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@80:4e5d306d695b, 2018-10-24 (annotated)

Committer:
tnhnrl
Date:
Wed Oct 24 16:07:10 2018 +0000
Revision:
80:4e5d306d695b
Parent:
74:d281aaef9766
Child:
82:0981b9ada820
Tilde brings up menu to print log size, and asks whether or not you want to erase the MBED local log.; ; Tested code with SD logger, working on PCB 2.4, commented out.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 73:f6f378311c8d 1 #ifndef STATEMACHINE_HPP
tnhnrl 73:f6f378311c8d 2 #define STATEMACHINE_HPP
tnhnrl 73:f6f378311c8d 3
tnhnrl 73:f6f378311c8d 4 #include "mbed.h"
tnhnrl 73:f6f378311c8d 5 #include <vector>
tnhnrl 73:f6f378311c8d 6
tnhnrl 73:f6f378311c8d 7 extern "C" void mbed_reset(); // utilized to reset the mbed
tnhnrl 73:f6f378311c8d 8
tnhnrl 73:f6f378311c8d 9 // main finite state enumerations
tnhnrl 73:f6f378311c8d 10 enum {
tnhnrl 73:f6f378311c8d 11 SIT_IDLE, // stops both motors, exits after a keyboard input
tnhnrl 73:f6f378311c8d 12 CHECK_TUNING, // runs the system to the positions specified in the files
tnhnrl 73:f6f378311c8d 13 FIND_NEUTRAL, // dives to depth at zero pitch, exits when stable
tnhnrl 73:f6f378311c8d 14 DIVE, // dives to depth at negative pitch, exits when crossing a defined depth
tnhnrl 73:f6f378311c8d 15 RISE, // rises to surface at positive pitch, exits when near surface
tnhnrl 73:f6f378311c8d 16 POSITION_DIVE, // NEW POSITION ONLY COMMANDS (inner loop)
tnhnrl 73:f6f378311c8d 17 POSITION_RISE, // NEW POSITION ONLY COMMANDS (inner loop)
tnhnrl 73:f6f378311c8d 18 FLOAT_LEVEL, // bce position to float, pitch loop active at zero, exits when stable near zero pitch
tnhnrl 73:f6f378311c8d 19 FLOAT_BROADCAST, // bce position to float, batt position forward to hold tail up, exits when actuators done
tnhnrl 73:f6f378311c8d 20 EMERGENCY_CLIMB, // bce position to full rise, batt position to full aft, exits when at surface
tnhnrl 73:f6f378311c8d 21 MULTI_DIVE, // multi-dive sequence
tnhnrl 73:f6f378311c8d 22 MULTI_RISE, // multi-rise sequence
tnhnrl 73:f6f378311c8d 23 KEYBOARD, // "state" for tracking only
tnhnrl 73:f6f378311c8d 24 TX_MBED_LOG,
tnhnrl 74:d281aaef9766 25 RX_SEQUENCE
tnhnrl 73:f6f378311c8d 26 };
tnhnrl 73:f6f378311c8d 27
tnhnrl 73:f6f378311c8d 28 // find_neutral finite state machine enumerations
tnhnrl 73:f6f378311c8d 29 enum {
tnhnrl 73:f6f378311c8d 30 NEUTRAL_SINKING, // increment the bce until really start sinking
tnhnrl 73:f6f378311c8d 31 NEUTRAL_SLOWLY_RISE, // once sinking, arrest the sink
tnhnrl 73:f6f378311c8d 32 NEUTRAL_CHECK_PITCH, // find level again, then save the data and exit
tnhnrl 73:f6f378311c8d 33 NEUTRAL_EXIT, // sub-FSM has completed all checks
tnhnrl 73:f6f378311c8d 34 };
tnhnrl 73:f6f378311c8d 35
tnhnrl 73:f6f378311c8d 36 // test idea
tnhnrl 73:f6f378311c8d 37
tnhnrl 73:f6f378311c8d 38 //struct for saving the data
tnhnrl 73:f6f378311c8d 39 struct currentSequenceStruct {
tnhnrl 73:f6f378311c8d 40 int state; //for the current StateMachine, states are ID-ed with enumeration
tnhnrl 73:f6f378311c8d 41 float timeout;
tnhnrl 73:f6f378311c8d 42 float depth;
tnhnrl 73:f6f378311c8d 43 float pitch;
tnhnrl 73:f6f378311c8d 44 };
tnhnrl 73:f6f378311c8d 45
tnhnrl 73:f6f378311c8d 46 class StateMachine {
tnhnrl 73:f6f378311c8d 47 public:
tnhnrl 73:f6f378311c8d 48 StateMachine();
tnhnrl 73:f6f378311c8d 49
tnhnrl 73:f6f378311c8d 50 int runStateMachine();
tnhnrl 73:f6f378311c8d 51
tnhnrl 73:f6f378311c8d 52 void printSimpleMenu(); // simple menu
tnhnrl 73:f6f378311c8d 53 void printDebugMenu(); // debug menu
tnhnrl 73:f6f378311c8d 54
tnhnrl 73:f6f378311c8d 55 void keyboard();
tnhnrl 73:f6f378311c8d 56
tnhnrl 73:f6f378311c8d 57 void keyboard_menu_MANUAL_TUNING();
tnhnrl 73:f6f378311c8d 58 void keyboard_menu_STREAM_STATUS();
tnhnrl 73:f6f378311c8d 59 void keyboard_menu_CHANNEL_READINGS();
tnhnrl 73:f6f378311c8d 60 void keyboard_menu_POSITION_READINGS();
tnhnrl 73:f6f378311c8d 61 void keyboard_menu_RUDDER_SERVO_settings();
tnhnrl 73:f6f378311c8d 62 void keyboard_menu_HEADING_PID_settings();
tnhnrl 73:f6f378311c8d 63 void keyboard_menu_COUNTS_STATUS(); //remove?
tnhnrl 73:f6f378311c8d 64
tnhnrl 73:f6f378311c8d 65 void keyboard_menu_BCE_PID_settings();
tnhnrl 73:f6f378311c8d 66 void keyboard_menu_BATT_PID_settings();
tnhnrl 73:f6f378311c8d 67 void keyboard_menu_DEPTH_PID_settings();
tnhnrl 73:f6f378311c8d 68 void keyboard_menu_PITCH_PID_settings();
tnhnrl 73:f6f378311c8d 69
tnhnrl 73:f6f378311c8d 70 float getDepthCommand();
tnhnrl 73:f6f378311c8d 71 float getPitchCommand();
tnhnrl 73:f6f378311c8d 72 float getDepthReading();
tnhnrl 73:f6f378311c8d 73 float getPitchReading();
tnhnrl 73:f6f378311c8d 74 float getTimerReading();
tnhnrl 73:f6f378311c8d 75
tnhnrl 73:f6f378311c8d 76 int runNeutralStateMachine(); //substate returns the state (which is used in overall FSM)
tnhnrl 73:f6f378311c8d 77
tnhnrl 73:f6f378311c8d 78 int getState();
tnhnrl 73:f6f378311c8d 79 void setState(int input_state);
tnhnrl 73:f6f378311c8d 80
tnhnrl 73:f6f378311c8d 81 void setTimeout(float input_timeout);
tnhnrl 73:f6f378311c8d 82 void setDepthCommand(float input_depth_command);
tnhnrl 73:f6f378311c8d 83 void setPitchCommand(float input_pitch_command);
tnhnrl 73:f6f378311c8d 84
tnhnrl 73:f6f378311c8d 85 void setNeutralPositions(float batt_pos_mm, float bce_pos_mm);
tnhnrl 73:f6f378311c8d 86
tnhnrl 73:f6f378311c8d 87 void getDiveSequence(); //used in multi-dive sequence with public variables for now
tnhnrl 73:f6f378311c8d 88
tnhnrl 73:f6f378311c8d 89 void runActiveNeutralStateMachine(); //new neutral substate returns the state (which is used in overall FSM)
tnhnrl 73:f6f378311c8d 90
tnhnrl 73:f6f378311c8d 91 float * getLoggerArray(); //delete soon
tnhnrl 73:f6f378311c8d 92
tnhnrl 73:f6f378311c8d 93 void printDirectory();
tnhnrl 73:f6f378311c8d 94 void printCurrentSdLog(); //more tricky for SD card, work in progress
tnhnrl 73:f6f378311c8d 95
tnhnrl 73:f6f378311c8d 96 void createNewFile();
tnhnrl 73:f6f378311c8d 97
tnhnrl 73:f6f378311c8d 98 void transmitData();
tnhnrl 73:f6f378311c8d 99
tnhnrl 73:f6f378311c8d 100 float * dataArray();
tnhnrl 73:f6f378311c8d 101
tnhnrl 73:f6f378311c8d 102 //GUI UPDATE FUNCTIONS
tnhnrl 73:f6f378311c8d 103 float getTimerValue();
tnhnrl 73:f6f378311c8d 104
tnhnrl 80:4e5d306d695b 105 void logFileMenu(); //instead of immediately erasing log files, NRL Stennis suggests a confirmation
tnhnrl 80:4e5d306d695b 106
tnhnrl 73:f6f378311c8d 107 private:
tnhnrl 73:f6f378311c8d 108 bool _debug_menu_on; // default is false to show simple menu, debug allows more tuning and has a lot of keyboard commands
tnhnrl 73:f6f378311c8d 109
tnhnrl 73:f6f378311c8d 110 int _timeout; // generic timeout for every state, seconds
tnhnrl 73:f6f378311c8d 111 float _pitchTolerance; // pitch angle tolerance for neutral finding exit criteria
tnhnrl 73:f6f378311c8d 112 float _bceFloatPosition; // bce position for "float" states
tnhnrl 73:f6f378311c8d 113 float _battFloatPosition; // batt position for "broadcast" state
tnhnrl 73:f6f378311c8d 114
tnhnrl 73:f6f378311c8d 115 float _depth_command; // user keyboard depth
tnhnrl 73:f6f378311c8d 116 float _pitch_command; // user keyboard pitch
tnhnrl 73:f6f378311c8d 117 float _heading_command; // user keyboard heading
tnhnrl 73:f6f378311c8d 118
tnhnrl 73:f6f378311c8d 119 float _depth_reading; // depth reading (to get the readings at the same time)
tnhnrl 73:f6f378311c8d 120 float _pitch_reading; // pitch reading (to get the readings at the same time)
tnhnrl 73:f6f378311c8d 121 float _timer_reading; // pitch reading (to get the readings at the same time)
tnhnrl 73:f6f378311c8d 122
tnhnrl 73:f6f378311c8d 123 Timer _fsm_timer; //timing variable used in class
tnhnrl 73:f6f378311c8d 124
tnhnrl 73:f6f378311c8d 125 volatile int _state; // current state of Finite State Machine (FSM)
tnhnrl 73:f6f378311c8d 126 int _previous_state; // record previous state
tnhnrl 73:f6f378311c8d 127 int _sub_state; // substate on find_neutral function
tnhnrl 73:f6f378311c8d 128 int _previous_sub_state; // previous substate so that what goes into the sub-state is not being changed as it is processed
tnhnrl 73:f6f378311c8d 129 float _neutral_timer; // keep time for rise/sink/level timer incremnets
tnhnrl 73:f6f378311c8d 130
tnhnrl 73:f6f378311c8d 131 bool _isTimeoutRunning;
tnhnrl 73:f6f378311c8d 132
tnhnrl 73:f6f378311c8d 133 bool _isSubStateTimerRunning;
tnhnrl 73:f6f378311c8d 134
tnhnrl 73:f6f378311c8d 135 float _neutral_bce_pos_mm;
tnhnrl 73:f6f378311c8d 136 float _neutral_batt_pos_mm;
tnhnrl 73:f6f378311c8d 137
tnhnrl 73:f6f378311c8d 138 int _multi_dive_counter;
tnhnrl 73:f6f378311c8d 139
tnhnrl 73:f6f378311c8d 140 currentSequenceStruct currentStateStruct; //type_of_struct struct_name
tnhnrl 73:f6f378311c8d 141
tnhnrl 73:f6f378311c8d 142 float _depth_KP;
tnhnrl 73:f6f378311c8d 143 float _depth_KI;
tnhnrl 73:f6f378311c8d 144 float _depth_KD;
tnhnrl 73:f6f378311c8d 145
tnhnrl 73:f6f378311c8d 146 float _pitch_KP;
tnhnrl 73:f6f378311c8d 147 float _pitch_KI;
tnhnrl 73:f6f378311c8d 148 float _pitch_KD;
tnhnrl 73:f6f378311c8d 149
tnhnrl 73:f6f378311c8d 150 int _state_array[256]; //used to print out the states
tnhnrl 73:f6f378311c8d 151 int _state_array_counter; //used to iterate through state records
tnhnrl 73:f6f378311c8d 152 int _substate_array[256]; //used to print out the sub-states
tnhnrl 73:f6f378311c8d 153 int _substate_array_counter; //used to iterate through sub-state records
tnhnrl 73:f6f378311c8d 154
tnhnrl 73:f6f378311c8d 155 int _substate;
tnhnrl 73:f6f378311c8d 156 int _previous_substate;
tnhnrl 73:f6f378311c8d 157
tnhnrl 73:f6f378311c8d 158 float _max_recorded_depth_neutral;
tnhnrl 73:f6f378311c8d 159 float _max_recorded_depth_dive;
tnhnrl 73:f6f378311c8d 160
tnhnrl 73:f6f378311c8d 161 float _neutral_sink_command_mm; //defaults for neutral finding sub-FSM
tnhnrl 73:f6f378311c8d 162 float _neutral_rise_command_mm;
tnhnrl 73:f6f378311c8d 163 float _neutral_pitch_command_mm;
tnhnrl 73:f6f378311c8d 164
tnhnrl 73:f6f378311c8d 165 float _max_recorded_auto_neutral_depth;
tnhnrl 73:f6f378311c8d 166
tnhnrl 73:f6f378311c8d 167 bool _is_log_timer_running;
tnhnrl 73:f6f378311c8d 168 float _log_timer;
tnhnrl 73:f6f378311c8d 169
tnhnrl 73:f6f378311c8d 170 float _BCE_dive_offset; // NEW COMMANDS FOR POSITION CONTROLLER
tnhnrl 73:f6f378311c8d 171 float _BMM_dive_offset;
tnhnrl 73:f6f378311c8d 172
tnhnrl 73:f6f378311c8d 173 float getFloatUserInput();
tnhnrl 73:f6f378311c8d 174
tnhnrl 73:f6f378311c8d 175 //new
tnhnrl 73:f6f378311c8d 176 float _batt_filter_freq;
tnhnrl 73:f6f378311c8d 177 float _bce_filter_freq;
tnhnrl 73:f6f378311c8d 178 float _pitch_filter_freq;
tnhnrl 73:f6f378311c8d 179 float _depth_filter_freq;
tnhnrl 73:f6f378311c8d 180 float _heading_filter_freq;
tnhnrl 73:f6f378311c8d 181
tnhnrl 73:f6f378311c8d 182 float _batt_deadband;
tnhnrl 73:f6f378311c8d 183 float _bce_deadband;
tnhnrl 73:f6f378311c8d 184 float _pitch_deadband;
tnhnrl 73:f6f378311c8d 185 float _depth_deadband;
tnhnrl 73:f6f378311c8d 186 float _heading_deadband;
tnhnrl 73:f6f378311c8d 187 };
tnhnrl 73:f6f378311c8d 188
tnhnrl 73:f6f378311c8d 189 #endif