Revision 0:6477530de2c0, committed 2015-11-27

Comitter:

Huazhi

Date:

Fri Nov 27 21:43:33 2015 +0000

Commit message:

Initial commit

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AMachine.h	Fri Nov 27 21:43:33 2015 +0000
@@ -0,0 +1,36 @@
+/* AMachine */
+void AMachine(void const *i)
+{
+    int CurrentState = AMACHINE_INITIAL;
+    RtosTimer local_timer = RtosTimer(AMachine_timer, osTimerPeriodic,(void *)0);
+    /*rtos timer can only use static functions as callbacks*/
+    local_timer.start(1);
+    while (true) {
+        int trn = 0;
+        switch (CurrentState) {
+            case AMACHINE_INITIAL:
+                if(AMachine_clock > CURRENT_LRI - AVI) {
+                    SyncStatus[APACE] = agre_time;
+                    CurrentState = AMACHINE_V;
+                    pc.printf("APace ");
+                    pc.printf("Time: %ld", agre_time);
+                    pc.printf("\n");
+                }
+        }
+        for(trn=0; trn<=4; trn++) {
+            if(TRANS[trn].source == CurrentState){
+                TRANS[trn].active = true;
+            }else{
+                TRANS[trn].active = false;
+            }
+            if(TRANS[trn].active) {
+                if(EVAL_GUARD(trn)) {
+                    if(TRANS[trn].syncid == NONE || agre_time - SyncStatus[TRANS[trn].syncid] < Broadcase_delay) {
+                        CurrentState = TRANS[trn].dest;
+                        ASSIGN(trn);
+                    }
+                }
+            }
+        }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GlobalVar.h	Fri Nov 27 21:43:33 2015 +0000
@@ -0,0 +1,158 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "state_type.h"
+#include "pacemaker_Param.h"
+#include "transition.h"
+#include <map>
+using namespace std;
+
+Serial pc (USBTX, USBRX);
+
+/* Transition Table and Status */
+TRANS_T TRANS[100];
+map<Sync, long> SyncStatus;
+
+/* Init Transition Table */
+void initTrans(){
+    TRANS[0] = TRANS_T(true, AMACHINE_INITIAL, AMACHINE_V, ASENSE);
+    TRANS[1] = TRANS_T(true, AMACHINE_INITIAL, AMACHINE_INITIAL, VPACE);
+    TRANS[2] = TRANS_T(true, AMACHINE_INITIAL, AMACHINE_INITIAL, VSENSE);
+    TRANS[3] = TRANS_T(false, AMACHINE_V, AMACHINE_INITIAL, VPACE);
+    TRANS[4] = TRANS_T(false, AMACHINE_V, AMACHINE_INITIAL, VSENSE);
+    TRANS[10] = TRANS_T(true, VMACHINE_INITIAL, VMACHINE_INITIAL, VSENSE);
+    TRANS[11] = TRANS_T(true, VMACHINE_INITIAL, VMACHINE_AEVENT, ASENSE);
+    TRANS[12] = TRANS_T(true, VMACHINE_INITIAL, VMACHINE_AEVENT, APACE);
+    TRANS[13] = TRANS_T(false, VMACHINE_AEVENT, VMACHINE_INITIAL, VSENSE);
+    TRANS[14] = TRANS_T(false, VMACHINE_AEVENT, VMACHINE_INTER, NONE);
+    TRANS[15] = TRANS_T(false, VMACHINE_INTER, VMACHINE_INITIAL, VSENSE);
+    TRANS[16] = TRANS_T(false, VMACHINE_INTER, VMACHINE_AEVENT, ASENSE);
+    TRANS[20] = TRANS_T(true, VRP_INITIAL, VRP_WAIT, VPACE);
+    TRANS[21] = TRANS_T(true, VRP_INITIAL, VRP_VSENSE, VSIGNAL);
+    TRANS[22] = TRANS_T(false, VRP_WAIT, VRP_INITIAL, NONE);
+    TRANS[30] = TRANS_T(true, PVARP_INITIAL, PVARP_INTER, VPACE);
+    TRANS[31] = TRANS_T(true, PVARP_INITIAL, PVARP_INTER, VSENSE);
+    TRANS[32] = TRANS_T(false, PVARP_INTER, PVARP_AEVENT, NONE);
+    TRANS[33] = TRANS_T(false, PVARP_AEVENT, PVARP_ASENSE, ASIGNAL);
+    TRANS[34] = TRANS_T(false, PVARP_AEVENT, PVARP_INITIAL, APACE);
+    
+    SyncStatus[APACE] = -1000;
+    SyncStatus[ASENSE] = -1000;
+    SyncStatus[ASIGNAL] = -1000;
+    SyncStatus[VPACE] = -1000;
+    SyncStatus[VSENSE] = -1000;
+    SyncStatus[VSIGNAL] = -1000;
+}
+
+/* Global Timer */
+long global_time = 0;
+long agre_time = 0;
+void tick_timer(void const *n)
+{
+    global_time++;
+    agre_time++;
+}
+
+/* AMachine Timer */
+long AMachine_clock = 0;
+void AMachine_timer(void const *n)
+{
+    AMachine_clock++;
+}
+
+/* VMachine Timer */
+long VMachine_clock = 0;
+void VMachine_timer(void const *n)
+{
+    VMachine_clock++;
+}
+
+/* VRP Timer */
+long VRP_clock = 0;
+void VRP_timer(void const *n)
+{
+    VRP_clock++;
+}
+
+/* PVARP Timer */
+long PVARP_clock = 0;
+void PVARP_timer(void const *n)
+{
+    PVARP_clock++;
+}
+
+/* Evaluate Guard */
+bool EVAL_GUARD(int trn)
+{
+    switch(trn) {
+        case 0:
+            return AMachine_clock >= CURRENT_LRI-AVI;
+        case 1:
+            return true;
+        case 2:
+        case 3:
+        case 4:
+        case 5:
+            return true;
+        case 10:
+        case 11:
+        case 12:
+        case 13:
+            return true;
+        case 14:
+            return (VMachine_clock >= AVI && global_time < CURRENT_URI);
+        case 15:
+        case 16:
+            return true;
+        case 20:
+        case 21:
+            return true;
+        case 22:
+            return global_time >= VRP_TIME;
+        case 30:
+        case 31:
+            return true;
+        case 32:
+            return PVARP_clock >= PVARP_TIME;
+    }
+    return false;
+}
+
+/* Implement Update*/
+void ASSIGN(int trn)
+{
+    switch(trn) {
+        case 0:
+            break; // Lighten LED
+        case 1:
+        case 2:
+        case 3:
+        case 4:
+            AMachine_clock = 0;
+            break;
+        case 10:
+        case 13:
+        case 15:
+            global_time = 0; 
+            break;
+        case 11:
+        case 12:
+        case 16:
+            VMachine_clock = 0;
+            break;
+        case 14:
+            break;
+        case 20:
+        case 21:
+            VRP_clock = 0;
+            break;
+        case 22:
+        case 32:
+            break;
+        case 30:
+        case 31:
+        case 33:
+        case 34:
+            PVARP_clock = 0;
+            break;
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PVARP.h	Fri Nov 27 21:43:33 2015 +0000
@@ -0,0 +1,36 @@
+/* PVARP */
+void PVARP(void const *i)
+{
+    int CurrentState = PVARP_INITIAL;
+    RtosTimer local_timer = RtosTimer(PVARP_timer, osTimerPeriodic,(void *)0);
+    local_timer.start(1);
+    while (true) {
+        switch (CurrentState) {
+            case PVARP_ASENSE:
+                if(PVARP_clock >= ASENSE_TIME_UPPER) {
+                    SyncStatus[ASENSE] = agre_time;
+                    CurrentState = PVARP_INITIAL;
+                    PVARP_clock = 0;
+                    pc.printf("ASense ");
+                    pc.printf("Time: %ld", agre_time);
+                    pc.printf("\n");
+                }
+                break;
+        }
+        for(int trn=30; trn<=25; trn++) {
+            if(TRANS[trn].source == CurrentState){
+                TRANS[trn].active = true;
+            }else{
+                TRANS[trn].active = false;
+            }
+            if(TRANS[trn].active) {
+                if(EVAL_GUARD(trn)) {
+                    if(TRANS[trn].syncid == NONE || agre_time - SyncStatus[TRANS[trn].syncid] < Broadcase_delay) {
+                        CurrentState = TRANS[trn].dest;
+                        ASSIGN(trn);
+                    }
+                }
+            }
+        }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VMachine.h	Fri Nov 27 21:43:33 2015 +0000
@@ -0,0 +1,44 @@
+/* VMachine */
+void VMachine(void const *i)
+{
+    int CurrentState = VMACHINE_INITIAL;
+    RtosTimer local_timer = RtosTimer(VMachine_timer, osTimerPeriodic,(void *)0);
+    local_timer.start(1);
+    while (true) {
+        switch (CurrentState) {
+            case VMACHINE_AEVENT:
+                if(VMachine_clock >= AVI && global_time >= CURRENT_URI) {
+                    SyncStatus[VPACE] = agre_time;
+                    CurrentState = VMACHINE_INITIAL;
+                    pc.printf("VPace ");
+                    pc.printf("Time: %ld", agre_time);
+                    pc.printf("\n");
+                }
+                break;
+            case VMACHINE_INTER:
+                if (global_time >= CURRENT_URI){
+                    SyncStatus[VPACE] = agre_time;
+                    CurrentState = VMACHINE_INITIAL;
+                    pc.printf("VPace ");
+                    pc.printf("Time: %ld", agre_time);
+                    pc.printf("\n");
+                }
+                break;
+        }
+        for(int trn=10; trn<=16; trn++) {
+            if(TRANS[trn].source == CurrentState){
+                TRANS[trn].active = true;
+            }else{
+                TRANS[trn].active = false;
+            }
+            if(TRANS[trn].active) {
+                if(EVAL_GUARD(trn)) {
+                    if(TRANS[trn].syncid == NONE || agre_time - SyncStatus[TRANS[trn].syncid] < Broadcase_delay) {
+                        CurrentState = TRANS[trn].dest;
+                        ASSIGN(trn);
+                    }
+                }
+            }
+        }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VRP.h	Fri Nov 27 21:43:33 2015 +0000
@@ -0,0 +1,36 @@
+/* VRP */
+void VRP(void const *i)
+{
+    int CurrentState = VRP_INITIAL;
+    RtosTimer local_timer = RtosTimer(VRP_timer, osTimerPeriodic,(void *)0);
+    local_timer.start(1);
+    while (true) {
+        switch (CurrentState) {
+            case VRP_VSENSE:
+                if(VRP_clock >= VSENSE_TIME_UPPER) {
+                    SyncStatus[VSENSE] = agre_time;
+                    CurrentState = VRP_WAIT;
+                    VRP_clock = 0;
+                    pc.printf("VSense ");
+                    pc.printf("Time: %ld", agre_time);
+                    pc.printf("\n");
+                }
+                break;
+        }
+        for(int trn=20; trn<=22; trn++) {
+            if(TRANS[trn].source == CurrentState){
+                TRANS[trn].active = true;
+            }else{
+                TRANS[trn].active = false;
+            }
+            if(TRANS[trn].active) {
+                if(EVAL_GUARD(trn)) {
+                    if(TRANS[trn].syncid == NONE || agre_time - SyncStatus[TRANS[trn].syncid] < Broadcase_delay) {
+                        CurrentState = TRANS[trn].dest;
+                        ASSIGN(trn);
+                    }
+                }
+            }
+        }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Nov 27 21:43:33 2015 +0000
@@ -0,0 +1,18 @@
+#include "GlobalVar.h"
+#include "AMachine.h"
+#include "VMachine.h"
+#include "VRP.h"
+#include "PVARP.h"
+
+int main()
+{
+    /*start timer */
+    RtosTimer global_timer = RtosTimer(tick_timer, osTimerPeriodic, (void *)0);
+    global_timer.start(1);
+    initTrans();
+    Thread t1(AMachine, (void *)1);
+    Thread t2(VMachine, (void *)2);
+    Thread t3(VRP, (void *)3);
+    Thread t4(PVARP, (void *)4);
+    while(1);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-rtos.lib	Fri Nov 27 21:43:33 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed-rtos/#6c35e082773a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Nov 27 21:43:33 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/9296ab0bfc11
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pacemaker_Param.h	Fri Nov 27 21:43:33 2015 +0000
@@ -0,0 +1,25 @@
+#ifndef PACEMAKER_PARAM_H
+#define PACEMAKER_PARAM_H
+
+#define AVI 100
+#define PVARP_TIME 200
+#define ASENSE_TIME_UPPER 100
+
+#define SLEEP_UP_BOUND 60
+#define SLEEP_LOWER_BOUND 30
+#define NORMAL_UP_BOUND 100
+#define NORMAL_LOWER_BOUND 40
+#define SPORTS_UP_BOUND 175
+#define SPORTS_LOWER_BOUND 100
+#define MANUAL_UP_BOUND 175
+#define MANUAL_LOWER_BOUND 30
+
+#define VSENSE_TIME_UPPER 100
+#define VRP_TIME 220
+
+#define CURRENT_URI 600
+#define CURRENT_LRI 1500
+
+#define Broadcase_delay 30
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/state_type.h	Fri Nov 27 21:43:33 2015 +0000
@@ -0,0 +1,20 @@
+#ifndef STATE_TYPE_H
+#define STATE_TYPE_H
+
+#define AMACHINE_INITIAL 0
+#define AMACHINE_V 2
+
+#define VMACHINE_INITIAL 30
+#define VMACHINE_AEVENT 31
+#define VMACHINE_INTER 32
+
+#define VRP_INITIAL 10
+#define VRP_WAIT 11
+#define VRP_VSENSE 12
+
+#define PVARP_INITIAL 20
+#define PVARP_INTER 21
+#define PVARP_AEVENT 22
+#define PVARP_ASENSE 23
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/transition.h	Fri Nov 27 21:43:33 2015 +0000
@@ -0,0 +1,9 @@
+enum Sync {NONE, APACE, ASENSE, ASIGNAL, VPACE, VSENSE, VSIGNAL};
+struct TRANS_T {
+    bool active;
+    int source;
+    int dest;
+    Sync syncid;
+    TRANS_T(): active(false), source(-1), dest(-1), syncid(NONE){};
+    TRANS_T(bool a, int b, int c, Sync d): active(a), source(b), dest(c), syncid(d) {};
+};