ALPAKA/TACOS
1
0
Fork 0
mirror of https://git.intern.spaceteamaachen.de/ALPAKA/TACOS.git synced 2025-09-28 18:57:33 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

Changed statemachine to only check for transitions if the lockout timer is not running

Browse Source
This commit is contained in:
dario
2023-10-30 17:25:09 +01:00
parent 9f4c772437
commit 4de63ced98
1 changed files with 19 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

35
Tacos/src/statemachine.cpp
View File

@@ -33,25 +33,28 @@ namespace sta
void Statemachine::func()
{
uint16_t next = transitionFunc_(currentState_);
STA_ASSERT(next < STA_TACOS_NUM_STATES);
// Check if a state change is desired. Block if the lockoutTimer is still running.
if (next != currentState_ && !lockoutTimer_.isRunning())
if (!lockoutTimer_.isRunning())
{
if (failsafeTimer_.isRunning())
uint16_t next = transitionFunc_(currentState_);
STA_ASSERT(next < STA_TACOS_NUM_STATES);
// Check if a state change is desired. Block if the lockoutTimer is still running.
if (next != currentState_)
{
failsafeTimer_.stop();
if (failsafeTimer_.isRunning())
{
failsafeTimer_.stop();
}
// Call user space code to set the timers again.
timerFunc_(next, currentState_, EventFlags::NORMAL);
// Update the state and trigger the global state changed event.
currentState_ = next;
Statemachine::stateChangeEvent.set(EventFlags::NORMAL);
Statemachine::stateChangeEvent.clear(EventFlags::ALL);
}
// Call user space code to set the timers again.
timerFunc_(next, currentState_, EventFlags::NORMAL);
// Update the state and trigger the global state changed event.
currentState_ = next;
Statemachine::stateChangeEvent.set(EventFlags::NORMAL);
Statemachine::stateChangeEvent.clear(EventFlags::ALL);
}
osThreadYield();