/ - Diff - Tooltron - Robotics Club

     /********
      * This file is part of Tooltron.
+     *
      * Tooltron is free software: you can redistribute it and/or modify
      * it under the terms of the Lesser GNU General Public License as published by
      * the Free Software Foundation, either version 3 of the License, or
      * (at your option) any later version.
+     *
      * Tooltron is distributed in the hope that it will be useful,
      * but WITHOUT ANY WARRANTY; without even the implied warranty of
      * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      * Lesser GNU General Public License for more details.
      * You should have received a copy of the Lesser GNU General Public License
      * along with Tooltron.  If not, see <http://www.gnu.org/licenses/>.
+     *
      * Copyright 2009 Kevin Woo <kwoo@2ndt.com>
+     *
      ********/
     #ifndef _TOOLTRON_H_
     #define _TOOLTRON_H_
     #define TT_GET_KEY 'k'
     #define TT_ACK     'a'
     #define TT_NACK    'n'
     #define TT_TO      'f'
     #define TT_TIMEOUT 't'
     #define TIMEOUT_SECONDS 10
     #endif

     void rs485_init(uint16_t baud) {
     	// Set baud rate
     	UBRRH = (uint8_t)(baud>>8);
     	UBRRL = (uint8_t)baud;
     	UBRR0H = (uint8_t)(baud>>8);
     	UBRR0L = (uint8_t)baud;
     	// Enable RX/TX and RX/TX Interrupt
     	UCSRB = _BV(RXCIE) | _BV(RXEN) | _BV(TXCIE) | _BV(TXEN);
     	UCSR0B = _BV(RXCIE0) | _BV(RXEN0) | _BV(TXCIE0) | _BV(TXEN0);
     	// Enable the TXEN pin as output
     	DDRD |= TX_EN;
-...
         received_byte = 0x0;
         // Set to receive mode
         rs485_toggle_transmit(TX_OFF);
         rs485_toggle_transmit(RS485_TX_OFF);
+    }
     int8_t rs485_get_byte(uint8_t *output_byte) {
-...
     void rs485_send_byte(uint8_t data) {
     	//Waits until current transmit is done
         while (!(UCSRA & _BV(UDRE)));
         while (!(UCSR0A & _BV(UDRE0)));
         // Enable writes and send
     	rs485_toggle_transmit(UART_TX_ON);
         UDR = data;
     	rs485_toggle_transmit(RS485_TX_ON);
     	UDR0 = data;
     	return;
+    }
     void rs485_toggle_transmit(uint8_t state) {
     	if (state == UART_TX_ON) {
     	if (state == RS485_TX_ON) {
     		PORTD |= TX_EN;
     	} else {
     		PORTD &= ~TX_EN;
-...
+    }
     ISR(USART_RX_vect) {
         received_byte = UDR;
         received_byte = UDR0;
         byte_ready = 1;
+    }
     ISR(USART_TX_vect) {
         // Re-enable reads
         rs485_toggle_transmit(UART_TX_OFF);
         rs485_toggle_transmit(RS485_TX_OFF);
+    }

     #include <avr/io.h>
     #include <avr/interrupt.h>
     char timeout_flag=0;
     char get_timeout_flag(void){
       return timeout_flag;
+    }
     //Initializes all the timer1 registers
     void init_timer() {
     	//Clears the control registers for timer 1

     #include <tooltron.h>
     #include "timer.h"
     #include "packet.h"
     /***** Keypad definitions ******/
     /** @brief ROW1 of the keypad */
-...
     #define LED_RED (_BV(PC5))
     #define LED_YELLOW (_BV(PC4))
     #define LED_GREEN (_BV(PC3))
     #define LED_PORT PORTC
     #define ADDR 2
-...
       DDRC |= LED_RED | LED_YELLOW | LED_GREEN;
       PORTC |= LED_RED | LED_GREEN | LED_YELLOW;
       LED_PORT |= LED_RED | LED_GREEN | LED_YELLOW;
       return;
+    }
-...
         uint8_t c;
         state_t state = req;
       rs485_init(BAUD9600);
       init_pins();
       init_timer();
       sei();
         rs485_init(BAUD9600);
         init_pins();
         init_timer();
         sei();
       while(1) {
         while(1) {
           switch(state) {
               case req:
                   toggle_led(LED_RED|LED_GREEN|LED_YELLOW, OFF);
     	while(1) {
     	    toggle_led(LED_GREEN, ON);
     	    send_packet(TT_TIMEOUT, ADDR);
     	    _delay_ms(100);
     	    toggle_led(LED_GREEN, OFF);
     	    _delay_ms(100);
+    	}
     	switch(state) {
     	    case req:
     		toggle_led(LED_RED|LED_GREEN|LED_YELLOW, OFF);
                   // Wait for a packet
                   resp = parse_packet(mbuf, ADDR);
     		// Wait for a packet
     		resp = parse_packet(mbuf, ADDR);
                   if (resp == TT_GET_KEY) {
                       toggle_led(LED_YELLOW, ON);
                       reset_timer();
                       reset_timeout_flag();
                       start_timer();
                       c = ' ';
                       state = press;
+                  }
                   break;
                 case press:
     		if (resp == TT_GET_KEY) {
     		    toggle_led(LED_YELLOW, ON);
     		    reset_timer();
     		    reset_timeout_flag();
     		    start_timer();
     		    c = ' ';
     		    state = press;
+    		}
     		else if(resp != TT_BAD){
     		    toggle_led(LED_RED, ON);
     		    while(1);
+    		}
     		break;
     	    case press:
                     c = get_button();
                     if (seconds > TIMEOUT_SECONDS) {
                         set_timeout_flag();
                         state = send;
-...
+                    }
                     break;
             case send:
                     if (timeoutflag == 1) {
                 case send:
                     if (get_timeout_flag() == 1) {
                         send_packet(TT_TIMEOUT, ADDR);
                         state = req;
                     } else {
-...
                     state = rsp;
                     break;
             case rsp:
                     resp = parse_packet(mbuf, ADDR);
                 case rsp:
     		resp = parse_packet(mbuf, ADDR);
                     if (resp == TT_ACK
                     if (resp == TT_ACK) {
     		    toggle_led(LED_GREEN, ON);
+    		}
     		else {
     		    toggle_led(LED_RED, ON);
+    		}
     		_delay_ms(1000);
     		toggle_led(LED_RED, OFF);
     		toggle_led(LED_GREEN, ON);
     		state = req;
     		break;
+    	}
+        }
         if (timeout_flag == 0) {
             //respond with key pressed
             uart_send_byte(c);
             //wait for response
             c=0;
             reset_timeout_flag();
             reset_timer();
             while((uart_get_byte(&c) < 0) && (seconds < TIMEOUT_SECONDS));
             PORTC |= LED_YELLOW;
             switch(c)
+            {
               case TT_ACK:
                 PORTC &= ~LED_GREEN;
                 break;
               case TT_NACK:
                 PORTC &= ~LED_RED;
                 break;
     	  case TT_GET_KEY: //this means the states are messed up
                 PORTC &= (~LED_RED & ~LED_YELLOW & ~LED_GREEN);
                 break;
     	  case 0: //timeout
     	    PORTC &= (~LED_RED & ~LED_YELLOW);
     	    break;
     	default: //bad packet
                 PORTC &= (~LED_RED & ~LED_GREEN);
                 break;
+            }
             stop_timer();
             _delay_ms(1000);
+          }
+        }
       return 0;
         return 0;
+    }

     #include <avr/interrupt.h>
     #include <stdint.h>
     /** **/
     #define UART_TX_OFF 0
     #define UART_TX_ON 1
     #define RS485_TX_OFF 0
     #define RS485_TX_ON 1
     /** @brief RX Pin for the UART **/
     #define RX		_BV(PORTD0)
     #define TX		_BV(PORTD1)
     #define TX_EN	_BV(PORTD5)
     #define TX_EN	_BV(PORTD2)
     /**
      * @brief This si the value to pass into UBRR tos et the baudrate.

     /** Globals **/
     volatile char seconds;		//Seconds elapsed
     volatile char minutes;		//Minutes exlapsed
     char timeout_flag; //Indicates that timeout has occured
     /** @brief Seconds that have elapsed since the timer started */
     //extern volatile char seconds;
-...
     void reset_timeout_flag(void);
     /** @brief Sets the timeout flag to 1 */
     void set_timeout_flag(void);
     /** @brief Gets the timeout flag (nonzero means set) */
     char get_timeout_flag(void);
     #endif

             case cs:
                 if (r == crc) {
                     if (cmd == TT_RESET) {
                         reset();
+                    }
                     return cmd;
     	      return cmd;
                 } else {
                     return TT_BAD;
+                }

     #include <tooltron.h>
     #include <avr/eeprom.h>
     #include "rs485_poll.h"
     #include "bootloader.h"
     #include "rs485_int.h"
     /** @brief Max time to wait until we exit the packet handler */
     #define MAX_TIMEOUT 60000

     import getpass
     from time import *
     keypad = []
     keypadTimeout = 11 #in seconds
     #this table maps which keypad button to press for each tool. This
-...
         return
     if len(sys.argv) < 3:
         print "usage: tooltron.py /path/to/keypad/device /path/to/tool/bus/device"
     if len(sys.argv) < 2:
         print "usage: tooltron.py /path/to/bus/device"
     else:
-...
         qry = "SELECT tools_6 FROM civicrm_value_roboclub_info_2 WHERE card_number_1 = "
         # user has 10 seconds to press a key, after that the keypad device
         # should send a timeout packet. This is a non-blocking serial
         # device so we can re-transmit the key request when the user
         # swipes a card instead of being stuck on a blocking read call
         keypad = serial.Serial(sys.argv[1], BAUD_RATE, timeout = 0)
         keypad.flushInput()
         print keypad
         bus = serial.Serial(sys.argv[2], BAUD_RATE, timeout = 2)
         bus = serial.Serial(sys.argv[1], BAUD_RATE, timeout = 2)
         bus.flushInput()
         print bus
-...
             bus.write(msg)
             return
         def sendKeyRequest():
            tn = 2 #2 is the ID for the cardbox
            msg = '^' + chr(1) + chr(tn) + TT_GET_KEY + chr(1 ^ tn ^ ord(TT_GET_KEY))
            print "seding key request"
            bus.write(msg)
            return
         def sendAck(toolNum):
            msg = '^' + chr(1) + chr(toolNum) + TT_ACK + chr(1 ^ tn ^ ord(TT_ACK))
            print "seding ACK to",toolNum
            bus.write(msg)
            return
         def sendNack(toolNum):
            msg = '^' + chr(1) + chr(toolNum) + TT_NACK + chr(1 ^ tn ^ ord(TT_NACK))
            print "seding ACK to",toolNum
            bus.write(msg)
            return
         #returns key if the key_send packet is recived from tool ID 2
         # otherwise returns 0
         def readKey():
            startDelim = bus.read(1)
            if startDelim == '^':
               src = bus.read(1)
               if src == 0:
                  return 0
               dest = bus.read(1)
               if dest == 0:
                  return 0
               packetType = bus.read(1)
               if packetType == 0:
                  return 0
               key = bus.read(1)
               if key == 0:
                  return 0
               crc = bus.read(1)
               print "got packet"
               if src != 2 or dest != 1 or packetType != TT_KEY_SEND:
                  print "Bad packet! ^",src,dest,packetType,key,crc
               if chr(ord(src) ^ ord(dest) ^ ord(packetType) ^ ord(key)) == crc:
                  return key
               else:
                  print "xor fail. got", crc, "should have been got",(chr(ord(src) ^ ord(dest) ^ ord(packetType) ^ ord(key)))
               return 0
            else:
               print "did not get start delim!: ", ord(startDelim)
               return 0
         #returns [src, data] or [] on error
         def readTool():
             ret = [0,0,0]
-...
             if id != None:
                 print "\n-----------\nid# ", id.group(1)
                 sendKeyRequest()
                 startTime = time.time()
                 print "sending key request"
                 keypad.flushInput()
                 keypad.write(TT_GET_KEY)
                 cursor.execute(qry + id.group(1))
                 result = cursor.fetchall()
-...
                 print user
                 startTime = time.time();
                 resp = ""
                 while resp=="":
                    resp = keypad.read(1)
                 resp = 0
                 while resp==0:
                    resp = readKey()
                    #no lock since we are just reading and we can afford to
                    #miss a loop
                    if idready == True:
-...
                       logMessage("keypad timed out")
                       break
                 #if we have a vaid response
                 #if we have a valid response
                 #sometimes the FTDI chip seems to give a zero as a string when power is reset
                 if resp != "" and ord(resp) != 0 and resp != TT_TIMEOUT:
-...
                    print "request:",resp,"(",ord(resp),") ",toolNameLong
                    if acl.count(resp) > 0:
                       keypad.write(TT_ACK)
                       sendAck(2)
                       sendTool(resp)
                       print "ACCESS GRANTED"
                       logMessage(user+" ACCESSED tool "+toolNameLong)
-...
                                        str(MAX_TOOL_FAILS)+" times in a row.")
                    else:
                       keypad.write(TT_NACK)
                       sendNack(2)
                       print "ACCESS DENIED!!"
                       logMessage(user + " DENIED on tool "+toolNameLong)
                    clear_id()
             elif resp == 0 or ord(resp) == 0: #if we get noise, send timeout to reset and sync states
                keypad.write(TT_TIMEOUT);
                keypad.write(TT_TIMEOUT)
                print "ERROR: got strange byte, timing out"
                logMessage("ERROR: got 0 as a byte, sending timeout (cardbox power issue?)")
             else:

     // These are the bytes used in the messaage types
     #define TT_GET_KEY  'k'     // Get a key from the keyboard
     #define TT_SEND_KEY 's'     // Send a Key back (has 1 extra data packet)
     #define TT_ACK      'a'     // Ack
     #define TT_NACK     'n'     // Nack
     #define TT_ON       'o'     // Turn the tool on
-...
     // Number of bytes that the PROGx packets have in the payload
     #define PROGM_PACKET_SIZE 2
     #define PROGD_PACKET_SIZE 32
     #define SEND_KEY_PACKET_SIZE 1
     // Tool timeout?
     #define TIMEOUT_SECONDS 10

     #define RELAY       _BV(PORTD4)
     #define VAC_SENSE   _BV(PIND3)
     #define BUT_RED     _BV(PINB4)
     #define BUT_BLACK   _BV(PINB3)
     #define BUT_RED     _BV(PINB4)#define BUT_BLACK   _BV(PINB3)
     #define LED_GREEN   _BV(PORTB2)
     #define LED_YELLOW  _BV(PORTB1)
     #define LED_RED     _BV(PORTB0)
-...
         uint8_t r;
         //eeprom_write_byte(1, 18);
         //eeprom_write_byte(1, 12);
         PORTB = 0x7;
         /* myaddr = eeprom_read_byte(1); */
         /* if (myaddr == 18) { */
         /*    PORTB = 0x7; */
         /* } */
         /* _delay_ms(1000); */
         /* PORTB |= _BV(PORTB0); */
         /* _delay_ms(1000); */
         /* reset(); */
         myaddr = eeprom_read_byte(1);
         if (myaddr == 11) {
            PORTB = 0;
            while(1);
+        }
         _delay_ms(1000);
         PORTB |= _BV(PORTB0);
         _delay_ms(1000);
         reset();
         while(1) {
             _delay_ms(1000);
         	_delay_ms(1000);
             PORTB |= _BV(PORTB0);
             _delay_ms(1000);
             PORTB &= ~_BV(PORTB0);

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