Diff: StateMachine/StateMachine.hpp

Revision:

32:f2f8ae34aadc

Parent:

28:16c83a2fdefa

Child:

33:29a4268fbc74

Child:

34:9b66c5188051

--- a/StateMachine/StateMachine.hpp	Wed Dec 06 22:45:23 2017 +0000
+++ b/StateMachine/StateMachine.hpp	Wed Dec 20 13:52:50 2017 +0000
@@ -2,6 +2,8 @@
 #define STATEMACHINE_HPP
  
 #include "mbed.h"
+#include <vector>
+#include "DirectoryList.h"
  
 extern "C" void mbed_reset();           // utilized to reset the mbed
  
@@ -16,17 +18,20 @@
     EMERGENCY_CLIMB,        // bce position to full rise, batt position to full aft, exits when at surface
     MULTI_DIVE,             // multi-dive sequence
     MULTI_RISE,             // multi-rise sequence
-    KEYBOARD                // "state" for tracking only
+    KEYBOARD,               // "state" for tracking only
+    FIND_AUTO_NEUTRAL_DEPTH,
+    FIND_AUTO_NEUTRAL_PITCH
 };
  
 // find_neutral finite state machine enumerations
 enum {
-    NEUTRAL_FIRST_PITCH,    // NEW first state: find level by moving the battery
     NEUTRAL_SINKING,        // increment the bce until really start sinking
     NEUTRAL_SLOWLY_RISE,    // once sinking, arrest the sink
     NEUTRAL_CHECK_PITCH,    // find level again, then save the data and exit
-    NEUTRAL_EXIT            // sub-FSM has completed all checks
+    NEUTRAL_EXIT,            // sub-FSM has completed all checks
 };
+
+// test idea
  
 //struct for saving the data
 struct currentSequenceStruct {
@@ -53,8 +58,11 @@
     
     float getDepthCommand();
     float getPitchCommand();
+    float getDepthReading();
+    float getPitchReading();
+    float getTimerReading();
     
-    int runNeutralStateMachine();   //substate returns the state (which is used in overall FSM)
+    int runNeutralStateMachine();           //substate returns the state (which is used in overall FSM)
     
     int getState();
     void setState(int input_state);
@@ -69,14 +77,30 @@
     
     void getDiveSequence(); //used in multi-dive sequence with public variables for now
     
+    void runActiveNeutralStateMachine();    //new neutral substate returns the state (which is used in overall FSM)
+    
+    float * getLoggerArray();       //delete soon
+    
+    void recordData();              //record log data to file using MbedLogger class
+    void printDirectory();
+    void recordState(int input_state);
+    void printCurrentSdLog();       //more tricky for SD card, work in progress
+    
+    void createNewFile();
+    
+    void transmitData();
+    
 private:
     int _timeout;                // generic timeout for every state, seconds
     float _pitchTolerance;       // pitch angle tolerance for neutral finding exit criteria
     float _bceFloatPosition;     // bce position for "float" states
     float _battFloatPosition;    // batt position for "broadcast" state
     
-    float _depthCommand;         // user keyboard depth
-    float _pitchCommand;         // user keyboard depth
+    float _depth_command;       // user keyboard depth
+    float _pitch_command;       // user keyboard depth
+    float _depth_reading;       // depth reading (to get the readings at the same time)
+    float _pitch_reading;       // pitch reading (to get the readings at the same time)   
+    float _timer_reading;       // pitch reading (to get the readings at the same time)
     
     Timer timer;
     
@@ -117,6 +141,20 @@
     
     float _max_recorded_depth_neutral;
     float _max_recorded_depth_dive;
+    
+    float _neutral_sink_command_mm;                 //defaults for neutral finding sub-FSM
+    float _neutral_rise_command_mm;
+    float _neutral_pitch_command_mm;
+    
+    float _max_recorded_auto_neutral_depth;
+    
+    //float _logger_array[1048][5];                           //array to hold the input, one log per dive (row/col)
+    bool _is_log_timer_running;
+    float _log_timer;
+    
+    float _data_log[9];
+    
+    volatile bool _file_closed;
 };
  
 #endif
\ No newline at end of file