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 <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 brewTime; //Brew time in ms
timer brewTimer(&brewTimeHandler);

uint64_t totalHeatingTime; //local copies of the corresponding database entries
uint16_t brewCounter;
bool initalHeating;
bool descaling; //flag to indicate descaling and cleaning

const char* PageName[] = { "SoftOff", "Kill", "Stats", "Temp", "Clean", "Demo",
		"Exit" };
const char* StateName[] = { "OFF", "HEATING", "INITHEAT", "IDLE", "BREW",
		"BREWMAN", "CLEAN", "ERROR", "WAITOFF" };

/**
 * 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;

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

	//read the database values
	if (!(totalHeatingTime = sqlGetConf(CFGHeatingTime))) {
		logger_error(
				"coffee.cpp: Couldn't read the heating time from the database");
		//pthread_exit(EXIT_SUCCESS);
		exit(EXIT_FAILURE);
	}
	if (!(brewCounter = sqlGetConf(CFGbrewcounter))) {
		logger_error(
				"coffee.cpp: Couldn't read the brew counter from the database");
		//pthread_exit(EXIT_SUCCESS);
		exit(EXIT_FAILURE);
	}

	event_subscribe("terminate", &coffeeTerminate);

	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 {
			initalHeating = false;
			changeState(STATE_IDLE);
		}
	} else if (halGetRelaisState(RELAIS_PUMP)) {
		logger_error("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) {

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

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Psh:
				changeState(STATE_WAIT_OFF);
				leaveMenu();
				break;

			case SigInt1Psh:
				changePage(PAGE_KILL);
				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 SigInt0Psh:
				if (halIsHeating()) {
					coffeeIncreaseHeatingTime(halgetHeatingTime());
				}
				changeState(STATE_OFF);
				leaveMenu();
				break;

			case SigInt1Psh:
				if (state == STATE_IDLE || state == STATE_HEATING) {
					changePage(PAGE_CLEAN);
				} else {
					changePage(PAGE_DEMO);
				}
				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 SigInt0Psh:
				changeMode(MODE_STATE);
				if (!halProxSensorCovered()) {
					changeState(STATE_CLEANING);
					leaveMenu();
				} else {
					changeState(STATE_FULLTANK);
					leaveMenu();
				}
				break;

			case SigInt1Psh:
				changePage(PAGE_DEMO);
				break;
			}
			break;

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

			switch (getSigValue(MODE_MENU)) {
			case SigInt1Psh:
				changePage(PAGE_TEMP);
				break;
			}
			break;

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

			switch (getSigValue(MODE_MENU)) {
			case SigInt1Psh:
				changePage(PAGE_STATS);
				break;
			}
			break;

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

			switch (getSigValue(MODE_MENU)) {
			case SigInt1Psh:
				changePage(PAGE_EXIT);
				break;
			}
			break;

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

			switch (getSigValue(MODE_MENU)) {
			case SigInt0Psh:
				leaveMenu();
				break;

			case SigInt1Psh:
				if (state == STATE_HEATING || state == STATE_ERROR
						|| state == STATE_IDLE
						|| state == STATE_INITALHEATING) {
					changePage(PAGE_SOFTOFF);
				} else {
					changePage(PAGE_DEMO);
				}
				break;
			}
			break;
		} //end switch (page)

		/* FIXME: Display events are reacting on Psh signal, leads to instant
		 * machine turn on when leave menu is pressed */

		/*
		 * Hardware FSM
		 */
		switch (state) {
		/*
		 *
		 */
		case STATE_OFF:
			if (mode == MODE_STATE) {
				halMachineOff();
				writeBackCache();
				if (SigValueEmpty())
					pause();
			}

			switch (getSigValue(MODE_STATE)) {
			case SigInt0Rls:
				//Check waterlevel in gray water tank
				//turn machine on
				halMachineOn();
				sleep(1);
				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("Empty Tank please!\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 SigInt1Psh:
				//Enter the menu
				if (page != PAGE_DEMO)
					changePage(PAGE_DEMO); //machine is off, the menu starts with the demo page
				changeMode(MODE_MENU);
				break;
			}
			break;

			/*
			 *
			 */
		case STATE_WAIT_OFF:
			if (SigValueEmpty() && mode == MODE_STATE)
				pause();
			switch (getSigValue(MODE_STATE)) {
			case SigPressOpn:
				usleep(100000); //wait so no load will be switched
				coffeeIncreaseHeatingTime(halgetHeatingTime());
				changeState(STATE_OFF);
				break;

			case SigInt0Psh:
			case SigInt1Psh:
				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 SigInt0RlsLong:
//				//Turn machine off again
//				coffeeIncreaseHeatingTime(halgetHeatingTime());
//				changeState(STATE_OFF);
//				break;
//
//			case SigInt0Rls:
//				changeState(STATE_WAIT_OFF);
//				break;

			case SigProxCvrd:
				changeState(STATE_FULLTANK);
				break;

			case SigPressOpn:
				//Inital heating finished
				initalHeating = false;
				coffeeIncreaseHeatingTime(halgetHeatingTime());
				changeState(STATE_IDLE);
				break;

			case SigInt1Psh:
				changeMode(MODE_MENU);
				break;
			}
			break;

			/*
			 *
			 */
		case STATE_HEATING:
			if (SigValueEmpty() && mode == MODE_STATE)
				pause();
			switch (getSigValue(MODE_STATE)) {
//			case SigInt1RlsLong:
//				//Turn machine _immediately_ off again
//				coffeeIncreaseHeatingTime(halgetHeatingTime());
//				changeState(STATE_OFF);
//				break;
//
//			case SigInt1Rls:
//				//turn machine off when heating is finished
//				changeState(STATE_WAIT_OFF);
//			break;

			case SigPressOpn:
				coffeeIncreaseHeatingTime(halgetHeatingTime());
				changeState(STATE_IDLE);
				break;

			case SigInt0Psh:
				//start to brew a delicious coffee
				changeState(STATE_BREW);
				break;

			case SigProxCvrd:
				changeState(STATE_FULLTANK);
				break;

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

			case SigInt1Psh:
				//Enter the menu
				changeMode(MODE_MENU);
				break;
			}
			break;

			/*
			 *
			 */
		case STATE_IDLE:
			if (SigValueEmpty() && mode == MODE_STATE)
				pause();
			switch (getSigValue(MODE_STATE)) {
//			case SigInt1RlsLong:
//				//turn machine _immediately_ off
//				changeState(STATE_OFF);
//				break;
//
//			case SigInt1Rls:
//				changeState(STATE_OFF);
//				break;

			case SigPressCls:
				changeState(STATE_HEATING);
				break;

			case SigInt0Psh:
				changeState(STATE_BREW);
				break;

			case SigProxCvrd:
				changeState(STATE_FULLTANK);
				break;

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

			case SigInt1Psh:
				//Enter the menu
				changeMode(MODE_MENU);
				break;
			}
			break;

			/*
			 *
			 */
		case STATE_BREW:
			//make sure the tank is not full
			if (halProxSensorCovered()) {
				changeState(STATE_FULLTANK);
				logger_error("coffee.cpp: Full tank detection failed..\n");
			} else {
				coffeeBrew();
				logger(V_BREW, "Finishing brewing\n");
				if (!halProxSensorCovered()) {
					if (halIsHeating()) {
						changeState(STATE_HEATING);
					} else {
						changeState(STATE_IDLE);
					}
				} else {
					changeState(STATE_FULLTANK);
				}
			}
			break;

			/*
			 *
			 */
		case STATE_BREWMANUAL:
			if (SigValueEmpty() && mode == MODE_STATE)
				pause();
			break;

			/*
			 *
			 */
		case STATE_CLEANING: //this can only be executed once the machine is hot!
			if (SigValueEmpty() && mode == MODE_STATE)
				pause();
			if (!halProxSensorCovered()) {
				//execute the cleaning procedure
				coffeeClean();
				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 SigInt1Psh:
			case SigInt0Psh:
				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 SigInt1RlsLong:
			case SigInt0RlsLong:
				if (halIsHeating()) {
					coffeeIncreaseHeatingTime(halgetHeatingTime());
				}
				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 %d\n",
			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 SigInt1RlsLong:
			sigValue = 0;
			return tmp;

		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, "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, "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, "Changing to menu mode\n");
	else
		logger(V_BREW, "Changing to state mode\n");

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

/*
 * leaving the menu
 */
void leaveMenu() {
	logger(V_BREW, "Leaving the menu again...\n");
	//leave the menu again
	changeMode(MODE_STATE);
	//change page to initial page
	changePage(PAGE_SOFTOFF);
}
/**
 * Returns the current state of the FSM
 */
coffee_status_t getState(void) {
	return state;
}

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

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

/**
 * Function to write back the values of the local copies
 * brewCounter and totalHeatingTime
 *
 */
void writeBackCache(void) {
	if (sqlSetConf(CFGbrewcounter, brewCounter)) {
		logger_error("coffee.cpp: Couldn't write brewcounter to database");
		return;
	}
	if (sqlSetConf(CFGHeatingTime, totalHeatingTime)) {
		logger_error("coffee.cpp: Couldn't write heating time to database");
		return;
	}
}

/*
 * Procedure for cleaning the machine
 */
void coffeeClean(void) {
	logger(V_BREW, "Cleaning...\n");
	for (int i = 0; i < 20; i++) {
		halRelaisOn(RELAIS_PUMP);
		sleep(3);
		halRelaisOff(RELAIS_PUMP);
		sleep(15);
	}
	descaling = false;
}

/**
 * Brewing process
 */
void coffeeBrew(void) {
	coffeeIncreaseBrewCounter();
	/*
	 * Preinfusion
	 */
	logger(V_BREW, "Starting preinfusion...\n");
	halResetFlow();
	halRelaisOn(RELAIS_PUMP);
	brewTime = 0;
	brewTimer.start();
	while (halGetFlow() < AMOUNT_PREINFUSION) {
		usleep(50000);
		if (getSigValue(MODE_STATE) == SigInt0Psh)
			stopBrewing();
		return;
	}
	stopBrewing();

	/*
	 * Wait for coffee to soak in infused water
	 */
	brewTimer.start();
	while (brewTime < TIME_SOAK) {
		usleep(100000);
		if (getSigValue(MODE_STATE) == SigInt0Psh) {
			stopBrewing();
			return;
		}
	}
	stopBrewing();

	/*
	 * Brewing the actual espresso
	 */
	logger(V_BREW, "Starting infusion...\n");
	halRelaisOn(RELAIS_PUMP);
	brewTimer.start();
	while (brewTime < TIME_INFUSION && halGetFlow() < AMOUNT_DBLESPRESSO) {
		usleep(100000);
		if (getSigValue(MODE_STATE) == SigInt0Psh)
			break;
	}
	stopBrewing();
	return;
}

/*
 * Wrapper function for the end of a brewing process
 * this function stops the pump, brewtimer and resets the flow and brew time to zero
 */
void stopBrewing() {
	halRelaisOff(RELAIS_PUMP);
	brewTimer.stop();
	brewTime = 0;
	halResetFlow();
}

/**
 *
 */
void coffeeIncreaseBrewCounter(void) {
	brewCounter++;
	if ((brewCounter % DIRTY_ESPRESSO) == 0)
		descaling = true;
}

/**
 *
 */
void coffeeIncreaseHeatingTime(uint64_t heatingTime) {
	totalHeatingTime += heatingTime;
}