Update RailCrossing.ino

examples/RailCrossing/RailCrossing.ino

@@ -1,123 +1,141 @@
-#include <YA_FSM.h>
+#include <Servo.h>
+#include "YA_FSM.h"
+#include "Blinker.h"    
 
-const byte SIG_TRAIN_IN = 2;
-const byte SIG_TRAIN_OUT = 3;
+#define SIG_TRAIN_IN 3
+#define SIG_TRAIN_OUT 2
+#define SERVO_PIN  6
 
-const byte OUT_BAR_LOW  = 11;
-const byte OUT_BAR_HIGH = 12;
-const byte OUT_LIGHT_BELL = 13;
+#define PASS_NOT_ALLOWED  11
+#define PASS_ALLOWED 12
+#define OUT_LIGHT_BELL 13
+
+// After the train has passed, wait a little time to be sure
+#define MOVE_TIME  1000   // Time needed for GATE moving (up and down)
+#define WAIT_FREE  10000  // Wait time after train has gone (in case another train is arriving)
+#define BLINK_TIME 250     
+
+#define GATE_CLOSED  0
+#define GATE_OPENED  90
 
 // Create new FSM
 YA_FSM stateMachine;
 
+// Create a Blinker (included utility class) for led blink handling
+Blinker blinker(OUT_LIGHT_BELL, BLINK_TIME);
+
+// Handle the gate position
+Servo theGate; 
+uint16_t servoPos = GATE_OPENED;
+
 // State Alias
 enum State {GATE_OPEN, GATE_LOWERING, GATE_CLOSE, GATE_WAIT, GATE_RISING };
 
 // Helper for print labels instead integer when state change
 const char* const stateName[] PROGMEM = { "Gate OPEN", "Lowering GATE", "Gate CLOSE", "Wait time", "Rising GATE"};
 
-// After the train has passed, wait a little time to be sure
-#define MOVE_TIME  5000   // Time needed for GATE moving (up and down)
-#define WAIT_FREE  15000   
-#define BLINK_TIME 250     
-
 // Instead of bool function() callback, in this example we will use 
 // bool variables to trig two transitions (the others will trig on timout)
 bool theTrainIsComing = false;
 bool theTrainIsGone = false;
 
-void setup() {
-  // Input/Output configuration
-  pinMode(SIG_TRAIN_IN, INPUT_PULLUP);
-  pinMode(SIG_TRAIN_OUT, INPUT_PULLUP);
-  pinMode(OUT_BAR_LOW, OUTPUT);
-  pinMode(OUT_BAR_HIGH, OUTPUT);
-  pinMode(OUT_LIGHT_BELL, OUTPUT);
-
-  Serial.begin(115200);
-  while (!Serial) { ; }   // Wait for serial to be ready (native USB board only)
-
-  Serial.println(F("Starting State Machine...\n"));
-  setupStateMachine();
-
-  onEnter();    // Call manually the onEnter() function to set outputs
-  Serial.print(F("Active state: "));
-  Serial.println(stateMachine.ActiveStateName());
-}
-
-void loop() {
-  // Update State Machine
-  stateMachine.Update(); 
-
-  // Update the bool variables according to the signal inputs
-  theTrainIsGone = digitalRead(SIG_TRAIN_OUT) == LOW;
-  theTrainIsComing = digitalRead(SIG_TRAIN_IN) == LOW;
-
-  if (theTrainIsComing) {
-    // Reset enter time of GATE_WAIT (if active) so timeout became
-    // longer enough to wait two ore more trains one after the other 
-    stateMachine.SetEnteringTime(GATE_WAIT);
-  }
-}
-
-
 // Define "on entering" callback function (the same for all states)
-void onEnter(){ 
+void onEnter(){   
   switch (stateMachine.GetState() ){
     case GATE_CLOSE: 
-      digitalWrite(OUT_BAR_LOW, HIGH);
+      digitalWrite(PASS_NOT_ALLOWED, HIGH);
       Serial.println(F("The GATE is actually close"));
       break;
-    case GATE_RISING:
-      digitalWrite(OUT_BAR_LOW, LOW);
+    case GATE_RISING:      
+      servoPos = GATE_OPENED;
       digitalWrite(OUT_LIGHT_BELL, LOW);       
       Serial.println(F("The GATE is going to be opened"));
       break;
     case GATE_OPEN:
-      digitalWrite(OUT_BAR_HIGH, HIGH);
+      digitalWrite(PASS_NOT_ALLOWED, LOW);
+      digitalWrite(PASS_ALLOWED, HIGH);
       Serial.println(F("The GATE is actually open"));
       break;
     case GATE_LOWERING:
-      digitalWrite(OUT_BAR_HIGH, LOW);
+      servoPos = GATE_CLOSED;
+      digitalWrite(PASS_ALLOWED, LOW);
+      digitalWrite(PASS_NOT_ALLOWED, HIGH);
       Serial.println(F("A new train is coming! Start closing the GATE."));
       Serial.println(F("The GATE is going to be closed"));
       break;
     case GATE_WAIT:
-      Serial.println(F("The GATE is stille closed and we have to wait a little"));
+      Serial.println(F("Train passed, but we have to wait a little time more"));
       break;
   }
 }
 
- // Blink and play the bell while gate is moving or closed
-void onStateMoveOpen(){
-  static uint32_t bTime;
-  if(millis() - bTime > BLINK_TIME) {
-    bTime = millis();
-    digitalWrite(OUT_LIGHT_BELL, !digitalRead(OUT_LIGHT_BELL));
-  }
+// Blink and play the bell while gate is moving or closed
+void blinkAndHorn(){
+  blinker.blink(true);
 }
 
 
 // Setup the State Machine
-void setupStateMachine() {
-
-  /* 
-   * Follow the order of enumeration for the state definition, if used.
-   * Index of states will be increased in library on every AddState()
-   * In this way, enumerated index of skecth will match the library index.
+void setupStateMachine() {  
+  /*
+    Follow the order of defined enumeration for the state definition (will be used as index)
+    You can add the states with 3 different overrides:
+    Add States => name, timeout, minTime, onEnter cb, onState cb, onLeave cb
+    Add States => name, timeout, onEnter cb, onState cb, onLeave cb
+    Add States => name, onEnter cb, onState cb, onLeave cb
   */
-
-  // Add States => name,timeout, onEnter cb, onState cb, onLeave cb
-  stateMachine.AddState(stateName[GATE_OPEN], 0, onEnter, nullptr, nullptr);  
-  stateMachine.AddState(stateName[GATE_LOWERING], MOVE_TIME, onEnter, onStateMoveOpen, nullptr);  
-  stateMachine.AddState(stateName[GATE_CLOSE], 0, onEnter, onStateMoveOpen, nullptr); 
-  stateMachine.AddState(stateName[GATE_WAIT], WAIT_FREE, onEnter, onStateMoveOpen, nullptr);  
-  stateMachine.AddState(stateName[GATE_RISING], MOVE_TIME, onEnter, onStateMoveOpen, nullptr);
+  stateMachine.AddState(stateName[GATE_OPEN], onEnter, nullptr, nullptr);  
+  stateMachine.AddState(stateName[GATE_LOWERING], MOVE_TIME, onEnter, blinkAndHorn, nullptr);  
+  stateMachine.AddState(stateName[GATE_CLOSE], onEnter, blinkAndHorn, nullptr); 
+  stateMachine.AddState(stateName[GATE_WAIT], WAIT_FREE, onEnter, blinkAndHorn, nullptr);  
+  stateMachine.AddState(stateName[GATE_RISING], MOVE_TIME, onEnter, blinkAndHorn, nullptr);
 
   // Add transitions with related trigger input callback functions  
-  stateMachine.AddTransition(GATE_OPEN,   GATE_LOWERING, theTrainIsComing);
-  stateMachine.AddTransition(GATE_LOWERING, GATE_CLOSE,  [](){return stateMachine.CurrentState()->timeout;} );
-  stateMachine.AddTransition(GATE_CLOSE,  GATE_WAIT,     theTrainIsGone);
-  stateMachine.AddTransition(GATE_WAIT,   GATE_RISING,   [](){return stateMachine.CurrentState()->timeout;} );
-  stateMachine.AddTransition(GATE_RISING, GATE_OPEN,     [](){return stateMachine.CurrentState()->timeout;} );
+  stateMachine.AddTransition(GATE_OPEN, GATE_LOWERING, theTrainIsComing);
+  stateMachine.AddTransition(GATE_CLOSE, GATE_WAIT, theTrainIsGone);
+
+  // Add "timed" transitions: it will be triggered on state timeout 
+  stateMachine.AddTransition(GATE_LOWERING, GATE_CLOSE);
+  stateMachine.AddTransition(GATE_WAIT, GATE_RISING);
+  stateMachine.AddTransition(GATE_RISING, GATE_OPEN);
+}
+
+
+void setup() {
+  // Input/Output configuration
+  pinMode(SIG_TRAIN_IN, INPUT_PULLUP);
+  pinMode(SIG_TRAIN_OUT, INPUT_PULLUP);
+  pinMode(PASS_NOT_ALLOWED, OUTPUT);
+  pinMode(PASS_ALLOWED, OUTPUT);
+
+  Serial.begin(115200);
+  Serial.println(F("Starting State Machine...\n"));
+  setupStateMachine();
+
+  onEnter();    // Call first time the onEnter() function to set outputs
+  Serial.print(F("Active state: "));
+  Serial.println(stateMachine.ActiveStateName());
+
+  theGate.attach(SERVO_PIN);
+}
+
+void loop() {
+  theGate.write(servoPos);
+
+  // Update State Machine
+  stateMachine.Update(); 
+
+  // Update the bool variables according to the signal inputs
+  theTrainIsGone = digitalRead(SIG_TRAIN_OUT) == LOW;
+  theTrainIsComing = digitalRead(SIG_TRAIN_IN) == LOW;
+
+  if (theTrainIsComing) {
+    // Reset enter time of GATE_WAIT so timeout became longer enough
+    // to wait two ore more trains one after the other 
+    stateMachine.SetEnteringTime(GATE_WAIT);
+    if (stateMachine.GetState() == GATE_WAIT ) {
+      delay(500);
+      Serial.println(F("Another train is arriving, wait more time!"));
+    }
+  }
 }