library IEEE;
use IEEE.std_logic_1164.all;
use IEEE.std_logic_arith.all;
use IEEE.std_logic_unsigned.all;
use IEEE.std_logic_signed.all;


entity controllore is
port(clk           : in std_logic;
     reset         : in std_logic;
     start         : in std_logic;
     -- cameras interface
     alfa          : out unsigned(4 downto 0);
     beta          : out unsigned(4 downto 0);
     alarm1        : in std_logic;
     alarm2        : in std_logic;
     -- control panel interface
     alarm         : out std_logic;
     camera        : out std_logic;
     angle         : out unsigned(4 downto 0);
     code          : in unsigned(5 downto 0)
     );
end controllore; 


architecture Esame of controllore is

type stato is (idle,conta1,conta2,scatta1,scatta2);
signal cs, ns 						: stato;
signal enable,scatta,avanti,trentasecondi,
		finecorsa1, finecorsa2		: std_logic;
signal count, next_count 			: unsigned(18 downto 0);
signal angleint, next_angleint 		: unsigned(4 downto 0);

signal alarm_active, next_alarm_active  : std_logic;
signal alarm_camera, next_alarm_camera  : std_logic;
signal angle_camera, next_angle_camera  : unsigned(4 downto 0);
signal ripristina 						: std_logic;

begin
	
	-- GESTIONE TELECAMERE
    process(clk)     -- contatore 30 sec per T1 => con Tck=0.1 ms => N=19 bit 
		begin
			if clk'event and clk='1' then
                if reset='1' or trentasecondi='1' then
					count <= (others => '0');
				elsif enable='1' then
					count <= next_count;
				end if;
			end if;
    end process;
    next_count <= count + conv_unsigned(1,19);
    
    trentasecondi <= '1' when count = conv_unsigned(3,19) else '0';
    -- nella realtà: trentasecondi <= '1' when valore_temp = conv_unsigned(299999,19) else '0'; 
	
    process(clk,reset)
		begin
			if reset='1' then 
				angleint <= (others => '0');
			else
				if clk'event and clk='1' then
						angleint <= next_angleint;
				end if;
			end if;
    end process;
    
    process(avanti,scatta,angleint)
		begin
			if scatta ='0' then
				next_angleint <= angleint;
			else
				if avanti='1' then
					next_angleint <= angleint + conv_unsigned(1,5);
				else 
					next_angleint <= angleint - conv_unsigned(1,5);
				end if;
			end if;
	end process;
	
    finecorsa1 <= '1' when angleint = conv_unsigned(6,5) else '0';
    finecorsa2 <= '1' when angleint = conv_unsigned(1,5) else '0';
    --finecorsa1 <= '1' when angleint = conv_unsigned(26,5) else '0';
	
    process(clk)      -- parte sequenziale della FSM per T1
          begin
              if clk'event and clk='1' then
                 if reset='1' then
                    cs <= idle;
                 else
                    cs <= ns;
                 end if;
               end if;
    end process;
    
	process(cs, start,finecorsa1,finecorsa2,trentasecondi,alarm1,alarm2)   -- parte combinatoria della FSM_A
		begin
			
			case cs is
				
				when idle =>
					enable   <= '0';
					scatta   <= '0';
					avanti 	 <= '0';
					if start='1' then
						ns <= conta1;
					else
						ns <= cs;
					end if;
					
				when conta1 =>
					enable   <= '1';
					scatta   <= '0';
					avanti 	 <= '1';
					if trentasecondi='1' then
						ns <= scatta1;
					else
						ns <= cs;	
					end if;
					
				when scatta1 =>
					enable   <= '1';
					scatta   <= '1';
					avanti 	 <= '1';
					if finecorsa1 ='1' then
						ns <= conta2;
					else 
						ns <= conta1;
					end if;
					
				when conta2 =>
					enable   <= '1';
					scatta   <= '0';
					avanti 	 <= '0';
					if trentasecondi='1' then
						ns <= scatta2;
					else
						ns <= cs;
					end if;
					
				when scatta2 =>
					enable   <= '1';
					scatta   <= '1';
					avanti 	 <= '0';
					if finecorsa2 ='1' then
						ns <= conta1;
					else 
						ns <= conta2;
					end if;
				
				when others =>
					ns 	<= idle;
					
		end case;
	end process;
	
	alfa <= angleint;
    beta <= angleint;
	
	-- GESTIONE ALLARME
	process(clk,reset,ripristina)
		begin
			if reset='1' or ripristina ='1' then
				alarm_active <= '0';
			else
				if clk'event and clk='1' then
						alarm_active <= next_alarm_active;
				end if;
			end if;
    end process;
    
    next_alarm_active <= '1' when alarm1='1' or alarm2='1' 
							 else alarm_active;
    
	process(clk,reset,ripristina)
		begin
			if reset='1' or ripristina ='1' then
				alarm_camera <= '0';
			else
				if clk'event and clk='1' then
						alarm_camera <= next_alarm_camera;
				end if;
			end if;
    end process;
	
	next_alarm_camera <= '1' when alarm2 = '1'
						else alarm_camera;
	
	process(clk,reset,ripristina)
		begin
			if reset='1' or ripristina ='1' then
				angle_camera <= (others => '0');
			else
				if clk'event and clk='1' then
						angle_camera <= next_angle_camera;
				end if;
			end if;
    end process;
	
	next_angle_camera <=  angleint when alarm1 = '1'or alarm2='1'
						  else angle_camera;
	
	ripristina <= '1' when code = conv_unsigned(42,6)
					  else '0';
	
	alarm 	<= 	alarm_active;
	camera 	<= 	alarm_camera;
	angle 	<= 	angle_camera;
	
end ESAME;