button debouncing, cancelling run commands works right

it has been deployed onto the trailer

trailer_cbox/trailer_cbox.ino

@@ -19,7 +19,7 @@ bool sensorFallingEdges[NUM_SENSORS]    = {false, false, false, false};
 uint32_t lastSensorDebounceTimes[NUM_SENSORS] = {0, 0, 0, 0};
 
 void checkSensors() {
-  Serial.print(' ');
+  //Serial.print(' ');
   for (uint8_t i = 0; i < NUM_SENSORS; i++) {
     bool reading = digitalRead(SENSORS[i]);
     
@@ -34,10 +34,10 @@ void checkSensors() {
     }
     
     lastSensorStates[i] = reading;
-    Serial.print(currentSensorStates[i] ? '-':'T');
+    //Serial.print(currentSensorStates[i] ? '-':'T');
   }
   
-  Serial.print(' ');
+  //Serial.print(' ');
 }
 
 bool checkSensor(int8_t ch) {
@@ -74,17 +74,8 @@ void checkButtons() {
     }
     
     lastButtonStates[i] = reading;
-    
-    if (buttonFallingEdges[i]) {
-      buttonFallingEdges[i] = false;
-      lastRepeatTimes[i] = millis();
-    }
 
-    /*if (currentButtonStates[i] == LOW && (millis() - lastRepeatTimes[i]) >= REPEAT_INTERVAL) {
+    //Serial.print(currentButtonStates[i] ? '-':'T');
-      lastRepeatTimes[i] = millis();
-      onButtonPush(i);
-    }*/
-    Serial.print(currentButtonStates[i] ? '-':'T');
   }
   //Serial.println();
 }
@@ -140,9 +131,9 @@ void setOutputs(int8_t cmd) {
     lastt = millis();
   }
 
-  Serial.print("CMD_");
+  //Serial.print("CMD_");
-  Serial.print(currentcmd);
+  //Serial.print(currentcmd);
-  Serial.print(" ");
+  //Serial.print(" ");
 
   setOutputsRaw(currentcmd);
 }
@@ -155,11 +146,13 @@ int8_t state;
 #define STATE_JOG 1
 #define STATE_RUN 2
 
+#define JOG_DEBOUNCE 160
+
 // handle state transitions
 void changeState(int8_t newState, int8_t newChannel=0) {
   switch(newState) {
     case STATE_JOG:
-      timer = millis() + 200;
+      timer = millis() + JOG_DEBOUNCE;
       break;
     case STATE_RUN:
       if (state != newState || channel != newChannel)
@@ -177,6 +170,7 @@ void changeState(int8_t newState, int8_t newChannel=0) {
     Serial.print(":");
     Serial.print(newChannel);
     Serial.print(" ");
+    Serial.println();
   }
 
   state = newState;
@@ -184,43 +178,34 @@ void changeState(int8_t newState, int8_t newChannel=0) {
 }
 
 
-uint32_t btn_runt=0;
-#define DEBOUNCE_BTN_RUN 350
-
 void runFSM() {
   // if any button is pressed, cancel any command, run the output manually.
   bool overridden = false;
 
   for (int8_t i=0; i<4; i++) {
-    if (currentButtonStates[i]) continue;
+    if (currentButtonStates[i]){
+      buttonFallingEdges[i] = false;
+      continue;
+    }
 
     if (!digitalRead(53)) {
       changeState(STATE_OFF);
       setOutputs(checkSensor(i+1) ? CMD_OFF:i+1);
     } else if (!digitalRead(51)) {
-      
+      if (buttonFallingEdges[i]) {
-      // TODO: iron this
+        if (state == STATE_RUN) {
-      if (state == STATE_RUN) {
-        // if running and a different channel, just shut off
-        if (channel != i+1) {
-          changeState(STATE_OFF);
-        // if running and the same channel, and we are past the time of the button being pressed
-        } else if (millis() > btn_runt) {
           changeState(STATE_OFF);
         } else {
           changeState(STATE_RUN, i+1);
-          btn_runt = millis() + DEBOUNCE_BTN_RUN;
         }
-      } else {
-        changeState(STATE_RUN, i+1);
-        btn_runt = millis() + DEBOUNCE_BTN_RUN;
       }
-
     } else {
       changeState(STATE_OFF);
       setOutputs(i+1);
     }
 
+    buttonFallingEdges[i] = false;
+
     overridden = true;
   }
 
@@ -259,8 +244,44 @@ void runFSM() {
   }
 }
 
-uint32_t rf_runt = 0;
+/*#define NUM_CMDS 8
 #define DEBOUNCE_RF 500
+bool lastCmdStates[NUM_CMDS]      = {LOW,LOW,LOW,LOW,LOW,LOW,LOW,LOW};
+bool currentCmdStates[NUM_CMDS]   = {LOW,LOW,LOW,LOW,LOW,LOW,LOW,LOW};
+bool cmdRisingEdges[NUM_CMDS]    = {0,0,0,0,0,0,0,0};
+uint32_t lastCmdDebounceTimes[NUM_BUTTONS] = {0, 0, 0, 0, 0};
+
+void checkButtons() {
+  for (uint8_t i = 0; i < NUM_CMDS; i++) {
+    if (reading != lastCmdStates[i]) {
+      lastCmdDebounceTimes[i] = millis();
+    }
+    
+    if ((millis() - lastCmdDebounceTimes[i]) > DEBOUNCE_DELAY) {
+      cmdRisingEdges[i] = false;
+      if (reading != currentCmdStates[i]) {
+        currentCmdStates[i] = reading;
+        
+        if (currentCmdStates[i]) {
+          cmdRisingEdges[i] = true;
+        }
+      }
+    }
+    
+    lastCmdStates[i] = reading;
+
+    Serial.print(currentButtonStates[i] ? '-':'T');
+  }
+  //Serial.println();
+}*/
+
+#define DEBOUNCE_RF 300
+
+bool cmdFirstSeen[8]  = {0,0,0,0,0,0,0,0};
+uint32_t cmdValidTil[8] = {0,0,0,0,0,0,0,0}; //{-10000,-10000,-10000,-10000,-10000,-10000,-10000,-10000};
+uint32_t cmdSeenThisScan[8] = {0,0,0,0,0,0,0,0}; //{-10000,-10000,-10000,-10000,-10000,-10000,-10000,-10000};
+//bool currentCmdState[8] = {0,0,0,0,0,0,0,0};
+//bool currentCmdState[8]   = {0,0,0,0,0,0,0,0};
 
 void checkRFTransmissions() {
   uint8_t buf[RH_ASK_MAX_MESSAGE_LEN]; // Buffer for incoming message
@@ -278,12 +299,50 @@ void checkRFTransmissions() {
     if (buf[3]!='b') return;
     if ((buf[4]+buf[5]) != buf[6]) return;      // checksum
     if (buf[5] < 49 || buf[5] > 52) return;     // valid channel
-    //if (buf[0] != 'J' && buf[0] != 'R') return; // valid command
+    if (buf[4] != 'J' && buf[4] != 'R') return; // valid command
 
-    if (buf[4] == 'J')
+    int8_t cmd_no = (buf[4] == 'J' ? 0:4) + buf[5]-49;
+
+    if (cmdValidTil[cmd_no] < millis()) {
+      cmdFirstSeen[cmd_no] = true;
+    }
+    cmdSeenThisScan[cmd_no] = true;
+    cmdValidTil[cmd_no] = millis() + DEBOUNCE_RF;
+  }
+
+  for (uint8_t i=0;i<8;i++) {
+    if (cmdSeenThisScan[i] && i<4) {
+      changeState(STATE_JOG, i+1);
+    } else if (cmdFirstSeen[i]) {
+      if (state == STATE_RUN) {
+        changeState(STATE_OFF);
+      } else {
+        changeState(STATE_RUN, i-4+1);
+      }
+    }
+    cmdFirstSeen[i] = false;
+    cmdSeenThisScan[i] = false;
+  }
+
+    /*if (buf[4] == 'J')
       changeState(STATE_JOG, buf[5]-48);
     if (buf[4] == 'R') {
-      // if running
+      if (state == STATE_RUN) {
+        if (channel == buf[5]-48) {
+          if (lastTimeOfCmd[cmd_no] > lastTimeOfCmd+DEBOUNCE_RF) {
+            changeState(STATE_OFF);
+          }
+        } else {
+          changeState(STATE_OFF);
+        }
+      } else {
+        if (lastTimeOfCmd[cmd_no] > lastTimeOfCmd+DEBOUNCE_RF) {
+          changeState(STATE_RUN, buf[5]-48);
+          lastTimeOfCmd[cmd_no] = millis();
+        }
+      }*/
+
+      /*// if running
       if (state == STATE_RUN) {
         // if running and a different channel, just shut off
         if (channel != buf[5]-48){
@@ -298,10 +357,10 @@ void checkRFTransmissions() {
       } else {
         changeState(STATE_RUN, buf[5]-48);
         rf_runt = millis() + DEBOUNCE_RF;
-      }
+      }*/
-    }
+    //}
       
-  }
+  //}
 }
 
 void setup() {
@@ -323,15 +382,15 @@ void loop() {
   runFSM();
 
   // check if both traps are closed
-  if(!checkSensor(CMD_F_C) || !checkSensor(CMD_R_C)) {
+  /*if(!checkSensor(CMD_F_C) || !checkSensor(CMD_R_C)) {
     digitalWrite(RELAY_4A, HIGH);
   } else {
     digitalWrite(RELAY_4A, LOW);
-  }
+  }*/
 
   //Serial.println("loop");
 
-  Serial.println();
+  //Serial.println();
 
   //delay(5);
 }