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@49:47ffa4feb6db, 2018-02-15 (annotated)

Committer:
tnhnrl
Date:
Thu Feb 15 23:07:25 2018 +0000
Revision:
49:47ffa4feb6db
Parent:
45:16b8162188ca
Child:
52:f207567d3ea4
Working pool-tested code. Rudder disabled (some weird coupling issue).

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 20:8987a9ae2bc7 6
tnhnrl 16:3363b9f14913 7 extern "C" void mbed_reset(); // utilized to reset the mbed
tnhnrl 20:8987a9ae2bc7 8
tnhnrl 20:8987a9ae2bc7 9 // main finite state enumerations
tnhnrl 16:3363b9f14913 10 enum {
tnhnrl 17:7c16b5671d0e 11 SIT_IDLE, // stops both motors, exits after a keyboard input
tnhnrl 49:47ffa4feb6db 12 CHECK_TUNING, // runs the system to the positions specified in the files
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 45:16b8162188ca 22 TRANSMIT_LOG,
tnhnrl 45:16b8162188ca 23 RECEIVE_SEQUENCE
tnhnrl 20:8987a9ae2bc7 24 };
tnhnrl 20:8987a9ae2bc7 25
tnhnrl 20:8987a9ae2bc7 26 // find_neutral finite state machine enumerations
tnhnrl 20:8987a9ae2bc7 27 enum {
danstrider 22:a10ee088403b 28 NEUTRAL_SINKING, // increment the bce until really start sinking
danstrider 22:a10ee088403b 29 NEUTRAL_SLOWLY_RISE, // once sinking, arrest the sink
danstrider 22:a10ee088403b 30 NEUTRAL_CHECK_PITCH, // find level again, then save the data and exit
tnhnrl 32:f2f8ae34aadc 31 NEUTRAL_EXIT, // sub-FSM has completed all checks
tnhnrl 17:7c16b5671d0e 32 };
tnhnrl 32:f2f8ae34aadc 33
tnhnrl 32:f2f8ae34aadc 34 // test idea
tnhnrl 20:8987a9ae2bc7 35
tnhnrl 17:7c16b5671d0e 36 //struct for saving the data
tnhnrl 17:7c16b5671d0e 37 struct currentSequenceStruct {
tnhnrl 17:7c16b5671d0e 38 int state; //for the current StateMachine, states are ID-ed with enumeration
tnhnrl 17:7c16b5671d0e 39 float timeout;
tnhnrl 17:7c16b5671d0e 40 float depth;
tnhnrl 17:7c16b5671d0e 41 float pitch;
tnhnrl 16:3363b9f14913 42 };
tnhnrl 20:8987a9ae2bc7 43
tnhnrl 16:3363b9f14913 44 class StateMachine {
tnhnrl 16:3363b9f14913 45 public:
tnhnrl 16:3363b9f14913 46 StateMachine();
tnhnrl 16:3363b9f14913 47
tnhnrl 34:9b66c5188051 48 int runStateMachine();
tnhnrl 16:3363b9f14913 49
tnhnrl 16:3363b9f14913 50 void showMenu();
tnhnrl 16:3363b9f14913 51
tnhnrl 17:7c16b5671d0e 52 void keyboard();
tnhnrl 16:3363b9f14913 53
tnhnrl 49:47ffa4feb6db 54 void keyboard_menu_MANUAL_TUNING();
tnhnrl 49:47ffa4feb6db 55
tnhnrl 16:3363b9f14913 56 void keyboard_menu_BCE_PID_settings();
tnhnrl 16:3363b9f14913 57 void keyboard_menu_BATT_PID_settings();
tnhnrl 16:3363b9f14913 58 void keyboard_menu_DEPTH_PID_settings();
tnhnrl 16:3363b9f14913 59 void keyboard_menu_PITCH_PID_settings();
tnhnrl 16:3363b9f14913 60
tnhnrl 16:3363b9f14913 61 float getDepthCommand();
tnhnrl 16:3363b9f14913 62 float getPitchCommand();
tnhnrl 32:f2f8ae34aadc 63 float getDepthReading();
tnhnrl 32:f2f8ae34aadc 64 float getPitchReading();
tnhnrl 32:f2f8ae34aadc 65 float getTimerReading();
tnhnrl 16:3363b9f14913 66
tnhnrl 32:f2f8ae34aadc 67 int runNeutralStateMachine(); //substate returns the state (which is used in overall FSM)
tnhnrl 17:7c16b5671d0e 68
tnhnrl 28:16c83a2fdefa 69 int getState();
tnhnrl 17:7c16b5671d0e 70 void setState(int input_state);
tnhnrl 28:16c83a2fdefa 71
tnhnrl 17:7c16b5671d0e 72 void setTimeout(float input_timeout);
tnhnrl 17:7c16b5671d0e 73 void setDepthCommand(float input_depth_command);
tnhnrl 17:7c16b5671d0e 74 void setPitchCommand(float input_pitch_command);
tnhnrl 17:7c16b5671d0e 75
tnhnrl 17:7c16b5671d0e 76 void setNeutralPositions(float batt_pos_mm, float bce_pos_mm);
tnhnrl 17:7c16b5671d0e 77
tnhnrl 17:7c16b5671d0e 78 int timeoutRunning();
tnhnrl 17:7c16b5671d0e 79
tnhnrl 21:38c8544db6f4 80 void getDiveSequence(); //used in multi-dive sequence with public variables for now
tnhnrl 17:7c16b5671d0e 81
tnhnrl 32:f2f8ae34aadc 82 void runActiveNeutralStateMachine(); //new neutral substate returns the state (which is used in overall FSM)
tnhnrl 32:f2f8ae34aadc 83
tnhnrl 34:9b66c5188051 84 float * getLoggerArray(); //delete soon
tnhnrl 32:f2f8ae34aadc 85
tnhnrl 34:9b66c5188051 86 void recordData(int input_state); //record log data to file using MbedLogger class
tnhnrl 32:f2f8ae34aadc 87 void printDirectory();
tnhnrl 32:f2f8ae34aadc 88 void recordState(int input_state);
tnhnrl 34:9b66c5188051 89 void printCurrentSdLog(); //more tricky for SD card, work in progress
tnhnrl 32:f2f8ae34aadc 90
tnhnrl 32:f2f8ae34aadc 91 void createNewFile();
tnhnrl 32:f2f8ae34aadc 92
tnhnrl 32:f2f8ae34aadc 93 void transmitData();
tnhnrl 32:f2f8ae34aadc 94
tnhnrl 36:966a86937e17 95 float * dataArray();
tnhnrl 36:966a86937e17 96
tnhnrl 16:3363b9f14913 97 private:
tnhnrl 17:7c16b5671d0e 98 int _timeout; // generic timeout for every state, seconds
tnhnrl 28:16c83a2fdefa 99 float _pitchTolerance; // pitch angle tolerance for neutral finding exit criteria
tnhnrl 28:16c83a2fdefa 100 float _bceFloatPosition; // bce position for "float" states
tnhnrl 28:16c83a2fdefa 101 float _battFloatPosition; // batt position for "broadcast" state
tnhnrl 16:3363b9f14913 102
tnhnrl 32:f2f8ae34aadc 103 float _depth_command; // user keyboard depth
tnhnrl 32:f2f8ae34aadc 104 float _pitch_command; // user keyboard depth
tnhnrl 32:f2f8ae34aadc 105 float _depth_reading; // depth reading (to get the readings at the same time)
tnhnrl 32:f2f8ae34aadc 106 float _pitch_reading; // pitch reading (to get the readings at the same time)
tnhnrl 32:f2f8ae34aadc 107 float _timer_reading; // pitch reading (to get the readings at the same time)
tnhnrl 16:3363b9f14913 108
tnhnrl 16:3363b9f14913 109 Timer timer;
tnhnrl 17:7c16b5671d0e 110
danstrider 22:a10ee088403b 111 int _state; // Fine State Machine (FSM) state
tnhnrl 28:16c83a2fdefa 112 int _previous_state; // record previous state
danstrider 22:a10ee088403b 113 int _sub_state; // substate on find_neutral function
danstrider 22:a10ee088403b 114 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 115 float _neutral_timer; // keep time for rise/sink/level timer incremnets
tnhnrl 17:7c16b5671d0e 116
tnhnrl 28:16c83a2fdefa 117 bool _isTimeoutRunning;
tnhnrl 17:7c16b5671d0e 118
tnhnrl 28:16c83a2fdefa 119 bool _isSubStateTimerRunning;
tnhnrl 17:7c16b5671d0e 120
tnhnrl 21:38c8544db6f4 121 float _neutral_bce_pos_mm;
tnhnrl 21:38c8544db6f4 122 float _neutral_batt_pos_mm;
tnhnrl 17:7c16b5671d0e 123
tnhnrl 24:c7d9b5bf3829 124 int _multi_dive_counter;
tnhnrl 28:16c83a2fdefa 125
tnhnrl 21:38c8544db6f4 126 currentSequenceStruct currentStateStruct; //type_of_struct struct_name
tnhnrl 21:38c8544db6f4 127
tnhnrl 21:38c8544db6f4 128 bool _neutral_sub_state_active; // controls neutral_sub_state
tnhnrl 21:38c8544db6f4 129
tnhnrl 21:38c8544db6f4 130 float _depth_KP;
tnhnrl 21:38c8544db6f4 131 float _depth_KI;
tnhnrl 21:38c8544db6f4 132 float _depth_KD;
tnhnrl 21:38c8544db6f4 133
tnhnrl 21:38c8544db6f4 134 float _pitch_KP;
tnhnrl 21:38c8544db6f4 135 float _pitch_KI;
tnhnrl 21:38c8544db6f4 136 float _pitch_KD;
tnhnrl 28:16c83a2fdefa 137
tnhnrl 45:16b8162188ca 138 int _state_array[256]; //used to print out the states
tnhnrl 28:16c83a2fdefa 139 int _state_array_counter; //used to iterate through state records
tnhnrl 45:16b8162188ca 140 int _substate_array[256]; //used to print out the sub-states
tnhnrl 28:16c83a2fdefa 141 int _substate_array_counter; //used to iterate through sub-state records
tnhnrl 23:434f04ef1fad 142
tnhnrl 24:c7d9b5bf3829 143 int _substate;
tnhnrl 24:c7d9b5bf3829 144 int _previous_substate;
tnhnrl 28:16c83a2fdefa 145
tnhnrl 28:16c83a2fdefa 146 float _max_recorded_depth_neutral;
tnhnrl 28:16c83a2fdefa 147 float _max_recorded_depth_dive;
tnhnrl 32:f2f8ae34aadc 148
tnhnrl 32:f2f8ae34aadc 149 float _neutral_sink_command_mm; //defaults for neutral finding sub-FSM
tnhnrl 32:f2f8ae34aadc 150 float _neutral_rise_command_mm;
tnhnrl 32:f2f8ae34aadc 151 float _neutral_pitch_command_mm;
tnhnrl 32:f2f8ae34aadc 152
tnhnrl 32:f2f8ae34aadc 153 float _max_recorded_auto_neutral_depth;
tnhnrl 32:f2f8ae34aadc 154
tnhnrl 32:f2f8ae34aadc 155 //float _logger_array[1048][5]; //array to hold the input, one log per dive (row/col)
tnhnrl 32:f2f8ae34aadc 156 bool _is_log_timer_running;
tnhnrl 32:f2f8ae34aadc 157 float _log_timer;
tnhnrl 32:f2f8ae34aadc 158
tnhnrl 32:f2f8ae34aadc 159 float _data_log[9];
tnhnrl 32:f2f8ae34aadc 160
tnhnrl 32:f2f8ae34aadc 161 volatile bool _file_closed;
tnhnrl 16:3363b9f14913 162 };
tnhnrl 20:8987a9ae2bc7 163
tnhnrl 16:3363b9f14913 164 #endif