From: Lukáš Jiřiště <jiriste@icpf.cas.cz>
Date: Mon, 18 Nov 2024 14:36:16 +0000 (+0100)
Subject: Implement interruptable_delay
X-Git-Url: https://git.ljiriste.work/?a=commitdiff_plain;h=96f7f2983b100d3c4b3c75438e3d8e91ae9728fc;p=Servomatic.git

Implement interruptable_delay

This enables a fast interruption of the sequence (mainly the
wait_for_equilibrium method).
---

diff --git a/Measurement.h b/Measurement.h
index 4b5c596..a0813e6 100644
--- a/Measurement.h
+++ b/Measurement.h
@@ -34,7 +34,7 @@ class Measurement
 		void	get_measurement();
 		void	thin_out();
 		void	clear();
-		void	wait_for_equilibrium(float threshold = 0.01);
+		int		wait_for_equilibrium(float threshold = 0.01);
 };
 
 #endif // MEASUREMENT_H
diff --git a/Measurement.ino b/Measurement.ino
index 6eadc2d..3107f4b 100644
--- a/Measurement.ino
+++ b/Measurement.ino
@@ -1,4 +1,5 @@
 #include "Measurement.h"
+#include "Servomatic.h"
 
 Measurement::Measurement(const PressureSensor &sensor)
 	: m_size{0}
@@ -70,14 +71,16 @@ void	Measurement::clear()
 //
 // Using this we can then numerically optimize a. Interval halving is used
 // because it is foolproof and the evaluation is not computationally demanding.
-void	Measurement::wait_for_equilibrium(float threshold = 0.01)
+int	Measurement::wait_for_equilibrium(float threshold = 0.01)
 {
 	clear();
 	while (m_size < 20 || threshold < calc_equilibrium_dist())
 	{
 		get_measurement();
-		delay(m_interval_ms);
+		if (interuptable_delay(m_interval_ms))
+			return (1);
 	}
+	return (0);
 }
 
 float	Measurement::calc_equilibrium_dist() const
diff --git a/Servomatic.h b/Servomatic.h
new file mode 100644
index 0000000..763cd4c
--- /dev/null
+++ b/Servomatic.h
@@ -0,0 +1,6 @@
+#ifndef SERVOMATIC_H
+# define SERVOMATIC_H
+
+int	interuptable_delay(unsigned long ms);
+
+#endif // SERVOMATIC_H
diff --git a/Servomatic.ino b/Servomatic.ino
index 368bc60..a1d97da 100644
--- a/Servomatic.ino
+++ b/Servomatic.ino
@@ -1,36 +1,91 @@
 #include "PressureSensor.h"
 #include "Valve.h"
+#include "CellValve.h"
 #include "Measurement.h"
+#include <avr/sleep.h>
 
 static const int	PRESSURE_SENSOR1_PIN = A1;
 static const int	PRESSURE_SENSOR2_PIN = A2;
 static const int	PRESSURE_SENSOR3_PIN = A3;
 
-static const int	SWITCH_PIN = 8;
+static const int	SWITCH_PIN = 2;	// Only pins 2; 3 have external interrupts
 
-static const int	VALVE_THREEWAY_PIN = 9;
-static const int	VALVE_CELL_PIN = 10;
-static const int	VALVE_PRESSURE_SENSOR_PIN = 11;
+static const int	THREEWAY_VALVE_PIN = 9;
+static const int	CELL_VALVE_PIN = 10;
+static const int	PRESSURE_SENSOR_VALVE_PIN = 11;
+static const int	VACUUM_VALVE_PIN = 12;
 
-int	main()
+static volatile int	interrupt_happened{0};
+
+void	interrupt_routine()
 {
-	init();
-	Serial.begin(9600);
+	interrupt_happened = 1;
+}
 
-	main_loop();
+int	interruptable_delay(unsigned long ms)
+{
+	const unsigned int	start_time{millis()};
+
+	while (ms > millis() - start_time)
+		if (interrupt_happened == 1)
+			return (1);
 	return (0);
 }
 
+void	signal_going_to_sleep()
+{
+	delay(300);
+	digitalWrite(SWITCH_PIN, HIGH);
+	pinMode(SWITCH_PIN, OUTPUT);
+	delay(100);
+	pinMode(SWITCH_PIN, INPUT);
+}
+
+void	sleep()
+{
+	noInterrupts();
+	if (digitalRead(SWITCH_PIN) == LOW)
+	{
+		set_sleep_mode(SLEEP_MODE_PWR_DOWN);
+		sleep_enable();
+		interrupts();
+		sleep_cpu();
+		sleep_disable();
+	}
+	else
+		interrupts();
+}
+
 void	main_loop()
 {
 	PressureSensor	sensor_1{PRESSURE_SENSOR1_PIN, 10};
-	Valve			test_valve{6, 760, 1600, 2400};
-	int				usec;
 	Measurement		measurement{sensor_1};
+	Valve			vacuum_valve{VACUUM_VALVE_PIN, 760, 2400};
+	CellValve		cell_valve{CELL_VALVE_PIN, 760, 1600,  2400};
+	Valve			gas_threeway_valve{THREEWAY_VALVE_PIN, 760, 2400};
 
 	while (1)
 	{
-		measurement.wait_for_equilibrium();
-		delay(10000);
+		while (!interrupt_happened && digitalRead(SWITCH_PIN) == HIGH)
+		{
+			if (measurement.wait_for_equilibrium())
+				break ;
+			// Operate valves to prepare for next jump.
+		}
+		signal_going_to_sleep();
+		sleep();
+		interrupt_happened = 0;
 	}
 }
+
+int	main()
+{
+	init();
+	Serial.begin(9600);
+	attachInterrupt(digitalPinToInterrupt(SWITCH_PIN), interrupt_routine,
+		CHANGE);
+	pinMode(SWITCH_PIN, INPUT);
+
+	main_loop();
+	return (0);
+}