HTequi/HTequi-firmware/lib/Atm_lien/Atm_Tstepper.h

#pragma once

#include <Automaton.h>
//#include <Atm_timer.h>

#include <TeensyStep.h>

class Atm_Tstepper: public Machine {

 public:
  enum { DISABLED, ENABLED, RUNNING, STOPPING, EMERGENCY, HOMING, MOVE_TIMEOUT, HOMING_COUNTEROUT }; // STATES
  enum { EVT_HOMING_COUNTER, EVT_IDLE_TIMEOUT, EVT_MOVE_TIMEOUT, EVT_LIMIT_LOW, EVT_LIMIT_HIGH, EVT_EMERGENCY, EVT_STOP, EVT_ONTARGET, EVT_MOVE, EVT_DISABLE, EVT_ENABLE, EVT_HOMING, ELSE }; // EVENTS
  Atm_Tstepper( void ) : Machine() {};
  Atm_Tstepper& begin( Stepper & motorRef, StepControl & stepControlRef );
  Atm_Tstepper& trace( Stream & stream );
  Atm_Tstepper& trigger( int event );
  int state( void );
  Atm_Tstepper& onOnchange( Machine& machine, int event = 0 );
  Atm_Tstepper& onOnchange( atm_cb_push_t callback, int idx = 0 );
  Atm_Tstepper& onOnchangeacceleration( Machine& machine, int event = 0 );
  Atm_Tstepper& onOnchangeacceleration( atm_cb_push_t callback, int idx = 0 );
  Atm_Tstepper& onOnchangeposition( Machine& machine, int event = 0 );
  Atm_Tstepper& onOnchangeposition( atm_cb_push_t callback, int idx = 0 );
  Atm_Tstepper& onOnchangestate( Machine& machine, int event = 0 );
  Atm_Tstepper& onOnchangestate( atm_cb_push_t callback, int idx = 0 );
  Atm_Tstepper& onOnhighlimit( Machine& machine, int event = 0 );
  Atm_Tstepper& onOnhighlimit( atm_cb_push_t callback, int idx = 0 );
  Atm_Tstepper& onOnhomingcounterout( Machine& machine, int event = 0 );
  Atm_Tstepper& onOnhomingcounterout( atm_cb_push_t callback, int idx = 0 );
  Atm_Tstepper& onOnhomingtimeout( Machine& machine, int event = 0 );
  Atm_Tstepper& onOnhomingtimeout( atm_cb_push_t callback, int idx = 0 );
  Atm_Tstepper& onOnidletimeout( Machine& machine, int event = 0 );
  Atm_Tstepper& onOnidletimeout( atm_cb_push_t callback, int idx = 0 );
  Atm_Tstepper& onOnlowlimit( Machine& machine, int event = 0 );
  Atm_Tstepper& onOnlowlimit( atm_cb_push_t callback, int idx = 0 );
  Atm_Tstepper& onOnmovetimeout( Machine& machine, int event = 0 );
  Atm_Tstepper& onOnmovetimeout( atm_cb_push_t callback, int idx = 0 );
  Atm_Tstepper& onSpeed( Machine& machine, int event = 0 );
  Atm_Tstepper& onSpeed( atm_cb_push_t callback, int idx = 0 );
  Atm_Tstepper& homing_counter( void );
  Atm_Tstepper& idle_timeout( void );
  Atm_Tstepper& move_timeout( void );
  Atm_Tstepper& limit_low( void );
  Atm_Tstepper& limit_high( void );
  Atm_Tstepper& emergency( void );
  Atm_Tstepper& stop( void );
  Atm_Tstepper& ontarget( void );
  Atm_Tstepper& move( long int stepRel );
  Atm_Tstepper& moveTo( long int stepAbs );
  Atm_Tstepper& disable( void );
  Atm_Tstepper& enable( void );
  Atm_Tstepper& homing( int direction );


  Atm_Tstepper& setLimitType( int limitType = 0);
  Atm_Tstepper& setLimitPins( int limitPinLow);
  Atm_Tstepper& setLimitPins( int limitPinLow, int limitPinHigh);
  Atm_Tstepper& limitReversed( bool reversed );
  Atm_Tstepper& limitThresholds( int limitThreshold0, int limitThreshold1,
                                  int limitThreshold2, int limitThreshold3);
  bool limitState[2] ; // up to two limits, at least one for homing

  virtual Atm_Tstepper& onOSC( void );
  virtual Atm_Tstepper& sendOSC( void );

  Stepper * motor;
  StepControl * controller;

  Atm_Tstepper& setEnablePin( int enablePin );
  Atm_Tstepper& enableReversed( bool reverse );
  bool enabled ;
  // Atm_TeensyStep& enable( bool enable );

  int printPosition();

 private:
  enum { ENT_DISABLED, ENT_ENABLED, ENT_RUNNING, LP_RUNNING, ENT_STOPPING, LP_STOPPING, ENT_EMERGENCY, ENT_HOMING, LP_HOMING, EXT_HOMING, ENT_MOVE_TIMEOUT }; // ACTIONS
  enum { ON_ONCHANGE, ON_ONCHANGEACCELERATION, ON_ONCHANGEPOSITION, ON_ONCHANGESTATE, ON_ONHIGHLIMIT, ON_ONHOMINGCOUNTEROUT, ON_ONHOMINGTIMEOUT, ON_ONIDLETIMEOUT, ON_ONLOWLIMIT, ON_ONMOVETIMEOUT, ON_SPEED, CONN_MAX }; // CONNECTORS
  atm_connector connectors[CONN_MAX];
  int event( int id );
  void action( int id );

  atm_timer_millis idle_timer ;
  int IDLE_TIMEOUT_DURATION = 500000 ;
  atm_timer_millis moving_timer ;
  int MOVING_TIMEOUT_DURATION = 12000000 ;
  atm_counter homing_counterout ;

  long int _currentStep ;
  long int _targetStep ;

  int _enablePin = -1;
  bool _enableReversed = 0 ;

  int _limitPin[2];
  enum { NONE, DIGITAL_1, DIGITAL_2, ANALOG_1 };
  int _limitType; //type of limit switch, from list over
  bool _limitReversed ; //invert logic of limit switches
  int _limitThresholds[4] ; //analog value  range for two analog limits
  void updateLimitSwitch();



};

/*
Automaton::ATML::begin - Automaton Markup Language

<?xml version="1.0" encoding="UTF-8"?>
<machines>
  <machine name="Atm_Tstepper">
    <states>
      <DISABLED index="0" on_enter="ENT_DISABLED">
        <EVT_ENABLE>ENABLED</EVT_ENABLE>
      </DISABLED>
      <ENABLED index="1" on_enter="ENT_ENABLED">
        <EVT_IDLE_TIMEOUT>DISABLED</EVT_IDLE_TIMEOUT>
        <EVT_MOVE>RUNNING</EVT_MOVE>
        <EVT_DISABLE>DISABLED</EVT_DISABLE>
      </ENABLED>
      <RUNNING index="2" on_enter="ENT_RUNNING" on_loop="LP_RUNNING">
        <EVT_MOVE_TIMEOUT>MOVE_TIMEOUT</EVT_MOVE_TIMEOUT>
        <EVT_LIMIT_LOW>EMERGENCY</EVT_LIMIT_LOW>
        <EVT_LIMIT_HIGH>EMERGENCY</EVT_LIMIT_HIGH>
        <EVT_EMERGENCY>EMERGENCY</EVT_EMERGENCY>
        <EVT_STOP>STOPPING</EVT_STOP>
        <EVT_ONTARGET>ENABLED</EVT_ONTARGET>
        <EVT_MOVE>RUNNING</EVT_MOVE>
      </RUNNING>
      <STOPPING index="3" on_enter="ENT_STOPPING" on_loop="LP_STOPPING">
        <EVT_LIMIT_LOW>EMERGENCY</EVT_LIMIT_LOW>
        <EVT_LIMIT_HIGH>EMERGENCY</EVT_LIMIT_HIGH>
        <EVT_EMERGENCY>EMERGENCY</EVT_EMERGENCY>
        <EVT_MOVE>RUNNING</EVT_MOVE>
      </STOPPING>
      <EMERGENCY index="4" on_enter="ENT_EMERGENCY">
      </EMERGENCY>
      <HOMING index="5" on_enter="ENT_HOMING" on_loop="LP_HOMING" on_exit="EXT_HOMING">
        <EVT_MOVE_TIMEOUT>MOVE_TIMEOUT</EVT_MOVE_TIMEOUT>
        <EVT_LIMIT_LOW>ENABLED</EVT_LIMIT_LOW>
        <EVT_LIMIT_HIGH>ENABLED</EVT_LIMIT_HIGH>
        <EVT_EMERGENCY>EMERGENCY</EVT_EMERGENCY>
        <EVT_STOP>STOPPING</EVT_STOP>
        <EVT_ONTARGET>MOVE_TIMEOUT</EVT_ONTARGET>
      </HOMING>
      <MOVE_TIMEOUT index="6" on_enter="ENT_MOVE_TIMEOUT">
        <EVT_MOVE_TIMEOUT>MOVE_TIMEOUT</EVT_MOVE_TIMEOUT>
      </MOVE_TIMEOUT>
      <HOMING_COUNTEROUT index="7">
      </HOMING_COUNTEROUT>
    </states>
    <events>
      <EVT_HOMING_COUNTER index="0" access="MIXED"/>
      <EVT_IDLE_TIMEOUT index="1" access="MIXED"/>
      <EVT_MOVE_TIMEOUT index="2" access="MIXED"/>
      <EVT_LIMIT_LOW index="3" access="MIXED"/>
      <EVT_LIMIT_HIGH index="4" access="MIXED"/>
      <EVT_EMERGENCY index="5" access="MIXED"/>
      <EVT_STOP index="6" access="MIXED"/>
      <EVT_ONTARGET index="7" access="MIXED"/>
      <EVT_MOVE index="8" access="MIXED"/>
      <EVT_DISABLE index="9" access="MIXED"/>
      <EVT_ENABLE index="10" access="MIXED"/>
    </events>
    <connectors>
      <ONCHANGE autostore="0" broadcast="0" dir="PUSH" slots="1"/>
      <ONCHANGEACCELERATION autostore="0" broadcast="0" dir="PUSH" slots="1"/>
      <ONCHANGEPOSITION autostore="0" broadcast="0" dir="PUSH" slots="1"/>
      <ONCHANGESTATE autostore="0" broadcast="0" dir="PUSH" slots="1"/>
      <ONHIGHLIMIT autostore="0" broadcast="0" dir="PUSH" slots="1"/>
      <ONHOMINGCOUNTEROUT autostore="0" broadcast="0" dir="PUSH" slots="1"/>
      <ONHOMINGTIMEOUT autostore="0" broadcast="0" dir="PUSH" slots="1"/>
      <ONIDLETIMEOUT autostore="0" broadcast="0" dir="PUSH" slots="1"/>
      <ONLOWLIMIT autostore="0" broadcast="0" dir="PUSH" slots="1"/>
      <ONMOVETIMEOUT autostore="0" broadcast="0" dir="PUSH" slots="1"/>
      <SPEED autostore="0" broadcast="0" dir="PUSH" slots="1"/>
    </connectors>
    <methods>
    </methods>
  </machine>
</machines>

Automaton::ATML::end
*/