mirror of
https://git.intern.spaceteamaachen.de/ALPAKA/TACOS.git
synced 2025-06-11 17:15:59 +00:00
Compilable but untested statemachine implementation including a lot of clean up.
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parent
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@ -10,6 +10,7 @@
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#include <sta/debug/debug.hpp>
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#include <sta/tacos/manager.hpp>
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#include <sta/tacos/statemachine.hpp>
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#include <tasks/dummy.hpp>
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#include <memory>
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@ -31,7 +31,6 @@ namespace demo
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STA_DEBUG_PRINTLN(this->getName());
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// STA_DEBUG_PRINT("Executing ");
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// STA_DEBUG_PRINTLN(this->getName());
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osDelay(1000);
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}
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} // namespace demo
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@ -20,14 +20,18 @@
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# define STA_TACOS_INITIAL_STATE 0
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#endif
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#define TACOS_STATE_TRANSITION_FLAG 0x00000001U
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#define TACOS_STATE_CHANGE_FORCED_FLAG 0x00000002U
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#define TACOS_STATE_CHANGE_ALL_FLAG 0x00000003U
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// State transition happened because of
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#define STA_TACOS_STATE_CHANGE_NORMAL_FLAG ( 0x1U )
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#define STA_TACOS_STATE_CHANGE_FORCED_FLAG ( 0x1U << 1)
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#define STA_TACOS_STATE_CHANGE_TIMEOUT ( 0x1U << 2)
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#define STA_TACOS_STATE_CHANGE_STARTUP_FLAG ( 0x1U << 3)
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#define STA_TACOS_STATE_CHANGE_ALL_FLAG ( 0x15U )
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#include <sta/tacos/thread.hpp>
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#include <sta/rtos/timer.hpp>
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#include <sta/rtos/event.hpp>
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#include <sta/event.hpp>
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#include <sta/debug/assert.hpp>
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#include <functional>
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@ -37,40 +41,76 @@ namespace sta
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{
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namespace tacos
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{
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typedef std::function<uint16_t(uint16_t)> state_fn;
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typedef std::function<void(uint16_t, uint16_t, uint16_t)> timer_fn;
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class Statemachine : public TacosThread
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{
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public:
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static RtosEvent* stateChangeEvent;
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enum EventFlags
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{
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NORMAL = 0x1U,
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FORCED = 0x1U << 1,
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TIMEOUT = 0x1U << 2,
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STARTUP = 0x1U << 3,
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ALL = NORMAL | FORCED | TIMEOUT | STARTUP
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};
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/**
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* @brief The global event signaling a state change.
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*/
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static RtosEvent stateChangeEvent;
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/**
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* @brief Getter function for the singleton instance.
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*/
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static Statemachine* instance()
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{
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static CGuard g;
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if (!_instance)
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{
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// Create a the manager singleton instance.
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// Create the manager singleton instance.
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Statemachine::_instance = new Statemachine();
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Statemachine::stateChangeEvent = new RtosEvent();
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}
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return _instance;
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}
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void init() override;
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void func() override;
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/**
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* @brief Returns the statemachine's current state.
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*/
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uint16_t getCurrentState() const;
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/**
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* @brief Registers a new state transition function.
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* @brief Registers a new state transition function. This is a function for the user to implement state transition rules.
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*/
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void setStateTransitionFunction(std::function<uint16_t(uint16_t)> function);
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void setStateFunction(state_fn func);
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/**
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* @brief Registers a new timer function. This is a function for the user to set the timers after a state change.
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*/
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void setTimerFunction(timer_fn func);
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/**
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* @brief Starts the failsafe timer for the desired duration and the desired next state.
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*/
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void setFailsafeTimer(uint32_t millis, uint16_t nextState);
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/**
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* @brief Starts the lockoutTimer for the desired duration.
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*/
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void setLockoutTimer(uint32_t millis);
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/**
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* @brief this function call allows forced state transitions from external and internal sources.
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*/
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void forceStateTransition(uint16_t state);
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void init() override;
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void func() override;
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private:
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static Statemachine * _instance;
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@ -82,9 +122,7 @@ namespace sta
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if( NULL != Statemachine::_instance )
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{
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delete Statemachine::_instance;
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delete Statemachine::stateChangeEvent;
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Statemachine::_instance = NULL;
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Statemachine::stateChangeEvent = NULL;
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}
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}
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};
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@ -94,11 +132,15 @@ namespace sta
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Statemachine(const Statemachine&);
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~Statemachine() {}
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private:
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uint16_t currentState_;
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RtosTimer lockoutTimer_;
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RtosTimer failsafeTimer_;
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std::function<uint16_t(uint16_t)> transitionFunc_;
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state_fn transitionFunc_;
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timer_fn timerFunc_;
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};
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} // namespace tacos
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} // namespace sta
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@ -78,7 +78,7 @@ namespace sta
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void Manager::func()
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{
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Statemachine::stateChangeEvent->wait(TACOS_STATE_CHANGE_ALL_FLAG, osWaitForever);
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Statemachine::stateChangeEvent.wait(Statemachine::EventFlags::ALL, osWaitForever);
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STA_DEBUG_PRINTLN("UPDATING THREADS");
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@ -19,20 +19,15 @@ namespace sta
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currentState_{STA_TACOS_INITIAL_STATE},
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lockoutTimer_{[](void *){}, nullptr},
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failsafeTimer_{[](void *){}, nullptr},
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transitionFunc_{[](uint16_t) -> uint16_t { return Statemachine::instance()->getCurrentState(); }}
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transitionFunc_{[](uint16_t) -> uint16_t { return Statemachine::instance()->getCurrentState(); }},
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timerFunc_{[](uint16_t, uint16_t, uint16_t) {}}
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{
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STA_ASSERT(STA_TACOS_INITIAL_STATE < STA_TACOS_NUM_STATES);
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}
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void Statemachine::init()
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{
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lockoutTimer_.setCallback([](void *) { }, nullptr);
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lockoutTimer_.start(5000);
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failsafeTimer_.setCallback([](void *) {
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Statemachine::instance()->forceStateTransition(1);
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}, nullptr);
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failsafeTimer_.start(10000);
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timerFunc_(0, 0, EventFlags::STARTUP);
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}
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void Statemachine::func()
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@ -41,14 +36,18 @@ namespace sta
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STA_ASSERT(next < STA_TACOS_NUM_STATES);
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if (next != currentState_)
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// Check if a state change is desired. Block if the lockoutTimer is still running.
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if (next != currentState_ && !lockoutTimer_.isRunning())
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{
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currentState_ = next;
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// Call user space code to set the timers again.
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timerFunc_(next, currentState_, EventFlags::NORMAL);
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Statemachine::stateChangeEvent->set(TACOS_STATE_TRANSITION_FLAG);
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// Update the state and trigger the global state changed event.
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currentState_ = next;
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Statemachine::stateChangeEvent.set(EventFlags::NORMAL);
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}
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Statemachine::stateChangeEvent->clear(TACOS_STATE_CHANGE_ALL_FLAG);
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Statemachine::stateChangeEvent.clear(EventFlags::ALL);
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}
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uint16_t Statemachine::getCurrentState() const
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@ -56,24 +55,51 @@ namespace sta
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return currentState_;
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}
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void Statemachine::setStateTransitionFunction(std::function<uint16_t(uint16_t)> function)
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void Statemachine::setStateFunction(state_fn func)
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{
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STA_ASSERT(function != nullptr);
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STA_ASSERT(func != nullptr);
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transitionFunc_ = function;
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transitionFunc_ = func;
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}
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void Statemachine::setTimerFunction(timer_fn func)
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{
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STA_ASSERT(func != nullptr);
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timerFunc_ = func;
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}
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void Statemachine::setFailsafeTimer(uint32_t millis, uint16_t nextState)
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{
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STA_ASSERT(nextState < STA_TACOS_NUM_STATES);
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STA_ASSERT(!failsafeTimer_.isRunning());
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failsafeTimer_.setCallback([nextState](void *) {
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Statemachine::instance()->forceStateTransition(nextState);
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}, nullptr);
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failsafeTimer_.start(millis);
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}
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void Statemachine::setLockoutTimer(uint32_t millis)
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{
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STA_ASSERT(!failsafeTimer_.isRunning());
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lockoutTimer_.setCallback([](void *) { }, nullptr);
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lockoutTimer_.start(millis);
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}
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void Statemachine::forceStateTransition(uint16_t state)
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{
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currentState_ = state;
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Statemachine::stateChangeEvent->set(TACOS_STATE_CHANGE_FORCED_FLAG);
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Statemachine::stateChangeEvent->clear(TACOS_STATE_CHANGE_ALL_FLAG);
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Statemachine::stateChangeEvent.set(EventFlags::FORCED);
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Statemachine::stateChangeEvent.clear(EventFlags::ALL);
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}
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Statemachine* Statemachine::_instance = nullptr;
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RtosEvent* Statemachine::stateChangeEvent = nullptr;
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RtosEvent Statemachine::stateChangeEvent;
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} // namespace tacos
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} // namespace sta
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instance_ = osThreadNew(entry_point, this, &attribs_);
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STA_ASSERT(instance_ != NULL);
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// SetFlag(THREAD_START);
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}
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bool TacosThread::isRunning()
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@ -70,6 +72,8 @@ namespace sta
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// The thread has to wait until the startup has been completed.
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rtos::waitForStartupEvent();
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// wait(THREAD_START)
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init();
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// Run the thread until the termination flag is set.
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