/********************************************************************* 
Angels_EventCheckers.c Module 

This module holds all the functions that are checked by the ES framework
**********************************************************************


/********************************************************************* 
Functions initBumpSensors
Initializes bump sensors and limit swtiches

Parameters: None 
Returns: None
**********************************************************************/
Function  initBumpSensors 
  Sets the U ports setting bits 4-7 as inputs 
  Sets AD Ports 0-3 as inputs 
End function 

/********************************************************************* 
Functions X____X____Bumped()
Checks if the button has been pressed.

Parameters: None 
Returns: boolean TRUE if expired, FALSE otherwise
**********************************************************************/
Function AtLowerLimit
   if Lower Limit switch hit
      return True;
   otherwise 
      return False;
End function 

Function LowerLimitBumped
  Initialize ES_Event ThisEvent, Return value, last_lowerlimit, 
  current_lowerlimit, time of last sample and current time. 
	ReturnVal set to false;
      if currentlower limit doesnt equal last lower limit, and lower limit is hit 
        post EV_HOPPER_BOTTOM_LIMIT
        set ReturnVal to True;
		return ReturnVal;
      end if
	Reset TimeOfLastSample 
	Set Last_lowerlimit as the current lower limit 
	return returnVal
End function

Function MiddleLimitBumped
  Initialize ES_Event ThisEvent, Return value, last_middlelimit, 
  current_middlelimit, time of last sample and current time. 
	ReturnVal set to false;
      if currentmiddlelimit doesnt equal last_middlelimit, and middle limit is hit 
        post EV_HOPPER_MIDDLE_LIMIT
        set ReturnVal to True;
		return ReturnVal;
      end if
	Reset TimeOfLastSample 
	Set Last_middlelimit as the current_middlelimit 
	return returnVal
End function

Function UpperLimitBumped
  Initialize ES_Event ThisEvent, Return value, last_upperlimit, 
  current_upperlimit, time of lastsample and current time. 
	ReturnVal set to false;
      if currentlower upper doesnt equal last_upperlimit, and upperlimit is hit 
        post EV_HOPPER_UPPER_LIMIT
        set ReturnVal to True;
		return ReturnVal;
      end if
	Reset TimeOfLastSample 
	Set Last_upperlimit as the current_upperlimit 
	return returnVal
End function


Function FrontRightBumped
  Initialize ES_Event ThisEvent, Return value, last_frontRight, 
  current_frontRight, time of lastsample and current time. 
	ReturnVal set to false;
      if current_frontRight doesnt equal last_frontRight, and frontRight is hit 
        post EV_BUMP_FRONT_RIGHT;
        set ReturnVal to True;
		return ReturnVal;
      end if
	Reset TimeOfLastSample 
	Set Last_frontRight as the current_frontRight
	return returnVal
End function

Function FrontLeftBumped
  Initialize ES_Event ThisEvent, Return value, last_frontLeft, 
  current_frontLeft, time of lastsample and current time. 
	ReturnVal set to false;
      if current_frontLeft doesnt equal last_frontLeft, and frontLeft is hit 
        post EV_BUMP_FRONT_LEFT;
        set ReturnVal to True;
		return ReturnVal;
      end if
	Reset TimeOfLastSample 
	Set Last_frontLeft as the current_frontLeft
	return returnVal
End function


Function BackRightBumped
  Initialize ES_Event ThisEvent, Return value, last_backRight, 
  current_backRight, time of lastsample and current time. 
	ReturnVal set to false;
      if current_backRight doesnt equal last_backRight, and backRight is hit 
        post EV_BUMP_BACK_RIGHT;
        set ReturnVal to True;
		return ReturnVal;
      end if
	Reset TimeOfLastSample 
	Set Last_backRight as the current_backRight
	return returnVal
End function

Function BackLeftBumped
  Initialize ES_Event ThisEvent, Return value, last_backLeft, 
  current_backLeft, time of lastsample and current time. 
	ReturnVal set to false;
      if current_backLeft doesnt equal last_backLeft, and backLeft is hit 
        post EV_BUMP_BACK_LEFT;
        set ReturnVal to True;
		return ReturnVal;
      end if
	Reset TimeOfLastSample 
	Set Last_backLeft as the current_backLeft
	return returnVal
End function


/**************************************
Event Checking Functions for IR Beacons:
Parameter: Nothing
Returns: boolean TRUE if expired, FALSE otherwise
***************************************/

Function CheckLeftBeaconEvent   
   Set boolean ReturnVal to FALSE;
   Inititialize ES_Event ThisEvent, LastPeriod[ArraySize], WorkingPeriod
   BeaconSeen=0, LastBeaconSeen=0, LastBeaconFoundTime, and LastPeriod[0] as LeftPeriod_uS(); 
   
   if we havent seen a becon in 63 seconds, 
      LastPeriod[0] =  0;
   end if
   set WorkingPeriod to LastPeriod[0];      // not averaging yet!
   
   // Characterize the beacon seen:
   if beacon period falls within range of beacon 1 period
      BeaconSeen=BEACON_1;
      LastBeaconFoundTime = ES_Timer_GetTime(); 
   end if
    else if beacon period falls within range of beacon 2 period
      BeaconSeen=BEACON_1;
      LastBeaconFoundTime = ES_Timer_GetTime(); 
   end if
    else if beacon period falls within range of beacon 3 period
      BeaconSeen=BEACON_1;
      LastBeaconFoundTime = ES_Timer_GetTime(); 
   end if
	else if beacon period falls within range of beacon 4 period
      BeaconSeen=BEACON_1;
      LastBeaconFoundTime = ES_Timer_GetTime(); 
   end if else 
   else
      BeaconSeen set to 0;
   
   // Create an Event if things have changed:
   if BeaconSeen doesnt equal LastBeaconSeen
	if BeaconSeen value is 0
         post event EV_LOSE_LEFT_SIGNAL with parameter 0;
		 set ReturnVal to True;
	end if
	else
         post event EV_FIND_LEFT_SIGNAL with parameter BeaconSeen;
         ThisEvent.EventParam = BeaconSeen;
		 set ReturnVal to True;
	end else
   set LastBeaconSeen to BeaconSeen;
   return ReturnVal; 
End function   


Function CheckRight BeaconEvent   
   Set boolean ReturnVal to FALSE;
   Inititialize ES_Event ThisEvent, LastPeriod[ArraySize], WorkingPeriod
   BeaconSeen=0, LastBeaconSeen=0, LastBeaconFoundTime, and LastPeriod[0] as RightPeriod_uS(); 
   
   if we havent seen a becon in 63 seconds, 
      LastPeriod[0] =  0;
   end if
   set WorkingPeriod to LastPeriod[0];      // not averaging yet!
   
   // Characterize the beacon seen:
   if beacon period falls within range of beacon 1 period
      BeaconSeen=BEACON_1;
      LastBeaconFoundTime = ES_Timer_GetTime(); 
   end if
    else if beacon period falls within range of beacon 2 period
      BeaconSeen=BEACON_1;
      LastBeaconFoundTime = ES_Timer_GetTime(); 
   end if
    else if beacon period falls within range of beacon 3 period
      BeaconSeen=BEACON_1;
      LastBeaconFoundTime = ES_Timer_GetTime(); 
   end if
	else if beacon period falls within range of beacon 4 period
      BeaconSeen=BEACON_1;
      LastBeaconFoundTime = ES_Timer_GetTime(); 
   end if else 
   else
      BeaconSeen set to 0;
   
   // Create an Event if things have changed:
   
   if BeaconSeen doesnt equal LastBeaconSeen
	if BeaconSeen value is 0
         post event EV_LOSE_RIGHT_SIGNAL with parameter 0;
		 set ReturnVal to True;
	end if
	else
         post event EV_FIND_RIGHT_SIGNAL with parameter BeaconSeen;
         ThisEvent.EventParam = BeaconSeen;
		 set ReturnVal to True;
	end else
   set LastBeaconSeen to BeaconSeen;
   return ReturnVal; 
End function