow() < amount_espresso) {
		//coffeeNap(1, 100000000);
		usleep(100000);
		if (getSigValue(MODE_STATE) == SigInt0Rls){
			halPumpOff();
			return;
		}
	}
	halPumpOff();
	return;
}


void brewTimerHandler(){
	brewTime += 200;
}

/**
 *
 */
void coffeeIncreaseBrewCounter(void) {
	brewCounter++;
}

/**
 * Checks if the descaling is necessary
 * uses descBrewcount and descTimestamp
 */
void checkDescaling(){
	int16_t dirtyEspresso = checkDirtyEspresso ();
	int16_t dirtyTime = checkDirtyTime ();

	if(dirtyEspresso <= 0) {
		logger(V_BREW, "coffee.cpp: Descaling necessary due to quantity: %d\n", dirtyEspresso);
		descaling = true;
		event_trigger("descaling", &descaling, sizeof(bool));

	}
	if(dirtyTime <= 0) {
		logger(V_BREW, "coffee.cpp: Descaling necessary due to time in days: %d\n", dirtyTime);
		descaling = true;
		event_trigger("descaling", &descaling, sizeof(bool));
	}
}

/**
 * this function returns the remaining espressi to be brewed before the descaling event is fired
 * returns a positive integer when there are cups remaining
 * and a negative when the number of cups are exceeded
 * Number of cups after a descaling is defined with DIRTY_ESPRESSO
 */
int16_t checkDirtyEspresso (void) {
	return descBrewcount + DIRTY_ESPRESSO - brewCounter;
}

/**
 * Returns the remaining days before the next descaling event is fired
 * returns a positive integer if there is time left and a negative one if the descaling time was exceeded
 */
int16_t checkDirtyTime (void) {
	time_t rawtime;
	time(&rawtime);
	double diffseconds = difftime(rawtime, descRawTimestamp);
	diffseconds /= 24*60*60; //calculate the days
	return DIRTY_TIME - diffseconds;
}

/**
 * updates the corresponding variables after a descaling process
 */
void updateDescaling(){
	descBrewcount = brewCounter;
	time_t newDesTimestamp;
	time(&newDesTimestamp);
	if(newDesTimestamp == -1){
		logger(V_BREW, "coffee.cpp: Whoops, couldn't retrieve new descaling timestamp\n");
	}
	else {
		descRawTimestamp = newDesTimestamp;
	}
}