Finite Machine states inherit from OpInterface

.gitmodules

@@ -1,6 +1,12 @@
-[submodule "libraries/PacketSerial"]
+[submodule "lib/PacketSerial"]
+        active = true
 	path = lib/PacketSerial
 	url = https://github.com/bakercp/PacketSerial.git
-[submodule "libraries/Adafruit_MCP23008"]
-	url = https://github.com/adafruit/Adafruit-MCP23008-library.git
+[submodule "lib/Adafruit_MCP23008"]
+        active = true
 	path = lib/Adafruit_MCP23008
+	url = https://github.com/adafruit/Adafruit-MCP23008-library.git
+[submodule "lib/avr-libc"]
+        active = true
+	path = lib/avr-libc
+	url = https://github.com/avrdudes/avr-libc.git

doc/finite_state_machine.md

@@ -1,9 +1,10 @@
 ### Finite State Machine
 
-The finite state machine is defined in the `Fsm` class.
+The finite state machine is defined in the `Controller` class.
 
 | State  | Action |
      --: | :--
+ `Idle`  | Wait for information on machine type.
  `Init`  | Wait for carriage to be put in the correct location.
  `Ready` | Wait to start operation.
  `Knit`  | Operate in knitting mode.
@@ -14,9 +15,11 @@ A tabular representation of state transitions follows.
 
 | Transition      | Function / condition |
               --: | :--
- `Init  -> Test`  | `Tester::startTest()`  
- `Ready -> Test`  | `Tester::startTest()`  
- `Test  -> Init`  | `Tester::quitCmd()`
- `Init  -> Ready` | `Knitter::isReady()`
- `Ready -> Knit`  | `Knitter::startKnitting()`
- `Knit  -> Ready` | `m_workedOnLine && m_lastLineFlag`
+ `Idle  -> Init`  | `Com::h_reqInit()`
+ `Init  -> Ready` | `OpInit::update()`
+ `Ready -> Knit`  | `OpKnit::startKnitting()`
+ `Init -> Test`   | `OpTest::startTest()`
+ `Ready -> Test`  | `OpTest::startTest()`
+ `Knit -> Test`   | `OpTest::startTest()`
+ `Knit  -> Init`  | `m_workedOnLine && m_lastLineFlag`
+ `Test  -> Init`  | `OpTest::end()`

platformio.ini

@@ -13,8 +13,8 @@ default_envs = uno
 
 [env]
 framework = arduino
-extra_scripts = 
-    pre:scripts/preBuild.py 
+extra_scripts =
+    pre:scripts/preBuild.py
 
 [env:uno]
 platform = atmelavr

scripts/preBuild.py

@@ -5,7 +5,7 @@
 Import("env")
 print("Pre build script")
 
-# Reads the current git tag of the repo and returns the version number 
+# Reads the current git tag of the repo and returns the version number
 # elements
 # In case there are changes since the last tag, the dirty flag is set
 # In case the git tag does not match the x.y.z format, 0.0.0 is used as fallback

src/ayab/atomic.h

@@ -0,0 +1,58 @@
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+/* Inline assembly suggested by @jpcornil-git */
+
+#define ENTER_CRITICAL() __asm__ __volatile__ (       \
+   "in __tmp_reg__, __SREG__"                  "\n\t" \
+   "cli"                                       "\n\t" \
+   "push __tmp_reg__"                          "\n\t" \
+   ::: "memory"                                       \
+   )
+
+#define EXIT_CRITICAL() __asm__ __volatile__ (        \
+   "pop __tmp_reg__"                           "\n\t" \
+   "out __SREG__, __tmp_reg__"                 "\n\t" \
+   ::: "memory"                                       \
+   )
+
+/* Suggested by @jpcornil-git based on https://arduino.stackexchange.com/questions/77494/which-arduinos-support-atomic-block */
+
+#define ATOMIC_BLOCK(type) for(type; type##_OBJECT_NAME.run(); type##_OBJECT_NAME.stop())
+#define ATOMIC_RESTORESTATE_OBJECT_NAME atomicBlockRestoreState_
+#define ATOMIC_RESTORESTATE AtomicBlockRestoreState ATOMIC_RESTORESTATE_OBJECT_NAME
+
+class AtomicBlockRestoreState
+{
+public:
+    // Constructor: called when the object is created
+    inline AtomicBlockRestoreState()
+    {
+        sreg_save = SREG; // save status register
+        cli(); // turn interrupts OFF
+    }
+
+    // Destructor: called when the object is destroyed (ex: goes out-of-scope)
+    inline ~AtomicBlockRestoreState()
+    {
+        SREG = sreg_save; // restore status register
+        __asm__ volatile ("" ::: "memory");  // memory barrier
+    }
+
+    // Can we run? Returns true to run the `for` loop or
+    // `false` to stop it.
+    inline bool run()
+    {
+        return run_now;
+    }
+
+    // Tell the `for` loop to stop
+    inline void stop()
+    {
+        run_now = false;
+    }
+
+private:
+    bool run_now = true;
+    uint8_t sreg_save;
+};

src/ayab/beeper.cpp

@@ -80,7 +80,7 @@ void Beeper::endWork() {
 /*!
  * Beep handler scheduled from main loop
  */
-void Beeper::schedule() {
+void Beeper::update() {
   long unsigned int now = millis();
   switch (m_currentState) {
   case BeepState::On:
@@ -107,7 +107,7 @@ void Beeper::schedule() {
     }
     break;
   case BeepState::Idle:
-  default:
+  default: // GCOVR_EXCL_LINE
     break;
   }
 }

src/ayab/beeper.h

@@ -17,7 +17,7 @@
  *    along with AYAB.  If not, see <http://www.gnu.org/licenses/>.
  *
  *    Original Work Copyright 2013 Christian Obersteiner, Andreas Müller
- *    Modified Work Copyright 2020 Sturla Lange, Tom Price
+ *    Modified Work Copyright 2020-3 Sturla Lange, Tom Price
  *    http://ayab-knitting.com
  */
 
@@ -44,12 +44,12 @@ class BeeperInterface {
 
   // any methods that need to be mocked should go here
   virtual void init(bool enabled) = 0;
-  virtual bool enabled() = 0;
-  virtual BeepState getState() = 0;
+  virtual void update() = 0;
   virtual void ready() = 0;
   virtual void finishedLine() = 0;
   virtual void endWork() = 0;
-  virtual void schedule() = 0;
+  virtual BeepState getState() = 0;
+  virtual bool enabled() = 0;
 };
 
 // Container class for the static methods that control the beeper.
@@ -67,12 +67,12 @@ class GlobalBeeper final {
   static BeeperInterface *m_instance;
 
   static void init(bool enabled);
-  static bool enabled();
-  static BeepState getState();
+  static void update();
   static void ready();
   static void finishedLine();
   static void endWork();
-  static void schedule();
+  static BeepState getState();
+  static bool enabled();
 };
 
 /*!
@@ -81,12 +81,12 @@ class GlobalBeeper final {
 class Beeper : public BeeperInterface {
 public:
   void init(bool enabled) final;
-  bool enabled() final;
-  BeepState getState() final;
+  void update() final;
   void ready() final;
   void finishedLine() final;
   void endWork() final;
-  void schedule() final;
+  BeepState getState() final;
+  bool enabled() final;
 
 private:
   void beep(uint8_t repeats);