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Added changes for potential statemachine rework

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This commit is contained in:
dario
2023-11-07 12:37:53 +01:00
committed by carlwachter
parent 2205ff7446
commit 098ef140a6
5 changed files with 82 additions and 118 deletions
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73
Tacos/include/sta/tacos/statemachine.hpp
View File

@@ -20,6 +20,8 @@
# define STA_TACOS_INITIAL_STATE 0
#endif
#define STA_TACOS_STATEMACHINE_QUEUE_LENGTH 4
// State transition happened because of
#define STA_TACOS_STATE_CHANGE_NORMAL_FLAG ( 0x1U )
#define STA_TACOS_STATE_CHANGE_FORCED_FLAG ( 0x1U << 1)
@@ -29,34 +31,41 @@
#include <sta/tacos/thread.hpp>
#include <sta/rtos/queue.hpp>
#include <sta/rtos/timer.hpp>
#include <sta/rtos/event.hpp>
#include <sta/event.hpp>
#include <sta/debug/assert.hpp>
#include <functional>
#include <tuple>
namespace sta
{
namespace tacos
{
typedef std::function<uint16_t(uint16_t)> state_fn;
typedef std::function<void(uint16_t, uint16_t, uint32_t)> timer_fn;
enum EventFlags
{
NORMAL = 0x1U,
FORCED = 0x1U << 1,
TIMEOUT = 0x1U << 2,
STARTUP = 0x1U << 3,
ALL = NORMAL | FORCED | TIMEOUT | STARTUP
};
struct StateTransition
{
uint16_t from;
uint16_t to;
EventFlags event;
uint32_t lockout;
};
class Statemachine : public TacosThread
{
public:
enum EventFlags
{
NORMAL = 0x1U,
FORCED = 0x1U << 1,
TIMEOUT = 0x1U << 2,
STARTUP = 0x1U << 3,
ALL = NORMAL | FORCED | TIMEOUT | STARTUP
};
/**
* @brief The global event signaling a state change.
*/
@@ -84,29 +93,23 @@ namespace sta
uint16_t getCurrentState() const;
/**
* @brief Registers a new state transition function. This is a function for the user to implement state transition rules.
* @brief Request a state transition from a state to another.
*
* @param from The state which we want to leave. This is used to filter out obsolete transitions.
* @param to The state to transition to.
* @param lockout The minimum number of milliseconds we expect to stay in this state. This is used to block premature transitions.
*/
void setStateFunction(state_fn func);
void requestStateTransition(uint32_t from, uint32_t to, uint32_t lockout = 0);
/**
* @brief Registers a new timer function. This is a function for the user to set the timers after a state change.
* @brief Request a state transition after a given time has passed.
*
* @param from The state which we want to leave. This is used to filter out obsolete transitions.
* @param to The state to transition to.
* @param millis the number of milliseconds to wait before triggering the transition.
* @param lockout The minimum number of milliseconds we expect to stay in this state. This is used to block premature transitions.
*/
void setTimerFunction(timer_fn func);
/**
* @brief Starts the failsafe timer for the desired duration and the desired next state.
*/
void setFailsafeTimer(uint32_t millis, uint16_t nextState);
/**
* @brief Starts the lockoutTimer for the desired duration.
*/
void setLockoutTimer(uint32_t millis);
/**
* @brief this function call allows forced state transitions from external and internal sources.
*/
void forceStateTransition(uint16_t state);
void requestTimedStateTransition(uint32_t from, uint32_t to, uint32_t millis, uint32_t lockout = 0);
void init() override;
void func() override;
@@ -133,15 +136,19 @@ namespace sta
~Statemachine() {}
private:
/**
* @brief Starts the lockoutTimer for the desired duration.
*/
void setLockoutTimer(uint32_t millis);
private:
uint16_t currentState_;
uint16_t failsafeState_;
RtosTimer lockoutTimer_;
RtosTimer failsafeTimer_;
state_fn transitionFunc_;
timer_fn timerFunc_;
RtosQueue<StateTransition> queue_;
};
} // namespace tacos
} // namespace sta

89
Tacos/src/statemachine.cpp
View File

@@ -21,7 +21,8 @@ namespace sta
lockoutTimer_{[](void *){}, nullptr},
failsafeTimer_{[](void *){}, nullptr},
transitionFunc_{[](uint16_t) -> uint16_t { return Statemachine::instance()->getCurrentState(); }},
timerFunc_{[](uint16_t, uint16_t, uint16_t) {}}
timerFunc_{[](uint16_t, uint16_t, uint16_t) {}},
queue_{STA_TACOS_STATEMACHINE_QUEUE_LENGTH}
{
STA_ASSERT(STA_TACOS_INITIAL_STATE < STA_TACOS_NUM_STATES);
}
@@ -33,31 +34,40 @@ namespace sta
void Statemachine::func()
{
if (!lockoutTimer_.isRunning())
// Wait for a message to be added to the queue.
StateTransition transition;
queue_.get(&transition, osWaitForever);
// Check if the transition isn't blocked and is legal.
if (!lockoutTimer_.isRunning() && transition.from == currentState_)
{
uint16_t next = transitionFunc_(currentState_);
STA_ASSERT(transition.to < STA_TACOS_NUM_STATES);
STA_ASSERT(next < STA_TACOS_NUM_STATES);
// Perform the transition and notify the threads. The event flags are set
// here in order to allow threads to react immediately.
currentState_ = transition.to;
Statemachine::stateChangeEvent.set(transition.event);
Statemachine::stateChangeEvent.clear(EventFlags::ALL);
// Check if a state change is desired. Block if the lockoutTimer is still running.
if (next != currentState_)
if (failsafeTimer_.isRunning())
{
if (failsafeTimer_.isRunning())
{
failsafeTimer_.stop();
}
failsafeTimer_.stop();
}
// Call user space code to set the timers again.
timerFunc_(next, currentState_, EventFlags::NORMAL);
// Start the lockout timer if requested.
if (transition.lockout != NULL)
{
setLockoutTimer(transition.lockout);
}
// Update the state and trigger the global state changed event.
currentState_ = next;
Statemachine::stateChangeEvent.set(EventFlags::NORMAL);
Statemachine::stateChangeEvent.clear(EventFlags::ALL);
// Start the failsafe timer if requested.
if (transition.failsafe != NULL)
{
std::tie(millis, state) = transition.failsafe;
setFailsafeTimer(millis, state);
}
}
osThreadYield();
}
uint16_t Statemachine::getCurrentState() const
@@ -65,27 +75,25 @@ namespace sta
return currentState_;
}
void Statemachine::setStateFunction(state_fn func)
void Statemachine::requestStateTransition(uint32_t from, uint32_t to, uint32_t lockout /* = 0 */)
{
STA_ASSERT(func != nullptr);
StateTransition transition;
transition.from = from;
transition.to = to;
transition.event = EventFlags::NORMAL;
transition.lockout = lockout;
transitionFunc_ = func;
// TODO: For how should we wait here?
queue_.put(transition);
}
void Statemachine::setTimerFunction(timer_fn func)
{
STA_ASSERT(func != nullptr);
timerFunc_ = func;
}
void Statemachine::setFailsafeTimer(uint32_t millis, uint16_t nextState)
void Statemachine::requestTimedStateTransition(uint32_t from, uint32_t to, uint32_t millis, uint32_t lockout /* = 0 */)
{
STA_ASSERT(nextState < STA_TACOS_NUM_STATES);
STA_ASSERT(!failsafeTimer_.isRunning());
failsafeTimer_.setCallback([nextState](void* arg) {
Statemachine::instance()->forceStateTransition(nextState);
failsafeTimer_.setCallback([from, to, lockout](void* arg) {
Statemachine::requestStateTransition(from, to, lockout);
}, &failsafeState_);
failsafeTimer_.start(millis);
@@ -99,25 +107,6 @@ namespace sta
lockoutTimer_.start(millis);
}
void Statemachine::forceStateTransition(uint16_t state)
{
if (failsafeTimer_.isRunning())
{
failsafeTimer_.stop();
}
if (lockoutTimer_.isRunning())
{
lockoutTimer_.stop();
}
timerFunc_(state, currentState_, EventFlags::FORCED);
currentState_ = state;
Statemachine::stateChangeEvent.set(EventFlags::FORCED);
Statemachine::stateChangeEvent.clear(EventFlags::ALL);
}
Statemachine* Statemachine::_instance = nullptr;
RtosEvent Statemachine::stateChangeEvent;