Flytskjema – Støvblåsersystem (DustBlower)

flowchart LR
    subgraph FELT["Felt / Sensorer"]
        S1[S1 Land
Vippe, normalt HOY]
        S2[S2 Trommel
Vippe, normalt HOY]
        S3[S3 Maks bredde
NC, normalt HOY]
        S4[S4 Kollisjon
Induktiv, normalt HOY]
        L1[L1 Laser
0-10V]
    end

    subgraph MAIN_ROUTE["MAIN"]
        INVERT["Inverter S1, S2"]
        SIMSW["Simulator switch
(xUseSimulator)"]
    end

    subgraph PLS["FB_BlowerArm"]
        LASER["FB_LaserMonitor
asymmetrisk + adaptiv"]:::laser
        GAPTOF["TOF: gap-toleranse
S1 tidlig-cut"]:::laser
        TRANSIT["TON: transit L1-Y1
(bypass i test)"]:::laser
        LAG2["Forrigling
S1 AND S2 AND S3"]
        LAG3["S4 kollisjon-latch
bjelke-syklus"]:::critical
        AND{"AND
alle betingelser"}:::gate
    end

    subgraph UTG["Utganger"]
        Y1["Y1 Sylinder
Fot UT/IN"]:::output
    end

    S1 --> SIMSW
    S2 --> SIMSW
    S3 --> SIMSW
    S4 --> SIMSW
    L1 --> SIMSW

    SIMSW --> INVERT
    INVERT --> LAG2
    SIMSW --> LAG2
    SIMSW --> LAG3
    SIMSW --> LASER

    LASER --> GAPTOF
    GAPTOF --> TRANSIT
    TRANSIT --> AND
    LAG2 --> AND
    LAG3 --> AND
    INVERT --> GAPTOF

    AND --> Y1

    classDef laser fill:#bbd,stroke:#567,color:#000
    classDef critical fill:#fcc,stroke:#933,color:#000
    classDef gate fill:#ffd,stroke:#aa0,color:#000
    classDef output fill:#cfc,stroke:#393,color:#000

stateDiagram-v2
    [*] --> IDLE
    IDLE --> LEARNING: Bjelke oppdaget
(dist under terskel)
    LEARNING --> LEARNING: Nytt minimum
rMinSeen = dist
restart timer
    LEARNING --> MONITORING: Quiet-timer ferdig
baseline = rMinSeen
    LEARNING --> ERROR: Timeout
nMaxLearningCycles
    LEARNING --> IDLE: Bjelken forlot sonen
    MONITORING --> ERROR: Negativt avvik
eller plutselig naermere
    MONITORING --> IDLE: Bjelken forlot sonen
    ERROR --> IDLE: Bjelken forlot sonen

    note right of LEARNING
      Sporer minste avstand (rMinSeen)
      Baseline laases naar ingen nye minima
      i nQuietCyclesRequired sykluser
    end note

    note right of MONITORING
      Asymmetrisk:
      - Negativ avvik: ERROR (utstikker)
      - Positiv avvik: OK (adaptiv baseline)
    end note

flowchart TD
    START([Ny syklus i LEARNING]) --> CHK_BEAM{Bjelke fortsatt
i sonen?}
    CHK_BEAM -- Nei --> IDLE[IDLE]
    CHK_BEAM -- Ja --> CHK_TIMEOUT{Totaltid over
nMaxLearningCycles?}
    CHK_TIMEOUT -- Ja --> ERROR[ERROR
timeout]:::error
    CHK_TIMEOUT -- Nei --> CHK_MIN{dist under rMinSeen
minus hysterese?}
    CHK_MIN -- Ja
nytt minimum --> UPD_MIN[rMinSeen = dist
nQuietCycles = 0]:::warn
    UPD_MIN --> END([Neste syklus])
    CHK_MIN -- Nei
stabilt --> INC[nQuietCycles++]
    INC --> CHK_READY{nQuietCycles over
nQuietCyclesRequired?}
    CHK_READY -- Nei --> END
    CHK_READY -- Ja --> LOCK[baseline = rMinSeen
MONITORING]:::ok

    classDef ok fill:#cfc,stroke:#393,color:#000
    classDef warn fill:#ffd,stroke:#aa0,color:#000
    classDef error fill:#fcc,stroke:#933,color:#000

flowchart TD
    START([Ny syklus i MONITORING]) --> CHK_BEAM{Bjelke fortsatt
i sonen?}
    CHK_BEAM -- Nei --> IDLE[IDLE]
    CHK_BEAM -- Ja --> CALC[rDeviation = dist - baseline]
    CALC --> CHK_NEG{rDeviation under
minus rMaxDeviation?
(utstikker)}
    CHK_NEG -- Ja --> ERR1[ERROR
negativt avvik]:::error
    CHK_NEG -- Nei --> CHK_STEP{rStep under
minus rMaxStep?
(plutselig naermere)}
    CHK_STEP -- Ja --> ERR2[ERROR
plutselig naermere]:::error
    CHK_STEP -- Nei --> CHK_POS{rDeviation over
rBaselineUpdateHysterese?}
    CHK_POS -- Nei --> NORMAL[xBeamOK = TRUE
stopp tracking]:::ok
    CHK_POS -- Ja --> CHK_TRACK{Tracker aktiv?}
    CHK_TRACK -- Nei --> START_TRACK[Start tracking
kandidat = dist]:::warn
    CHK_TRACK -- Ja --> CHK_STABLE{dist naer
kandidat?}
    CHK_STABLE -- Nei --> RESET_TRACK[kandidat = dist
teller = 0]:::warn
    CHK_STABLE -- Ja --> INC[teller++]
    INC --> CHK_READY{teller over
nBaselineUpdateCycles?}
    CHK_READY -- Ja --> UPDATE[baseline = kandidat
adoptert]:::ok
    CHK_READY -- Nei --> END([Neste syklus])
    START_TRACK --> END
    RESET_TRACK --> END
    NORMAL --> END
    UPDATE --> END

    classDef ok fill:#cfc,stroke:#393,color:#000
    classDef warn fill:#ffd,stroke:#aa0,color:#000
    classDef error fill:#fcc,stroke:#933,color:#000

flowchart TD
    START([System idle
Y1=0]) --> CHK_ARM{xArmed?}
    CHK_ARM -- Nei --> WAIT_RESET[Venter paa auto-arm
alle sensorer idle]
    CHK_ARM -- Ja --> WAIT_BEAM[Venter paa bjelke]

    WAIT_BEAM --> BEAM_ARR{Bjelke ankommer?
L1 og/eller S2}
    BEAM_ARR -- Nei --> WAIT_BEAM
    BEAM_ARR -- Ja --> LEARN[L1 LEARNING
baseline bygges]:::laser

    LEARN --> LEARN_OK{Baseline laast?}
    LEARN_OK -- Nei --> LEARN
    LEARN_OK -- Ja --> MON[L1 MONITORING
xBeamOK TRUE]:::laser

    MON --> CHK_ALL{Alle betingelser OK?
S1 AND S2 AND S3 AND
xBeamOK_delayed AND
NOT xCollisionLatch
AND Armed}
    CHK_ALL -- Nei --> WAIT_COND[Venter paa
manglende betingelse]
    WAIT_COND --> CHK_ALL
    CHK_ALL -- Ja --> Y1_OUT[Y1 UT
BLAASING]:::ok

    Y1_OUT --> MONITOR{Alle betingelser
fortsatt OK?}
    MONITOR -- Ja --> Y1_OUT
    MONITOR -- Nei --> CHK_REASON{Hvorfor falt?}

    CHK_REASON -- S4 INAKTIV --> COLL[KOLLISJON
Y1=0
xCollisionLatch=TRUE]:::error
    CHK_REASON -- L1 ERROR --> LERR[Y1=0
venter paa bjelke
ut av sonen]:::error
    CHK_REASON -- S1 drop --> DONE[Y1=0
bjelke ferdig
tidlig-cut]:::ok
    CHK_REASON -- Annet --> Y1_IN[Y1=0
fot trekkes inn]:::warn

    COLL --> COLL_WAIT{S4 OK +
S1 sett INAKTIV +
S2 sett INAKTIV?}
    COLL_WAIT -- Nei --> COLL
    COLL_WAIT -- Ja --> LATCH_CLR[xCollisionLatch = FALSE
latch klarert]:::ok
    LATCH_CLR --> START

    LERR --> LERR_WAIT{Bjelke ute
av L1-sone?}
    LERR_WAIT -- Nei --> LERR
    LERR_WAIT -- Ja --> START

    DONE --> START
    Y1_IN --> MONITOR

    classDef ok fill:#cfc,stroke:#393,color:#000
    classDef warn fill:#ffd,stroke:#aa0,color:#000
    classDef error fill:#fcc,stroke:#933,color:#000
    classDef laser fill:#bbd,stroke:#567,color:#000

sequenceDiagram
    participant L1 as L1 Laser
    participant S1 as S1 Land
    participant FB as FB_BlowerArm
    participant Y1 as Y1

    Note over L1,Y1: Bjelke under Y1, blåser
    L1->>FB: xBeamOK=TRUE
    Note over S1: S1 AKTIV
    FB->>Y1: Y1 HIGH

    Note over L1: Bjelke forlater L1
    L1->>FB: xBeamOK=FALSE
TOF starter
    Note over FB: xBeamGapActive=TRUE
Y1 holdes via S1

    alt S1 drop innen 2s (bjelke passert Y1)
        S1->>FB: S1 INAKTIV
        Note over FB: tidlig-cut via S1
        FB->>Y1: Y1 LOW
    else Ny bjelke innen 2s (seamless)
        L1->>FB: xBeamOK=TRUE
        Note over FB: TOF nullstilles
seamless overgang
        FB->>Y1: Y1 forblir HIGH
    else 2s utloep, S1 fortsatt AKTIV
        Note over FB: TOF expired
        FB->>Y1: Y1 LOW (timeout-cut)
    end

flowchart TD
    START([S4 INAKTIV
KOLLISJON]) --> LATCH[xCollisionLatch = TRUE
xS1SeenInactive = FALSE
xS2SeenInactive = FALSE
Y1 = 0]:::error

    LATCH --> S4CHK{S4 AKTIV igjen?}
    S4CHK -- Nei --> LATCH
    S4CHK -- Ja --> TRACK[S4 OK
sporer S1/S2]:::warn

    TRACK --> S1CHK{S1 INAKTIV?}
    S1CHK -- Ja --> S1OK[xS1SeenInactive = TRUE]
    S1CHK -- Nei --> S2CHK

    S1OK --> S2CHK{S2 INAKTIV?}
    S2CHK -- Ja --> S2OK[xS2SeenInactive = TRUE]
    S2CHK -- Nei --> BOTHCHK

    S2OK --> BOTHCHK{Begge sett?
xS1SeenInactive AND
xS2SeenInactive}
    BOTHCHK -- Nei --> TRACK
    BOTHCHK -- Ja --> CLEAR[xCollisionLatch = FALSE
latch klarert]:::ok

    CLEAR --> NEWBEAM([Ny bjelke kan
starte normal syklus]):::ok

    classDef ok fill:#cfc,stroke:#393,color:#000
    classDef warn fill:#ffd,stroke:#aa0,color:#000
    classDef error fill:#fcc,stroke:#933,color:#000

sequenceDiagram
    participant S4 as S4 Kollisjon
    participant S1 as S1 Land
    participant S2 as S2 Trommel
    participant FB as FB_BlowerArm
    participant Y1 as Y1

    Note over S4,Y1: Normal drift, Y1 ute
    FB->>Y1: Y1 HIGH

    S4->>FB: S4 INAKTIV (kollisjon!)
    Note over FB: xCollisionLatch = TRUE
xS1SeenInactive = FALSE
xS2SeenInactive = FALSE
    FB->>Y1: Y1 LOW (umiddelbart)

    Note over S4: Fjær presser S4 tilbake
    S4->>FB: S4 AKTIV igjen
    Note over FB: S4 OK, men latch fortsatt satt
venter paa S1+S2 inaktiv

    Note over S1,S2: Bjelke forlater sonen
    S1->>FB: S1 INAKTIV (bjelke borte fra land)
    Note over FB: xS1SeenInactive = TRUE
    S2->>FB: S2 INAKTIV (trommel ned)
    Note over FB: xS2SeenInactive = TRUE

    Note over FB: Alle krav oppfylt:
S4 OK + S1 sett + S2 sett
    Note over FB: xCollisionLatch = FALSE

    Note over S1,S2: Ny bjelke ankommer
    S2->>FB: S2 AKTIV
    S1->>FB: S1 AKTIV
    Note over FB: Normal syklus starter
    FB->>Y1: Y1 HIGH (naar alle betingelser OK)

flowchart TD
    IDLE([xArmed = FALSE]) --> CHK{Alle sensorer idle?
S1=FALSE AND
S2=FALSE AND
xS2_Delayed=FALSE}
    CHK -- Ja --> ARM[xArmed = TRUE]:::ok
    CHK -- Nei --> IDLE

    ARM --> RUN[Kjører normalt]
    RUN --> DROP{S2 faller}
    DROP --> WIN[xS2FellFirst = TRUE
Start 2s vindu]:::warn
    WIN --> S1FALL{S1 faller
innen 2s?}
    S1FALL -- Ja --> RE_ARM[Reset OK
xArmed forblir TRUE]:::ok
    S1FALL -- Nei
2s ut --> ABORT[Reset abortert
xArmed forblir TRUE
pga auto-arm]

    classDef ok fill:#cfc,stroke:#393,color:#000
    classDef warn fill:#ffd,stroke:#aa0,color:#000

flowchart TD
    START([Fot staar eller skal UT]) --> LAG1{"Lag 1
FB_LaserMonitor
xBeamOK_delayed = TRUE?"}:::laser
    LAG1 -- Nei --> STOP_L1[Fot inn]:::warn1
    LAG1 -- Ja --> LAG2{"Lag 2
S1 AND S2 AND S3"}
    LAG2 -- Nei --> STOP_L2[Fot inn]:::warn
    LAG2 -- Ja --> LAG3{"Lag 3
S4 AKTIV?
(med bjelke-syklus latch)"}:::critical
    LAG3 -- Nei --> STOP_L3[KOLLISJON
Y1=0
xCollisionLatch=TRUE
krever bjelke-syklus]:::error
    LAG3 -- Ja --> OK[Fot UT]:::ok

    STOP_L1 --> RETRY1{Gjenoppretting?}
    STOP_L2 --> RETRY2{Gjenoppretting?}
    STOP_L3 --> AUTO{S4 OK +
S1 sett inaktiv +
S2 sett inaktiv?}
    RETRY1 -- Ja --> START
    RETRY2 -- Ja --> START
    AUTO -- Ja --> START
    AUTO -- Nei --> STOP_L3

    classDef ok fill:#cfc,stroke:#393,color:#000
    classDef warn1 fill:#ffd,stroke:#aa0,color:#000
    classDef warn fill:#fc9,stroke:#c60,color:#000
    classDef error fill:#fcc,stroke:#933,color:#000
    classDef laser fill:#bbd,stroke:#567,color:#000
    classDef critical fill:#fcc,stroke:#933,color:#000

stateDiagram-v2
    [*] --> IDLE
    IDLE --> ARMED: Alle sensorer idle (auto-arm)
    ARMED --> BEAM_PRESENT: S1 eller S2 AKTIV
    BEAM_PRESENT --> BLOWING: Alle betingelser OK
    BEAM_PRESENT --> ARMED: Bjelke forsvinner
    BLOWING --> CONDITIONS_LOST: En betingelse feiler
    BLOWING --> COLLISION: S4 INAKTIV
    CONDITIONS_LOST --> BLOWING: Betingelser gjenopprettet
    CONDITIONS_LOST --> IDLE: Bjelke borte
    BLOWING --> IDLE: Bjelke ferdig
    COLLISION --> IDLE: Bjelke-syklus fullfort
(S4 OK + S1 sett + S2 sett)

    note right of COLLISION
      Krever bjelke-syklus for aa klarere:
      S4 AKTIV + S1 var INAKTIV + S2 var INAKTIV
      (IKKE bare S4 aktiv)
    end note

stateDiagram-v2
    [*] --> S0
    S0: 0 IDLE
L1=2000 mm
    S1: 1 L1 LAMELL
L1=600 mm
    S2: 2 L1 FULL
L1=500 mm
    S3: 3 S2 AKTIV
trommel opp
    S4: 4 FULLT INN
S1+S2 LAV
BLAASING
    S5: 5 L1 RELEASE
L1=2000 mm
    S6: 6 S2 RELEASE
S2 HOY
    S7: 7 S1 RELEASE
alle normale

    S0 --> S1: xStartBeam
    S1 --> S2: tLamellTransition
    S2 --> S3: tL1Stable
    S3 --> S4: tS2ToS1
    S4 --> S5: tBlowingDuration
    S5 --> S6: tL1Release
    S6 --> S7: tS2Release
    S7 --> S0: xAutoRepeat=FALSE
    S7 --> S1: xAutoRepeat=TRUE