From 43f91324965ed76e44d6fca868c9f5a8f760d194 Mon Sep 17 00:00:00 2001
From: Roman Baur <roman-2@hotmail.de>
Date: Tue, 24 Aug 2021 08:54:03 +0000
Subject: [PATCH] Added warmup state

---
 setup.cfg                                    |   2 +-
 src/raepy/vacmod/ipc/ipc.c                   |   3 ++
 src/raepy/vacmod/statemachine/statemachine.c |  53 ++++++++++++++++---
 src/raepy/vacmod/statemachine/statemachine.h |   2 +-
 src/raepy/vacmod/vacmod                      | Bin 15808 -> 19976 bytes
 src/raepy/vacmod/vacuummodule.py             |   8 +++
 6 files changed, 59 insertions(+), 9 deletions(-)

diff --git a/setup.cfg b/setup.cfg
index 03bcb5a..c254e58 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -1,7 +1,7 @@
 [metadata]
 # replace with your username:
 name = raepy
-version = 0.0.25
+version = 0.0.26
 author = Roman Baur
 author_email = romanbaur.engineering@gmail.com
 description = Software drivers for the robot autonomy effector
diff --git a/src/raepy/vacmod/ipc/ipc.c b/src/raepy/vacmod/ipc/ipc.c
index 56a30ab..88af5c4 100644
--- a/src/raepy/vacmod/ipc/ipc.c
+++ b/src/raepy/vacmod/ipc/ipc.c
@@ -31,6 +31,9 @@ void * read_cmd_from_pipe(){
 void write_state_to_pipe(state_t state){
     char statestr[10];
     switch(state) {
+        case WARMUP:
+            strcpy(statestr, "WARMUP");
+            break;       
         case OFF:
             strcpy(statestr, "OFF");
             break;
diff --git a/src/raepy/vacmod/statemachine/statemachine.c b/src/raepy/vacmod/statemachine/statemachine.c
index 46c7780..08e734d 100644
--- a/src/raepy/vacmod/statemachine/statemachine.c
+++ b/src/raepy/vacmod/statemachine/statemachine.c
@@ -3,6 +3,7 @@
 #include <stdio.h>
 #include "../ipc/ipc.h"
 #include <stdlib.h>
+#include <wiringPi.h>
 
 static state_t state = OFF;
 static state_t prev_state = INIT;
@@ -14,8 +15,13 @@ static int diff2 = 0;
 static int maxdiff = 0;
 static int maxdiffprev = 0;
 static int lost_cnt = 0;
+static int warumup_cnt = 0;
+
+char current_cmd[20];
 
 void transition_function(int * encoder_count, int * diff1){
+    strcpy(current_cmd, get_actual_cmd());
+
     maxdiff = max_encoder_count - *encoder_count;
     diff2 = *diff1 - prevdiff;
     prevdiff = *diff1;
@@ -24,8 +30,34 @@ void transition_function(int * encoder_count, int * diff1){
         printf("enc-cnt: %d\t diff1: %d \t diff2: %d \t %d\n", *encoder_count, *diff1, diff2, (maxdiff) );
     
     switch(state) {
+        
+
+        case WARMUP:
+            printf("Warmup Counter: %d\n",warumup_cnt);
+            if (actual_cmd_is("START")) {
+                state = ON;
+                warumup_cnt = 0;
+                return;
+            }
+            if (actual_cmd_is("STOP")) {
+                state = OFF;
+                warumup_cnt = 0;
+                return;
+            }
+            if (warumup_cnt > 120*5) {
+                state = OFF;
+                warumup_cnt = 0;
+                return;
+            }
+            break;
+
 
         case OFF:
+            if (actual_cmd_is("WARMUP"))
+            {
+                state = WARMUP;
+                return;
+            }
             if (actual_cmd_is("START")) {
                 state = ON;
                 return;
@@ -42,7 +74,7 @@ void transition_function(int * encoder_count, int * diff1){
                 max_encoder_count = *encoder_count;
             }
       
-            if (maxdiff >= 4) {
+            if (maxdiff + maxdiffprev >= 5 || maxdiff >= 4) {
                 state = SUCKED;
             }
             break;
@@ -50,7 +82,7 @@ void transition_function(int * encoder_count, int * diff1){
         case SUCKED: 
             if (actual_cmd_is("STOP")) {
                 state = OFF;
-            } else if (maxdiff <= 0 && abs(*diff1) < 1) {
+            } else if (maxdiff <= 1 && abs(*diff1) < 1) {
                 state = LOST;
             }
             break;
@@ -75,6 +107,16 @@ void transition_function(int * encoder_count, int * diff1){
 
 void output_function() {
     switch(state) {
+        case WARMUP:
+            if (prev_state != state) {
+                write_state_to_pipe(state);
+                printf("WARMUP\n");
+                write_pwm(100);                
+            }
+            
+            warumup_cnt++;
+            break;
+
         case OFF:
             if (prev_state != state) {
                 max_encoder_count = 0;
@@ -95,7 +137,6 @@ void output_function() {
 
         case SUCKED:
             if (prev_state != state) {
-
                 write_state_to_pipe(state);
                 printf("SUCKED\n");
             }
@@ -118,8 +159,6 @@ void state_machine(int * encoder_count, int * diff1){
 }
 
 int actual_cmd_is(char * statestr) {
-    char state[20];
-    strcpy(state, get_actual_cmd());
-    strtok(state, "\n");
-    return (strcmp(state,statestr) == 0);
+    strtok(current_cmd, "\n");
+    return (strcmp(current_cmd,statestr) == 0);
 }
\ No newline at end of file
diff --git a/src/raepy/vacmod/statemachine/statemachine.h b/src/raepy/vacmod/statemachine/statemachine.h
index b7d269d..28f1900 100644
--- a/src/raepy/vacmod/statemachine/statemachine.h
+++ b/src/raepy/vacmod/statemachine/statemachine.h
@@ -1,6 +1,6 @@
 #ifndef STATEMACHINE_H
 #define STATEMACHINE_H
-typedef enum {INIT, OFF, ON, SUCKED, LOST} state_t;
+typedef enum {INIT, WARMUP, OFF, ON, SUCKED, LOST} state_t;
 
 static int max_encoder_count;
 
diff --git a/src/raepy/vacmod/vacmod b/src/raepy/vacmod/vacmod
index 0450168083d83ad2d7874affd43b1b3274b4f7a5..19445c0de81afc0a45ce38ebf40355886d623ff8 100755
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diff --git a/src/raepy/vacmod/vacuummodule.py b/src/raepy/vacmod/vacuummodule.py
index 151acad..2d256e3 100644
--- a/src/raepy/vacmod/vacuummodule.py
+++ b/src/raepy/vacmod/vacuummodule.py
@@ -44,6 +44,13 @@ def suck(self, sucked_cb=None, lost_cb=None):
         if lost_cb:
             self.__lost_cb = lost_cb
 
+    def warmup(self):
+        with open("/tmp/vacmodcmd", "w") as startcmd:
+            startcmd.write("WARMUP")
+        time.sleep(1)
+        while self.current_state() == "WARMUP":
+            time.sleep(0.5)
+
         
     def release(self):
         with open("/tmp/vacmodcmd", "w") as stopcmd:
@@ -64,6 +71,7 @@ def __read_state(self):
                         self.__sucked_cb(state)
                     elif self.actual_state == "LOST" and self.__lost_cb != None:
                         self.__lost_cb(state)
+                    
 
 
     def print_state(self,state):