W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\PlayingGameSM.

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/****************************************************************************
Module
PlayingGameSM.c
Revision
1.0

Description
Author
Anne Alter, Derrick Contreras
Date
2/14/16

****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
//headers for framework
#include "ES_Configure.h"
#include "ES_Framework.h"
#include "TemplateService.h"
#include "termio.h"
//headers to access the pwm and nvic libraries
#include "inc/hw_timer.h"
#include "inc/hw_nvic.h"
#include "inc/hw_pwm.h"
//headers to access the GPIO subsystem
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_gpio.h"
#include "inc/hw_sysctl.h"
#include "inc/hw_ssi.h"

//headers to access the TivaWare Library

#include "driverlib/sysctl.h"
#include "driverlib/pin_map.h"
#include "driverlib/gpio.h"
#include "driverlib/timer.h"
#include "driverlib/interrupt.h"

//headers for other modules in the program

#include "PlayingGameSM.h"
#include "DriveAlongTrailSM.h"
#include "CaptureCitySM.h"
#include "SearchingForTrailSM.h"
#include "SlingingMudSM.h"
#include "DriveService.h"
#include "PoundDefines.h"
#include "PWMService.h"

/*----------------------------- Module Defines ----------------------------*/

//#define TEST
#ifndef TEST
#define ENTRY_STATE DriveAlongTrail
#endif
#ifdef TEST
#define ENTRY_STATE SlingingMud
#endif

/*---------------------------- Module Functions ---------------------------*/

static ES_Event DuringDriveAlongTrail(ES_Event Event);
static ES_Event DuringCaptureCity(ES_Event Event);
static ES_Event DuringSearchingForTrail(ES_Event Event);
static ES_Event DuringSlingingMud(ES_Event Event);
static ES_Event DuringBumperTurnAround(ES_Event Event);

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\PlayingGameSM.c
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/*---------------------------- Module Variables ---------------------------*/

static CurrentPlayingGameState_t CurrentPlayingGameState;
/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function
RunPlayingGameSM
Parameters
ES_Event : the event to process

Returns
ES_Event, ES_NO_EVENT if no error ES_ERROR otherwise
Description

Author
Anne Alter, Derrick Contreras
****************************************************************************/
ES_Event RunPlayingGameSM(ES_Event CurrentEvent)
{
bool MakeTransition = false;
CurrentPlayingGameState_t NextState = CurrentPlayingGameState;
ES_Event EntryEventKind = {ES_ENTRY, 0};
ES_Event ReturnEvent = CurrentEvent;
//Switch CurrentMasterState
switch(CurrentPlayingGameState)
{
//Case DriveAlongTrail:
case DriveAlongTrail:
//printf("Drive Along Trail \r\n");

//Set CurrentEvent to DuringDriveAlongTrail

printf("Current Event is %d \r\n", CurrentEvent.EventType);
CurrentEvent = DuringDriveAlongTrail(CurrentEvent);
//printf("Current Event is %d versus %d \r\n", CurrentEvent.EventType, ES_NO_EVENT);
//If CurrentEvent.EventType is ES_NO_EVENT
if(CurrentEvent.EventType != ES_NO_EVENT)
{
//printf("Drive Along trail event received \r\n");
//Switch CurrentEvent.EventType
switch(CurrentEvent.EventType)
{
//Case: CITY_ENCOUNTERED Event
case CITY_ENCOUNTERED:
//printf("CITY_ENCOUNTERED EVENT");
//NextState is CaptureCity
NextState = CaptureCity;
//MakeTransition is True
MakeTransition = true;
//EntryEventKind.EventType is not a history entry
EntryEventKind.EventType = ES_ENTRY;
break;
//took out - 3/2/16
//Case: LOST_TRAIL event
case LOST_TRAIL:
printf("LOST_TRAIL EVENT IN PLAYING GAME \r\n");
//NextState is SearchingForTrail
NextState = SearchingForTrail;
//MakeTransition is True
MakeTransition = true;
//EntryEventKind.EventType is not a history entry
EntryEventKind.EventType = ES_ENTRY;
break;
case ES_TIMEOUT:
if(CurrentEvent.EventParam == HALL_EFFECT_DELAY){
printf("HALL EFFECT DELAY TIMEOUT \r\n");

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\PlayingGameSM.c
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//enable hall effect interrupt

HWREG(WTIMER0_BASE+TIMER_O_IMR) |= TIMER_IMR_CAEIM;
HWREG(NVIC_EN2) |= BIT30HI;
//NextState is DriveAlongTrail
NextState = DriveAlongTrail;
//MakeTransition is false
MakeTransition = false;
//EntryEventKind.EventType is not a history entry
EntryEventKind.EventType = ES_ENTRY;

}
}
break;

}
break;

//Case CaptureCity:
case CaptureCity:
//Set CurrentState to DuringPlayingGame
CurrentEvent = DuringCaptureCity(CurrentEvent);
//If CurrentEvent.EventType is ES_NO_EVENT
if(CurrentEvent.EventType != ES_NO_EVENT)
{
//Switch CurrentEvent.EventType
switch(CurrentEvent.EventType)
{
//Case: CITY_CAPTURED Event
case CITY_CAPTURED:
//NextState is SearchingForTrail
NextState = DriveAlongTrail;
//MakeTransition is True
MakeTransition = true;
//EntryEventKind.EventType is not a history entry
EntryEventKind.EventType = ES_ENTRY;
break;

//Case: City timer timeout

case ES_TIMEOUT:
if(CurrentEvent.EventParam == CITY_TIMER)
{
printf("CITY TIMER TIMEOUT \r\n");
//NextState is SearchingForTrail
NextState = DriveAlongTrail;
//MakeTransition is True
MakeTransition = true;
//EntryEventKind.EventType is not a history entry
EntryEventKind.EventType = ES_ENTRY;
}
break;

}
}
break;

//Case: city counter event

case ATTACK_CITY:
//NextState is SlingingMud
NextState = SlingingMud;
//MakeTransition is True
MakeTransition = true;
//EntryEventKind.EventType is not a history entry
EntryEventKind.EventType = ES_ENTRY;
break;

//Case SearchingForTrail:
case SearchingForTrail:
printf("Searching For Trail\n\r");
//Set CurrentEvent to DuringSearchingForTrail
CurrentEvent = DuringSearchingForTrail(CurrentEvent);
//If CurrentEvent.EventType is ES_NO_EVENT
if(CurrentEvent.EventType != ES_NO_EVENT)
{
//Switch CurrentEvent.EventType
switch(CurrentEvent.EventType)

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\PlayingGameSM.c
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//Case: WIRE_DETECTED Event

case WIRE_DETECTED:
//NextState is DriveAlongTrail
printf("WIRE DETECTED EVENT\n\r");
NextState = DriveAlongTrail;
//MakeTransition is True
MakeTransition = true;
//EntryEventKind.EventType is not a history entry
EntryEventKind.EventType = ES_ENTRY;
break;

}
}
break;

//Case SlingingMud:
case SlingingMud:
//Set CurrentEvent to DuringSlingingMud
CurrentEvent = DuringSlingingMud(CurrentEvent);
//If CurrentEvent.EventType is ES_NO_EVENT
if(CurrentEvent.EventType != ES_NO_EVENT)
{
//Switch CurrentEvent.EventType
switch(CurrentEvent.EventType)
{
//Case: ATTACK_LAUNCHED Event
case ATTACK_LAUNCHED:
//NextState is DriveAlongTrail
NextState = DriveAlongTrail;
//MakeTransition is True
MakeTransition = true;
//EntryEventKind.EventType is not a history entry
EntryEventKind.EventType = ES_ENTRY;
break;

case ES_TIMEOUT:
if(CurrentEvent.EventParam == ATTACK_TIMEOUT)
{
printf("ATTACK TIMER TIMEOUT \r\n");
//NextState is SearchingForTrail
NextState = DriveAlongTrail;
//MakeTransition is True
MakeTransition = true;
//EntryEventKind.EventType is not a history entry
EntryEventKind.EventType = ES_ENTRY;
}

}
}
break;

//If MakeTransition is true

if(MakeTransition == true)
{
//Execute exit function for current state
CurrentEvent.EventType = ES_EXIT;
//Call RunMasterSM function
RunPlayingGameSM(CurrentEvent);
//CurrentMasterState equals NextState
CurrentPlayingGameState = NextState;
//Execute entry function for current state
RunPlayingGameSM(EntryEventKind);
}
//return ReturnEvent
return(ReturnEvent);

}
/****************************************************************************
Function
StartPlayingGameSM
Parameters

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\PlayingGameSM.c
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None

Returns
None

Description
Does any required initialization for SM

Author
Anne Alter, Derrick Contreras
****************************************************************************/
void StartPlayingGameSM(ES_Event CurrentEvent)
{
//If ES_ENTRY_HISTORY does not equal CurrentEvent.EventType
if(ES_ENTRY_HISTORY != CurrentEvent.EventType)
{
//call the entry state for the state machine
CurrentPlayingGameState = ENTRY_STATE;
}
}

//call the entry function for the entry state

RunPlayingGameSM(CurrentEvent);

/****************************************************************************
Function
QueryPlayingGameSM
Parameters
None

Returns
The current state of the state machine

Description
Returns the current state of the state machine

Author
Anne Alter, Derrick Contreras
****************************************************************************/
CurrentPlayingGameState_t QueryPlayingGame(void)
{
return(CurrentPlayingGameState);
}

/*------------------------------ Private Functions ------------------------------*/

/****************************************************************************
Function
DuringDriveAlongTrail
Parameters
ES_Event
Returns
ES_Event

Description
Processes entry, exit, and lower level events for the SM

Author
Anne Alter, Derrick Contreras
****************************************************************************/
static ES_Event DuringDriveAlongTrail(ES_Event Event)
{
//Define ReturnEvent
ES_Event ReturnEvent = Event;
//If ES_ENTRY event
if((Event.EventType == ES_ENTRY) || (Event.EventType == ES_ENTRY_HISTORY))
{
//Start DriveAlongTrailSM

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StartDriveAlongTrailSM(Event);
}
else if(Event.EventType == ES_EXIT)
{
//Run DriveAlongTrailSM
RunDriveAlongTrailSM(Event);
}
else
{
//ReturnEvent equals RunDriveAlongTrailSM
ReturnEvent = RunDriveAlongTrailSM(Event);
}

//Return ReturnEvent
return ReturnEvent;

/****************************************************************************
Function
DuringCaptureCity
Parameters
ES_Event
Returns
ES_Event

Description
Processes entry, exit, and lower level events for the SM

Author
Anne Alter, Derrick Contreras
****************************************************************************/
static ES_Event DuringCaptureCity(ES_Event Event)
{
//Define ReturnEvent
ES_Event ReturnEvent = Event;
//If ES_ENTRY event
if((Event.EventType == ES_ENTRY) || (Event.EventType == ES_ENTRY_HISTORY))
{
//disable hall effect interrupt -- may need to put back
HWREG(WTIMER0_BASE+TIMER_O_IMR) &= ~TIMER_IMR_CAEIM;
//start debounce timer
ES_Timer_InitTimer(HALL_EFFECT_DEBOUNCE, HALL_EFFECT_DEBOUNCE_TIME);
//Start city timer
ES_Timer_InitTimer(CITY_TIMER, CITY_TIME);
//Start CaptureCitySM
StartCaptureCitySM(Event);
}
else if(Event.EventType == ES_EXIT)
{
//Run CaptureCitySM
RunCaptureCitySM(Event);
//Iinitialize hall effect delay timer
ES_Timer_InitTimer(HALL_EFFECT_DELAY, HALL_EFFECT_DELAY_TIME);
}
else
{
//ReturnEvent equals CaptureCitySM
ReturnEvent = RunCaptureCitySM(Event);
}

//Return ReturnEvent
return ReturnEvent;

/****************************************************************************
Function
DuringSearchingForTrail
Parameters

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ES_Event

Returns
ES_Event

Description
Processes entry, exit, and lower level events for the SM

Author
Anne Alter, Derrick Contreras
****************************************************************************/
static ES_Event DuringSearchingForTrail(ES_Event Event)
{
//Define ReturnEvent
ES_Event ReturnEvent = Event;
//If ES_ENTRY event
if((Event.EventType == ES_ENTRY) || (Event.EventType == ES_ENTRY_HISTORY))
{
//Start SearchingForTrailSM
StartSearchingForTrailSM(Event);
}
else if(Event.EventType == ES_EXIT)
{
//Run SearchingForTrailSM
RunSearchingForTrailSM(Event);
}
else
{
// ReturnEvent equals RunSearchingForTrailSM
ReturnEvent = RunSearchingForTrailSM(Event);
}
//Return ReturnEvent
return ReturnEvent;

}
/****************************************************************************
Function
DuringSlingingMud
Parameters
ES_Event
Returns
ES_Event

Description
Processes entry, exit, and lower level events for the SM

Author
Anne Alter, Derrick Contreras
****************************************************************************/
static ES_Event DuringSlingingMud(ES_Event Event)
{
//Define ReturnEvent
ES_Event ReturnEvent = Event;
//If ES_ENTRY event
if((Event.EventType == ES_ENTRY) || (Event.EventType == ES_ENTRY_HISTORY))
{
//disable wire sensing interrupt - may need to take out
HWREG(WTIMER1_BASE+TIMER_O_IMR) &= ~TIMER_IMR_TATOIM;
//disable hall effect interrupt - may need to take out
HWREG(WTIMER0_BASE+TIMER_O_IMR) &= ~TIMER_IMR_CAEIM;
//enable IR interrupt
HWREG(WTIMER2_BASE+TIMER_O_IMR) |= TIMER_IMR_CAEIM;
HWREG(NVIC_EN3) |= BIT2HI;
//stop
Stop();
//init beacon timer
ES_Timer_InitTimer(BEACON_TIMER, BEACON_TIME);
//Start SlingingMudSM

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StartSlingingMudSM(Event);
}
else if(Event.EventType == ES_EXIT)
{
//Run SlingingMudSM
RunSlingingMudSM(Event);
//Turn off flywheel
SetFlywheelDuty(0);
//Iinitialize hall effect delay timer
ES_Timer_InitTimer(HALL_EFFECT_DELAY, HALL_EFFECT_DELAY_TIME);
}
else
{
//ReturnEvent equals RunSlingingMudSM
ReturnEvent = RunSlingingMudSM(Event);
}

//Return ReturnEvent
return ReturnEvent;