Flying Sea Glider / Mbed 2 deprecated 2019_10may_firstflight_jcw_nosd

most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown

Dependencies:   mbed MODSERIAL FATFileSystem

StateMachine/StateMachine.hpp@38:83d06c294807, 2017-12-21 (annotated)

Committer:
tnhnrl
Date:
Thu Dec 21 17:05:35 2017 +0000
Revision:
38:83d06c294807
Parent:
36:966a86937e17
Child:
45:16b8162188ca
system time and BCE and Battery logger fixes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 16:3363b9f14913 1 #ifndef STATEMACHINE_HPP
tnhnrl 16:3363b9f14913 2 #define STATEMACHINE_HPP
tnhnrl 20:8987a9ae2bc7 3
tnhnrl 16:3363b9f14913 4 #include "mbed.h"
tnhnrl 32:f2f8ae34aadc 5 #include <vector>
tnhnrl 32:f2f8ae34aadc 6 #include "DirectoryList.h"
tnhnrl 20:8987a9ae2bc7 7
tnhnrl 16:3363b9f14913 8 extern "C" void mbed_reset(); // utilized to reset the mbed
tnhnrl 20:8987a9ae2bc7 9
tnhnrl 20:8987a9ae2bc7 10 // main finite state enumerations
tnhnrl 16:3363b9f14913 11 enum {
tnhnrl 17:7c16b5671d0e 12 SIT_IDLE, // stops both motors, exits after a keyboard input
tnhnrl 17:7c16b5671d0e 13 FIND_NEUTRAL, // dives to depth at zero pitch, exits when stable
tnhnrl 17:7c16b5671d0e 14 DIVE, // dives to depth at negative pitch, exits when crossing a defined depth
tnhnrl 17:7c16b5671d0e 15 RISE, // rises to surface at positive pitch, exits when near surface
tnhnrl 17:7c16b5671d0e 16 FLOAT_LEVEL, // bce position to float, pitch loop active at zero, exits when stable near zero pitch
tnhnrl 17:7c16b5671d0e 17 FLOAT_BROADCAST, // bce position to float, batt position forward to hold tail up, exits when actuators done
tnhnrl 17:7c16b5671d0e 18 EMERGENCY_CLIMB, // bce position to full rise, batt position to full aft, exits when at surface
danstrider 22:a10ee088403b 19 MULTI_DIVE, // multi-dive sequence
tnhnrl 28:16c83a2fdefa 20 MULTI_RISE, // multi-rise sequence
tnhnrl 32:f2f8ae34aadc 21 KEYBOARD, // "state" for tracking only
tnhnrl 34:9b66c5188051 22 TRANSMIT_DATA
tnhnrl 20:8987a9ae2bc7 23 };
tnhnrl 20:8987a9ae2bc7 24
tnhnrl 20:8987a9ae2bc7 25 // find_neutral finite state machine enumerations
tnhnrl 20:8987a9ae2bc7 26 enum {
danstrider 22:a10ee088403b 27 NEUTRAL_SINKING, // increment the bce until really start sinking
danstrider 22:a10ee088403b 28 NEUTRAL_SLOWLY_RISE, // once sinking, arrest the sink
danstrider 22:a10ee088403b 29 NEUTRAL_CHECK_PITCH, // find level again, then save the data and exit
tnhnrl 32:f2f8ae34aadc 30 NEUTRAL_EXIT, // sub-FSM has completed all checks
tnhnrl 17:7c16b5671d0e 31 };
tnhnrl 32:f2f8ae34aadc 32
tnhnrl 32:f2f8ae34aadc 33 // test idea
tnhnrl 20:8987a9ae2bc7 34
tnhnrl 17:7c16b5671d0e 35 //struct for saving the data
tnhnrl 17:7c16b5671d0e 36 struct currentSequenceStruct {
tnhnrl 17:7c16b5671d0e 37 int state; //for the current StateMachine, states are ID-ed with enumeration
tnhnrl 17:7c16b5671d0e 38 float timeout;
tnhnrl 17:7c16b5671d0e 39 float depth;
tnhnrl 17:7c16b5671d0e 40 float pitch;
tnhnrl 16:3363b9f14913 41 };
tnhnrl 20:8987a9ae2bc7 42
tnhnrl 16:3363b9f14913 43 class StateMachine {
tnhnrl 16:3363b9f14913 44 public:
tnhnrl 16:3363b9f14913 45 StateMachine();
tnhnrl 16:3363b9f14913 46
tnhnrl 34:9b66c5188051 47 int runStateMachine();
tnhnrl 16:3363b9f14913 48
tnhnrl 16:3363b9f14913 49 void showMenu();
tnhnrl 16:3363b9f14913 50
tnhnrl 17:7c16b5671d0e 51 void keyboard();
tnhnrl 16:3363b9f14913 52
tnhnrl 16:3363b9f14913 53 void keyboard_menu_BCE_PID_settings();
tnhnrl 16:3363b9f14913 54 void keyboard_menu_BATT_PID_settings();
tnhnrl 16:3363b9f14913 55 void keyboard_menu_DEPTH_PID_settings();
tnhnrl 16:3363b9f14913 56 void keyboard_menu_PITCH_PID_settings();
tnhnrl 16:3363b9f14913 57
tnhnrl 16:3363b9f14913 58 float getDepthCommand();
tnhnrl 16:3363b9f14913 59 float getPitchCommand();
tnhnrl 32:f2f8ae34aadc 60 float getDepthReading();
tnhnrl 32:f2f8ae34aadc 61 float getPitchReading();
tnhnrl 32:f2f8ae34aadc 62 float getTimerReading();
tnhnrl 16:3363b9f14913 63
tnhnrl 32:f2f8ae34aadc 64 int runNeutralStateMachine(); //substate returns the state (which is used in overall FSM)
tnhnrl 17:7c16b5671d0e 65
tnhnrl 28:16c83a2fdefa 66 int getState();
tnhnrl 17:7c16b5671d0e 67 void setState(int input_state);
tnhnrl 28:16c83a2fdefa 68
tnhnrl 17:7c16b5671d0e 69 void setTimeout(float input_timeout);
tnhnrl 17:7c16b5671d0e 70 void setDepthCommand(float input_depth_command);
tnhnrl 17:7c16b5671d0e 71 void setPitchCommand(float input_pitch_command);
tnhnrl 17:7c16b5671d0e 72
tnhnrl 17:7c16b5671d0e 73 void setNeutralPositions(float batt_pos_mm, float bce_pos_mm);
tnhnrl 17:7c16b5671d0e 74
tnhnrl 17:7c16b5671d0e 75 int timeoutRunning();
tnhnrl 17:7c16b5671d0e 76
tnhnrl 21:38c8544db6f4 77 void getDiveSequence(); //used in multi-dive sequence with public variables for now
tnhnrl 17:7c16b5671d0e 78
tnhnrl 32:f2f8ae34aadc 79 void runActiveNeutralStateMachine(); //new neutral substate returns the state (which is used in overall FSM)
tnhnrl 32:f2f8ae34aadc 80
tnhnrl 34:9b66c5188051 81 float * getLoggerArray(); //delete soon
tnhnrl 32:f2f8ae34aadc 82
tnhnrl 34:9b66c5188051 83 void recordData(int input_state); //record log data to file using MbedLogger class
tnhnrl 32:f2f8ae34aadc 84 void printDirectory();
tnhnrl 32:f2f8ae34aadc 85 void recordState(int input_state);
tnhnrl 34:9b66c5188051 86 void printCurrentSdLog(); //more tricky for SD card, work in progress
tnhnrl 32:f2f8ae34aadc 87
tnhnrl 32:f2f8ae34aadc 88 void createNewFile();
tnhnrl 32:f2f8ae34aadc 89
tnhnrl 32:f2f8ae34aadc 90 void transmitData();
tnhnrl 32:f2f8ae34aadc 91
tnhnrl 36:966a86937e17 92 float * dataArray();
tnhnrl 36:966a86937e17 93
tnhnrl 16:3363b9f14913 94 private:
tnhnrl 17:7c16b5671d0e 95 int _timeout; // generic timeout for every state, seconds
tnhnrl 28:16c83a2fdefa 96 float _pitchTolerance; // pitch angle tolerance for neutral finding exit criteria
tnhnrl 28:16c83a2fdefa 97 float _bceFloatPosition; // bce position for "float" states
tnhnrl 28:16c83a2fdefa 98 float _battFloatPosition; // batt position for "broadcast" state
tnhnrl 16:3363b9f14913 99
tnhnrl 32:f2f8ae34aadc 100 float _depth_command; // user keyboard depth
tnhnrl 32:f2f8ae34aadc 101 float _pitch_command; // user keyboard depth
tnhnrl 32:f2f8ae34aadc 102 float _depth_reading; // depth reading (to get the readings at the same time)
tnhnrl 32:f2f8ae34aadc 103 float _pitch_reading; // pitch reading (to get the readings at the same time)
tnhnrl 32:f2f8ae34aadc 104 float _timer_reading; // pitch reading (to get the readings at the same time)
tnhnrl 16:3363b9f14913 105
tnhnrl 16:3363b9f14913 106 Timer timer;
tnhnrl 17:7c16b5671d0e 107
danstrider 22:a10ee088403b 108 int _state; // Fine State Machine (FSM) state
tnhnrl 28:16c83a2fdefa 109 int _previous_state; // record previous state
danstrider 22:a10ee088403b 110 int _sub_state; // substate on find_neutral function
danstrider 22:a10ee088403b 111 int _previous_sub_state; // previous substate so that what goes into the sub-state is not being changed as it is processed
tnhnrl 24:c7d9b5bf3829 112 float _neutral_timer; // keep time for rise/sink/level timer incremnets
tnhnrl 17:7c16b5671d0e 113
tnhnrl 28:16c83a2fdefa 114 bool _isTimeoutRunning;
tnhnrl 17:7c16b5671d0e 115
tnhnrl 28:16c83a2fdefa 116 bool _isSubStateTimerRunning;
tnhnrl 17:7c16b5671d0e 117
tnhnrl 21:38c8544db6f4 118 float _neutral_bce_pos_mm;
tnhnrl 21:38c8544db6f4 119 float _neutral_batt_pos_mm;
tnhnrl 17:7c16b5671d0e 120
tnhnrl 24:c7d9b5bf3829 121 int _multi_dive_counter;
tnhnrl 28:16c83a2fdefa 122
tnhnrl 21:38c8544db6f4 123 currentSequenceStruct currentStateStruct; //type_of_struct struct_name
tnhnrl 21:38c8544db6f4 124
tnhnrl 21:38c8544db6f4 125 bool _neutral_sub_state_active; // controls neutral_sub_state
tnhnrl 21:38c8544db6f4 126
tnhnrl 21:38c8544db6f4 127 float _depth_KP;
tnhnrl 21:38c8544db6f4 128 float _depth_KI;
tnhnrl 21:38c8544db6f4 129 float _depth_KD;
tnhnrl 21:38c8544db6f4 130
tnhnrl 21:38c8544db6f4 131 float _pitch_KP;
tnhnrl 21:38c8544db6f4 132 float _pitch_KI;
tnhnrl 21:38c8544db6f4 133 float _pitch_KD;
tnhnrl 28:16c83a2fdefa 134
tnhnrl 28:16c83a2fdefa 135 int _state_array[1024]; //used to print out the states
tnhnrl 28:16c83a2fdefa 136 int _state_array_counter; //used to iterate through state records
tnhnrl 28:16c83a2fdefa 137 int _substate_array[1024]; //used to print out the sub-states
tnhnrl 28:16c83a2fdefa 138 int _substate_array_counter; //used to iterate through sub-state records
tnhnrl 23:434f04ef1fad 139
tnhnrl 24:c7d9b5bf3829 140 int _substate;
tnhnrl 24:c7d9b5bf3829 141 int _previous_substate;
tnhnrl 28:16c83a2fdefa 142
tnhnrl 28:16c83a2fdefa 143 float _max_recorded_depth_neutral;
tnhnrl 28:16c83a2fdefa 144 float _max_recorded_depth_dive;
tnhnrl 32:f2f8ae34aadc 145
tnhnrl 32:f2f8ae34aadc 146 float _neutral_sink_command_mm; //defaults for neutral finding sub-FSM
tnhnrl 32:f2f8ae34aadc 147 float _neutral_rise_command_mm;
tnhnrl 32:f2f8ae34aadc 148 float _neutral_pitch_command_mm;
tnhnrl 32:f2f8ae34aadc 149
tnhnrl 32:f2f8ae34aadc 150 float _max_recorded_auto_neutral_depth;
tnhnrl 32:f2f8ae34aadc 151
tnhnrl 32:f2f8ae34aadc 152 //float _logger_array[1048][5]; //array to hold the input, one log per dive (row/col)
tnhnrl 32:f2f8ae34aadc 153 bool _is_log_timer_running;
tnhnrl 32:f2f8ae34aadc 154 float _log_timer;
tnhnrl 32:f2f8ae34aadc 155
tnhnrl 32:f2f8ae34aadc 156 float _data_log[9];
tnhnrl 32:f2f8ae34aadc 157
tnhnrl 32:f2f8ae34aadc 158 volatile bool _file_closed;
tnhnrl 16:3363b9f14913 159 };
tnhnrl 20:8987a9ae2bc7 160
tnhnrl 16:3363b9f14913 161 #endif