Master Service

This service is responsible for the coordination of all the services and tracking the current state of the cat. After booting up, the first press of the button on the cat's belly will trigger a welcome introduction. Then a second press will actually start the game. The Master Service will then generates actions for the user to complete, and call the concerned services to activate them. It will then either receive a confirmation message affirming that the user completed the task and in that case, it will bring the cat closer to Nirvana, or stop the action after some time. To give the user some feedback, the Master Service will show some eye animations, turn on and off some LEDs, play some sound, wag the cat's tail and maybe dispense a chocolate.

Constants And module variables

# Constants

Create_constant DELAY_BLINK as 400 # milliseconds

Create_constant DELAY_WELCOME as 13500 # milliseconds

Create_constant DELAY_MAX_INACTIVE as 30000 # milliseconds

Create_constant DELAY_BETWEEN_TASKS as 2700 # milliseconds

Create_constant DELAY_NIRVANA as 10500 # milliseconds

Create_constant TAIL_SPEED_WELCOME as 140 # out of 255

Create_constant TAIL_SPEED_ACTIVE as 100 # out of 255

Create_constant TAIL_SPEED_NIRVANA as 220 # out of 255

Create_constant TAIL_SPEED_HAPPY as 190 # out of 255

Create_constant DELAY_TO_FEED as 8000 # milliseconds

Create_constant DELAY_TO_PET as 15000 # milliseconds

Create_constant DELAY_TO_PAW as 12000 # milliseconds

Create_constant NB_TASKS_TO_COMPLETE as 6

# Variables

Declare CurrentState as State

Instantiate stateLED to 0

Instantiate lastTask to 0

Instantiate currentTask to 0

Instantiate sequence[] to {2,1,2,1,3,1,3,2,1,3,1}

Instantiate pos_in_sequence to 0

Instantiate tasks_completed to 0

MODULE FUNCTIONS

# Display a given animation

Function DisplayAnim(uint8_t animation_index):

Post_to EyesService ES_EYES_SET_ANIM with parameter animation_index

Endfunction

# Flips the hourglass

Function StartHourglass:

Post_to HourGlassService ES_HOURGLASS_START

Endfunction

# Resets the hourglass

Function ResetHourglass:

Post_to HourGlassService ES_HOURGLASS_RESET

Endfunction

# Starts to wag the tail

Function StartTail:

ES_Event_t event

event.EventType = ES_TAIL_START_OSCILLATING

PostServoTailService(event)

Endfunction

# Sets the wagging speed of the tail

Function SetTailSpeed(uint8_t tail_speed):

Post_to TailService ES_TAIL_SET_SPEED with parameter tail_speed

Endfunction

# Stops the wagging of the tail

Function StopTail:

Post_to TailService ES_TAIL_MOVE_TO with parameter 90

Endfunction

# Sets the Petting service as active

Function ActivatePettingService:

Post_to PressureSensorService ES_PETTING_ACTIVATE

Endfunction

# Sets the Feeding service as active

Function ActivateFeedingService:

Post_to FeedingService ES_FEEDING_ACTIVATE

Endfunction

# Sets the Pawmoving service as active

Function ActivatePawMovingService:

Post_to PawMovingService ES_PAWMOVING_ACTIVATE

Endfunction

# Dispenses a chocolate

Function Dispense:

Post_to DispenserService ES_DISPENSE

Endfunction

# Send a signal to the second PIC to play an audio (or turn on an LED)

Function PlayAudio(uint8_t audio):

Post_to SignalSendingService ES_PLAY_AUDIO with parameter audio

Endfunction

# Turns on the next progress LED

Function IncreaseLED:

Post_to SignalSendingService ES_PLAY_AUDIO with parameter 11

Endfunction

# Used when the user does an action to reset the inactive timer

Function SetMasterActive:

Post_to MasterService ES_DOING_STUFF

Endfunction

# Resets the Inactive timer

Function ResetInactiveTimer:

Stop_timer InactiveTimer

Start_timer InactiveTimer with duration DELAY_MAX_INACTIVE

Endfunction

# Sends a signal to the second PIC to control the state LED

Function SetStateLED:

Post_to SignalSendingService ES_PLAY_AUDIO with parameter 13 - stateLED

Endfunction

# Blinks the state LED

Function BlinkStateLED:

Call SetStateLED()

Set stateLED to 1 - stateLED

Start_timer BlinkTimer with duration DELAY_BLINK

Endfunction

# Do all the necessary steps to go to reset

Function ResetMaster(bool reset_hg):

Post_to ALL_SERVICES ES_FAIL

Set pos_in_sequence to 0

Set tasks_completed to 0

Set lastTask to 0

Set currentTask to 0

Call StopTail()

If reset_hg:

Call ResetHourglass()

Set CurrentState to ResettingMaster

Call DisplayAnim(ANIM_INACTIVE)

Set stateLED to 0

Else:

Set CurrentState to BeforeWelcome

Call DisplayAnim(ANIM_SAD)

Set stateLED to 1

Endif

Call SetStateLED()

Call PlayAudio(15) # Turns off all the LEDs

Endfunction

# Do all the necessary steps to go to inactive

Function GoToInactive(bool reset_anim):

Post_to ALL_SERVICES ES_FAIL

Set pos_in_sequence to 0

Set tasks_completed to 0

Set lastTask to 0

Set currentTask to 0

If reset_anim:

Call DisplayAnim(ANIM_INACTIVE)

Endif

Call StopTail()

Start_timer BlinkTimer with duration DELAY_BLINK

Call PlayAudio(14) # Stops all the songs

Call PlayAudio(15) # Turns off all the LEDs

Endfunction

SERVICE INITIALIZATION

Function InitMasterService:

Set BUTTON_TRIS to 1 # Input

Set pos_in_sequence to 0 # Sets the first action to do by the user

Call PlayAudio(14) # Stops all the songs

Call PlayAudio(15) # Turns off all the LEDs

# Posts the initial transition in 2 seconds

Set CurrentState to InitMasterState

Start_timer MasterTimer with duration 2000

Endfunction

SERVICE RUN

Function RunMasterService(event):

Instantiate NextState to CurrentState

If type of event is ES_TIMEOUT and parameter is InactiveTimer:

Call ResetMaster(true)

Return

Endif

Switch CurrentState:

case InitMasterState:

If type of event is ES_TIMEOUT:

Set NextState to BeforeWelcome

Call PlayAudio(AUDIO_HAPPY)

Call DisplayAnim(ANIM_INACTIVE)

Call StopTail()

Call ResetHourglass()

Endif

case BeforeWelcome:

If type of event is ES_BUTTON_PRESSED:

Set NextState to WelcomeState

Post_to MasterService ES_START_WELCOMING

Endif

case WelcomeState:

If type of event is ES_START_WELCOMING:

Call PlayAudio(AUDIO_WELCOME)

Call DisplayAnim(ANIM_WELCOME)

Call SetTailSpeed(TAIL_SPEED_WELCOME)

Call StartTail()

Set stateLED to 0

Call SetStateLED()

Start_timer MasterTimer with duration DELAY_WELCOME

ElseIf type of event is ES_TIMEOUT and parameter is MasterTimer:

Set NextState to InactiveMaster

Call GoToInactive(false)

Endif

case InactiveMaster:

If type of event is ES_BUTTON_PRESSED:

Call PlayAudio(AUDIO_PET_ME)

Set stateLED to 1

Call SetStateLED()

Call StartHourglass()

Call DisplayAnim(ANIM_ACTIVE)

Call SetTailSpeed(TAIL_SPEED_ACTIVE)

Call StartTail()

Set NextState to InBetweenTasks

Call ResetInactiveTimer()

Start_timer MasterEndTaskTimer with duration DELAY_BETWEEN_TASKS

ElseIf type of event is ES_TIMEOUT and parameter is BlinkTimer:

Call BlinkStateLED()

Endif

case ResettingMaster:

If type of event is ES_HOURGLASS_RESET_COMPLETED:

Set NextState to InactiveMaster

Call GoToInactive(true)

Endif

case StartingTask:

If type of event is ES_HOURGLASS_TIMEOUT:

Call ResetMaster(false)

Set NextState to BeforeWelcome

ElseIf type of event is ES_GENERATE_NEW_TASK:

If tasks_completed >= NB_TASKS_TO_COMPLETE:

Set NextState to Nirvana

Post_to MasterService ES_NIRVANA_REACHED

Else:

Set currentTask to lastTask

Set currentTask to sequence[pos_in_sequence]

Set pos_in_sequence to pos_in_sequence + 1

If pos_in_sequence >= sizeof(sequence):

Set pos_in_sequence to 0

Endif

If currentTask is 1:

Call PlayAudio(AUDIO_HUNGRY)

Start_timer MasterEndTaskTimer with duration DELAY_TO_FEED

Post_to FeedingService ES_FEEDING_ACTIVATE

ElseIf currentTask is 2:

Call PlayAudio(AUDIO_PET_ME)

Start_timer MasterEndTaskTimer with duration DELAY_TO_PET

Post_to PressureSensorService ES_PETTING_ACTIVATE

ElseIf currentTask is 3:

Call PlayAudio(AUDIO_LET_ME_PET_YOU)

Start_timer MasterEndTaskTimer with duration DELAY_TO_PAW

Post_to PawMovingService ES_PAWMOVING_ACTIVATE

Endif

Set NextState to WaitingForTask

Call SetTailSpeed(TAIL_SPEED_ACTIVE)

Endif

case WaitingForTask:

If type of event is ES_HOURGLASS_TIMEOUT:

Call ResetMaster(false)

Set NextState to BeforeWelcome

ElseIf type of event is ES_TIMEOUT and parameter is MasterEndTaskTimer:

Set NextState to StartingTask

Set lastTask to currentTask

Post_to ALL_SERVICES ES_FAIL # Stops all task services

Post_to MasterService ES_GENERATE_NEW_TASK # Generate a new task to complete

ElseIf type of event is ES_DOING_STUFF:

Call ResetInactiveTimer()

ElseIf (type of event is ES_FEEDING_COMPLETED and currentTask is 1)

or (type of event is ES_PETTING_COMPLETED and currentTask is 2)

or (type of event is ES_PAWMOVING_COMPLETED and currentTask is 3):

Set tasks_completed to tasks_completed + 1

If currentTask is not 1:

Call PlayAudio(AUDIO_HAPPY)

Endif

Call IncreaseLED()

Set lastTask to currentTask

Stop_timer MasterEndTaskTimer

Set NextState to InBetweenTasks

ES_Timer_InitTimer(MasterEndTaskTimer, DELAY_BETWEEN_TASKS)

Call ResetInactiveTimer()

# Display happiness

Call DisplayAnim(ANIM_HAPPY)

Call SetTailSpeed(TAIL_SPEED_HAPPY)

# Stops all task services

Post_to ALL_SERVICES ES_FAIL

Endif

case InBetweenTasks:

If type of event is ES_HOURGLASS_TIMEOUT:

Call ResetMaster(false)

Set NextState to BeforeWelcome

ElseIf type of event is ES_TIMEOUT and parameter is MasterEndTaskTimer:

Set NextState to StartingTask

# Generate a new task to complete

Post_to MasterService ES_GENERATE_NEW_TASK

Endif

case Nirvana:

If type of event is ES_NIRVANA_REACHED:

Call PlayAudio(AUDIO_NIRVANA)

Call DisplayAnim(ANIM_NIRVANA)

Call SetTailSpeed(TAIL_SPEED_NIRVANA)

Call Dispense()

Start_timer MasterEndTaskTimer with duration DELAY_NIRVANA

ElseIf type of event is ES_TIMEOUT and parameter is MasterEndTaskTimer:

Call Call ResetMaster(true)

Set NextState to BeforeWelcome

Endif

Endswitch

Set CurrentState to NextState

Endfunction