Merge pull request #10 from HAW-MT-Jg2013/development

all tested with machine

.gitignore

@@ -3,3 +3,6 @@
 *.vpp~*
 
 *.pages
+
+Programm/build
+Programm/dist

Programm/Makefile

@@ -0,0 +1,128 @@
+#
+#  There exist several targets which are by default empty and which can be 
+#  used for execution of your targets. These targets are usually executed 
+#  before and after some main targets. They are: 
+#
+#     .build-pre:              called before 'build' target
+#     .build-post:             called after 'build' target
+#     .clean-pre:              called before 'clean' target
+#     .clean-post:             called after 'clean' target
+#     .clobber-pre:            called before 'clobber' target
+#     .clobber-post:           called after 'clobber' target
+#     .all-pre:                called before 'all' target
+#     .all-post:               called after 'all' target
+#     .help-pre:               called before 'help' target
+#     .help-post:              called after 'help' target
+#
+#  Targets beginning with '.' are not intended to be called on their own.
+#
+#  Main targets can be executed directly, and they are:
+#  
+#     build                    build a specific configuration
+#     clean                    remove built files from a configuration
+#     clobber                  remove all built files
+#     all                      build all configurations
+#     help                     print help mesage
+#  
+#  Targets .build-impl, .clean-impl, .clobber-impl, .all-impl, and
+#  .help-impl are implemented in nbproject/makefile-impl.mk.
+#
+#  Available make variables:
+#
+#     CND_BASEDIR                base directory for relative paths
+#     CND_DISTDIR                default top distribution directory (build artifacts)
+#     CND_BUILDDIR               default top build directory (object files, ...)
+#     CONF                       name of current configuration
+#     CND_PLATFORM_${CONF}       platform name (current configuration)
+#     CND_ARTIFACT_DIR_${CONF}   directory of build artifact (current configuration)
+#     CND_ARTIFACT_NAME_${CONF}  name of build artifact (current configuration)
+#     CND_ARTIFACT_PATH_${CONF}  path to build artifact (current configuration)
+#     CND_PACKAGE_DIR_${CONF}    directory of package (current configuration)
+#     CND_PACKAGE_NAME_${CONF}   name of package (current configuration)
+#     CND_PACKAGE_PATH_${CONF}   path to package (current configuration)
+#
+# NOCDDL
+
+
+# Environment 
+MKDIR=mkdir
+CP=cp
+CCADMIN=CCadmin
+
+
+# build
+build: .build-post
+
+.build-pre:
+# Add your pre 'build' code here...
+
+.build-post: .build-impl
+# Add your post 'build' code here...
+
+
+# clean
+clean: .clean-post
+
+.clean-pre:
+# Add your pre 'clean' code here...
+
+.clean-post: .clean-impl
+# Add your post 'clean' code here...
+
+
+# clobber
+clobber: .clobber-post
+
+.clobber-pre:
+# Add your pre 'clobber' code here...
+
+.clobber-post: .clobber-impl
+# Add your post 'clobber' code here...
+
+
+# all
+all: .all-post
+
+.all-pre:
+# Add your pre 'all' code here...
+
+.all-post: .all-impl
+# Add your post 'all' code here...
+
+
+# build tests
+build-tests: .build-tests-post
+
+.build-tests-pre:
+# Add your pre 'build-tests' code here...
+
+.build-tests-post: .build-tests-impl
+# Add your post 'build-tests' code here...
+
+
+# run tests
+test: .test-post
+
+.test-pre: build-tests
+# Add your pre 'test' code here...
+
+.test-post: .test-impl
+# Add your post 'test' code here...
+
+
+# help
+help: .help-post
+
+.help-pre:
+# Add your pre 'help' code here...
+
+.help-post: .help-impl
+# Add your post 'help' code here...
+
+
+
+# include project implementation makefile
+include nbproject/Makefile-impl.mk
+
+# include project make variables
+include nbproject/Makefile-variables.mk

Programm/Sources/FestoProcessAccess.cpp

@@ -16,6 +16,7 @@
 FestoProcessAccess::FestoProcessAccess(FestoProcessImage* processImage) {
     timeCounter = 0;
     process = processImage;
+    plugin = NULL;
 
 #ifdef LOG_PROCESS
     logFile = fopen("c:\\tmp\\processlog.txt","w");
@@ -32,6 +33,10 @@ FestoProcessAccess::~FestoProcessAccess() {
     }
 }
 
+void FestoProcessAccess::addPlugin(Plugin *heightPlugin) {
+    plugin = heightPlugin;
+}
+
 void FestoProcessAccess::updateInputs(void) {
     timeCounter = time(NULL);
     process->updateProcessImage();
@@ -50,21 +55,25 @@ void FestoProcessAccess::applyOutput(void) {
 
 void FestoProcessAccess::driveRight(void) {
     process->setBitInOutput(DRIVE_DIRECTION_RIGHT);
+    process->clearBitInOutput(DRIVE_DIRECTION_LEFT);
     process->clearBitInOutput(DRIVE_STOP);
 }
 
 void FestoProcessAccess::driveLeft(void) {
     process-> setBitInOutput(DRIVE_DIRECTION_LEFT);
+    process-> clearBitInOutput(DRIVE_DIRECTION_RIGHT);
     process-> clearBitInOutput(DRIVE_STOP);
 }
 
 void FestoProcessAccess::driveSlowRight(void) {
     process->setBitInOutput(DRIVE_DIRECTION_RIGHT | DRIVE_SLOW);
+    process->clearBitInOutput(DRIVE_DIRECTION_LEFT);
     process->clearBitInOutput(DRIVE_STOP);
 }
 
 void FestoProcessAccess::driveSlowLeft(void) {
     process->setBitInOutput(DRIVE_DIRECTION_LEFT | DRIVE_SLOW);
+    process->clearBitInOutput(DRIVE_DIRECTION_RIGHT);
     process->clearBitInOutput(DRIVE_STOP);
 }
 
@@ -149,6 +158,10 @@ bool FestoProcessAccess::isItemAtHightSensor(void) {
     return !(process->isBitSet(ITEM_AT_HIGHT_SENSOR)); // active low
 };
 
+bool FestoProcessAccess::hasItemCorrectHight(void) {
+    return !(plugin->result()); // true is item with defect
+}
+
 bool FestoProcessAccess::isItemAtMetalDetector(void) {
     return !(process->isBitSet(ITEM_AT_JUNCTION)); // active low
 }

Programm/Sources/FestoProcessAccess.h

@@ -16,18 +16,21 @@
 
 #include "FestoProcessSensors.h"
 #include "processimage.h"
+#include "plugin.h"
 
 #define LOG_PROCESS
 
 class FestoProcessAccess : public FestoProcessSensors {
 private:
     time_t timeCounter;
     FestoProcessImage* process;
+    Plugin* plugin;
     FILE* logFile;
 
 public:
     FestoProcessAccess(FestoProcessImage* processImage);
     virtual ~FestoProcessAccess();
+    void addPlugin(Plugin* heightPlugin);
 public:
     void updateInputs(void);
     void applyOutput(void);
@@ -57,6 +60,7 @@ class FestoProcessAccess : public FestoProcessSensors {
 
     virtual bool isItemAtBeginning(void);
     virtual bool isItemAtHightSensor(void);
+    virtual bool hasItemCorrectHight(void);
     virtual bool isItemAtMetalDetector(void);
     virtual bool isMetalDetected(void);
     virtual bool isJunctionOpen(void);

Programm/Sources/FestoProcessSensors.h

@@ -16,7 +16,7 @@ class FestoProcessSensors {
 public:
     virtual bool isItemAtBeginning(void) = 0;
     virtual bool isItemAtHightSensor(void) = 0;
-    //virtual bool hasItemCorrectHight(void)= 0;
+    virtual bool hasItemCorrectHight(void)= 0;
     virtual bool isItemAtMetalDetector(void) = 0;
     virtual bool isMetalDetected(void) = 0;
     virtual bool isJunctionOpen(void) = 0;

Programm/Sources/HeightProfileCheck.cpp

@@ -3,9 +3,107 @@
  *
  * class for checking the height profile of the items
  *
- * \author  Jannik Beyerstedt
- * \version 0.1
- * \date    2014-11-25
+ * \author  Jannik Beyerstedt, Daniel Friedrich
+ * \version 0.2
+ * \date    2014-12-08
  */
 
 #include "HeightProfileCheck.h"
+
+
+HeightProfileCheck::HeightProfileCheck(FestoProcessSensors *process) {
+    this->process = process;
+    currentState = H_Standby;
+
+    logFile.open("hightCheckLog.txt");
+}
+
+HeightProfileCheck::~HeightProfileCheck() {
+    this->process = NULL;
+
+    logFile.close();
+}
+
+void HeightProfileCheck::evalCycle() {
+    evalEvents();
+    evalState();
+}
+
+void HeightProfileCheck::evalEvents() {
+    unsigned short height = process->getHight();
+    heights heightLevel = Incorrect;
+
+    if ( (lowVal-tolSmall) <= height && height <= (lowVal+tolSmall) ) {
+         heightLevel = Low;
+    }else if ( (midVal-tolWide) <= height && height <= (midVal+tolWide) ) {
+        heightLevel = Middle;
+    }else if ( (highVal-tolWide) <= height && height <= (highVal+tolWide) ) {
+        heightLevel = High;
+    }else {
+        heightLevel = Incorrect;
+    }
+
+
+    switch (currentState) {
+        case H_Standby:
+            if (heightLevel == High) {
+                currentState = ItemDetected;
+            }
+            break;
+        case ItemDetected:
+            if (heightLevel == Low) {
+                currentState = H_Standby;
+            }else if (heightLevel == Middle) {
+                currentState = ItemWrong;
+            }
+            break;
+        case ItemWrong:
+            if (heightLevel == High) {
+                currentState = WrongType2;
+            }else if (heightLevel == Low) {
+                currentState = WrongType1;
+            }
+            break;
+        case WrongType1:
+            currentState = H_Standby;
+            break;
+        case WrongType2:
+            currentState = H_Standby;
+            break;
+        default:
+            break;
+    }
+}
+
+void HeightProfileCheck::evalState() {
+    switch (currentState) {
+        case H_Standby:
+            itemDiagnosis = 0;
+            break;
+        case WrongType1:
+            itemDiagnosis = 1;
+            logDefectType("defect type 1");
+            break;
+        case WrongType2:
+            itemDiagnosis = 1;
+            logDefectType("defect type 2");
+            break;
+
+        default:
+            break;
+    }
+
+}
+
+bool HeightProfileCheck::result() {
+    return itemDiagnosis;
+}
+
+void HeightProfileCheck::logDefectType(std::string defectDescription) {
+    if (logFile.is_open()) {
+        logFile   << time(NULL) << " wrong item: " <<  defectDescription << std::endl;
+        std::cout << time(NULL) << " wrong item: " <<  defectDescription << std::endl;
+    }else {
+        std::cout << "logfile can´t be accessed" << std::endl;
+    }
+}