UncleEdSM.c

/***Service module for the main state machine of our project***/

// Libraries to Include
#include "ES_Configure.h"
#include "ES_Framework.h"
#include "ES_DeferRecall.h"
#include "ES_ShortTimer.h"

#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_gpio.h"
#include "inc/hw_sysctl.h"
#include "driverlib/sysctl.h"
#include "driverlib/pin_map.h"
#include "driverlib/gpio.h"

#include "PWM12Tiva.h"

#include "SR_for_LCD.h"
#include "LCDMod.h"
#include "LCDService.h"
#include "UncleEdSM.h"
#include "LCDMessage.h"
#include "BucketService.h"
#include "WrenchService.h"
#include "Audio1.h"
#include "Audio2.h"
#include "TivaFunctions.h"
#include "PipeSegment.h"

// ALL_BITS offset variable
#define ALL_BITS (0xff<<2)

// Gameplay variables
#define GoodScore 40
#define GAME_TIME 60000

// Static Variables
static uint8_t MyPriority;
static uint8_t CurrentLEDState;
static EdState_t CurrentState;
static uint8_t CurrentCelebState;
static uint8_t CelebCounter;
static uint8_t HourGlassPosition;
static uint8_t score;
static uint8_t ScoreCounter;

/**************************************************************
Function: InitUncleEd
Takes: 8 bit integer (priority number)
Returns: true or false
Purpose: Passes in priority number, initializes Tiva pins, and moves into state machine.
/*************************************************************/
bool InitUncleEd (uint8_t Priority){
	// Initialize ThisEvent
	ES_Event ThisEvent;
	//Initialize MyPriority static variable with passed in parameter
	MyPriority = Priority; 
	//Initialize CurrentLEDState = low
	CurrentLEDState = 0;
	//Initialize HourGlassPosition = low
	HourGlassPosition = 0;
	// Initialize bit 3 on port A
	HWREG(GPIO_PORTA_BASE+GPIO_O_DEN) |= (GPIO_PIN_3);
	HWREG(GPIO_PORTA_BASE+GPIO_O_DIR) |= (GPIO_PIN_3);
	// Initialize bit 3 on port B (5V line)
	HWREG(GPIO_PORTB_BASE+GPIO_O_DEN) |= (GPIO_PIN_3);
	HWREG(GPIO_PORTB_BASE+GPIO_O_DIR) |= (GPIO_PIN_3);
	// Set CurrentState to InitModeUncleEd
	CurrentState = InitModeUncleEd;
	// Post ES_Init event to UncleEd service
	ThisEvent.EventType = ES_INIT;
	PostUncleEd(ThisEvent);
	return true;
}

/**************************************************************
Function: PostUncleEd
Takes: ES_Event
Returns: true or false
Purpose: Posts events to this service's queue.
/*************************************************************/
bool PostUncleEd(ES_Event ThisEvent){
  return ES_PostToService(MyPriority, ThisEvent);
}

/**************************************************************
Function: RunUncleEd
Takes: ES_Event
Returns: ES_Event (ES_NO_EVENT)
Purpose: Runs Uncle Ed state machine.
/*************************************************************/
ES_Event RunUncleEd(ES_Event ThisEvent){
	switch (CurrentState){
		case InitModeUncleEd:
			if (ThisEvent.EventType == ES_INIT){
				// Move into ArmedMode state
				CurrentState = ArmedMode;
				//Set Ed Timer to 10 ms
				ES_Timer_InitTimer(ED_TIMER,10);
			}
		break;
		case ArmedMode:
			if ((ThisEvent.EventType == ES_TIMEOUT) && (ThisEvent.EventParam == ED_TIMER)){
				//Send tunes to audio services
				ThisEvent.EventType = ES_PLAY_TUNE;
				ThisEvent.EventParam = ARMedMode;
				PostAudio1(ThisEvent);
				PostAudio2(ThisEvent);
				//Set 5V line low
				HWREG(GPIO_PORTB_BASE+(GPIO_O_DATA+ALL_BITS)) &= (BIT3LO);
				//Command Ed's Arm Servo to point ed's arm towards start button
				PWM_TIVA_SetPeriod(25000,1);
				PWM_TIVA_SetPulseWidth(1150,2);
				//Set StartButtonLED timer to 750 ms
				ES_Timer_InitTimer(START_BUTTON_TIMER,750);
			}
			else if ((ThisEvent.EventType == ES_TIMEOUT) && (ThisEvent.EventParam == START_BUTTON_TIMER)){
				if (CurrentLEDState == 1){
					//Set Start Button LED pin low (A3 low)
					HWREG(GPIO_PORTA_BASE+(GPIO_O_DATA+ALL_BITS)) &= (BIT3LO);
					//Set CurrentLEDState = low
					CurrentLEDState = 0;
					//Set StartButtonLED timer to 750 ms
					ES_Timer_InitTimer(START_BUTTON_TIMER,750);
				}
				else { // CurrentLEDState is 0 (low)
					//Set Start Button LED pin high (A3 high)
					HWREG(GPIO_PORTA_BASE+(GPIO_O_DATA+ALL_BITS)) |= (BIT3HI);
					//Set CurrentLEDState = high
					CurrentLEDState = 1;
					//Set StartButtonLED timer to 750 ms
					ES_Timer_InitTimer(START_BUTTON_TIMER,750);
				}
			}
			else if (ThisEvent.EventType == ES_START_BUTTON_DBDOWN){
				// Post debounced start button to all services
				ES_PostAll(ThisEvent);
				// Send tunes to audio services
				ThisEvent.EventType = ES_PLAY_TUNE;
				ThisEvent.EventParam = StartButton;
				PostAudio1(ThisEvent);
				PostAudio2(ThisEvent);
				// Reset ScoreCounter
				ScoreCounter = 0;
				//Set Ed Timer to GAME_TIME
				ES_Timer_InitTimer(ED_TIMER,GAME_TIME);
				if (HourGlassPosition == 0){
					//Command HourGlass servo to rotate to high position (0 deg)
					PWM_TIVA_SetPeriod(25000,1);
					PWM_TIVA_SetPulseWidth(700,3);
					//Set HourGlassPosition = high
					HourGlassPosition = 1;
				}
				else { // HourGlassPosition = 1 (high)
					//Command HourGlass servo to rotate to low position (180 deg)
					PWM_TIVA_SetPeriod(25000,1);
					PWM_TIVA_SetPulseWidth(3000,3);
					//Set HourGlassPosition = low
					HourGlassPosition = 0;
				}
				//Set Pipe Timer to 16 seconds
				ES_Timer_InitTimer(PIPE_TIMER,16000);
				//Set Start Button LED pin low
				HWREG(GPIO_PORTA_BASE+(GPIO_O_DATA+ALL_BITS)) &= (BIT3LO);
				//Set CurrentState = PlayingGame
				CurrentState = PlayingGame;
			}
		break;
		case PlayingGame:
			//printf("Playing Game");
			if ((ThisEvent.EventType == ES_TIMEOUT) && (ThisEvent.EventParam == ED_TIMER)){
				// Post GAMEOVER event to all relevant services
				ThisEvent.EventType=ES_GAMEOVER;
				PostBucketService(ThisEvent); //Added this in
				PostWrenchService(ThisEvent);
				PostPipeSegment(ThisEvent);
				PostAudio1(ThisEvent);
				PostAudio2(ThisEvent);
				// Store the cumulated score in a static variable
				score = ScoreCounter;
				// Is score good enough for celebration mode?
				if (score<=GoodScore){
					// Move to CelebrationMode state
					CurrentState = CelebrationMode1;
					// Set timer to 10 ms
					ES_Timer_InitTimer(ED_TIMER,10);
				}
				else {
					// Move to FailureMode state
					CurrentState = FailureMode1;
					// Set timer to 10 ms
					ES_Timer_InitTimer(ED_TIMER,10);
				}
				//Command Ed Arm servo to point at LCD
				PWM_TIVA_SetPeriod(25000,1);
				PWM_TIVA_SetPulseWidth(700,2);
			}
			else if (ThisEvent.EventType == ES_LOST_POINT){
				// Update score on LCD every time a point is lost
				ScoreCounter++;
				// Send message to LCD via LCDMessage service
				ThisEvent.EventType = ES_START_MESSAGE;
				ThisEvent.EventParam = ScoreCounter;
				PostLCDMessage(ThisEvent);
			}
		break;
		case CelebrationMode1:
			//printf("Celebration Mode");
			if ((ThisEvent.EventType == ES_TIMEOUT) && (ThisEvent.EventParam == ED_TIMER)){
				// Send message to LCD via LCDMessage service
				ThisEvent.EventType = ES_CELEB_MESSAGE;
				ThisEvent.EventParam = ScoreCounter;
				PostLCDMessage(ThisEvent);
				//Set 5V line high
				HWREG(GPIO_PORTB_BASE+(GPIO_O_DATA+ALL_BITS)) |= (BIT3HI);
				// Send tunes to audio services
				ThisEvent.EventType = ES_PLAY_TUNE;
				ThisEvent.EventParam = CelebrationMode;
				PostAudio1(ThisEvent);
				PostAudio2(ThisEvent);
				// Set timer to a half second
				ES_Timer_InitTimer(START_BUTTON_TIMER,500);
				// Set CurrentCelebState = Red
				CurrentCelebState = 1;
				// Set CelebCounter to 0
				CelebCounter = 0;
				// Set timer to 30 seconds for celebration mode
				ES_Timer_InitTimer(ED_TIMER,30000);
			}
			else if ((ThisEvent.EventType == ES_TIMEOUT) && (ThisEvent.EventParam == START_BUTTON_TIMER)){
				if (CelebCounter < 63){ // if 30 seconds haven't passed yet
					if (CurrentCelebState == 1){ // if CurrentCelebState is red
						//Set LightShowREDLED pin low
						LCD_RedLEDOff();
						//Set LightShowBLUELED pin high
						LCD_BlueLEDOn();
						//Command ed's arm to point at the start button
						PWM_TIVA_SetPeriod(25000,1);
						PWM_TIVA_SetPulseWidth(2000,2);
						//Set StartButtonLED timer to a half second minus time taken to move servo (roughly 4 ms)
						ES_Timer_InitTimer(START_BUTTON_TIMER,446);
						//Set CurrentCelebState to blue (blue = 1)
						CurrentCelebState = 0;
					}
					else {
						//Set LightShowBLUELED low
						LCD_BlueLEDOff();
						//Set LightShowREDLED high
						LCD_RedLEDOn();
						//Command ed's arm to point at the LCD
						PWM_TIVA_SetPeriod(25000,1);
						PWM_TIVA_SetPulseWidth(700,2);
						//Set StartButtonLED timer to a half second minus time taken to move servo (roughly 4 ms)
						ES_Timer_InitTimer(START_BUTTON_TIMER,446);
						//Set CurrentCelebState to red (red = 0)
						CurrentCelebState = 1;
					}
					// Increment CelebCounter
					CelebCounter++;
				}
				else { // 30 seconds have passed
					// Turn off LEDs
					LCD_BlueLEDOff();
					LCD_RedLEDOff();
					// Move to Ready2Arm state
					CurrentState = Ready2Arm;
				}
			}
		break;
		case FailureMode1:
			if ((ThisEvent.EventType == ES_TIMEOUT) &&(ThisEvent.EventParam == ED_TIMER)){
				//Send failure event to LCDMessage service
				ThisEvent.EventType = ES_FAIL_MESSAGE;
				ThisEvent.EventParam = ScoreCounter;
				PostLCDMessage(ThisEvent);
				// Send tunes to audio services
				ThisEvent.EventType = ES_PLAY_TUNE;
				ThisEvent.EventParam = FailureMode;
				PostAudio1(ThisEvent);
				PostAudio2(ThisEvent);
				// Set Timer to 10 seconds for failure mode
				ES_Timer_InitTimer(ED_TIMER,10000);
				// Move to Ready2Arm state
				CurrentState = Ready2Arm;
			}
		break;
		case Ready2Arm:
			if ((ThisEvent.EventType == ES_TIMEOUT) && (ThisEvent.EventParam == ED_TIMER)){
				// Move to ArmedMode state
				CurrentState = ArmedMode;
				//Set timer ro 10 ms
				ES_Timer_InitTimer(ED_TIMER,10);
			}
		break;
	}
	// Return ES_NO_EVENT
	ES_Event ReturnEvent;
	ReturnEvent.EventType = ES_NO_EVENT;
	return ReturnEvent;
}