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@57:ec69651c8c21, 2018-06-14 (annotated)

Committer:
tnhnrl
Date:
Thu Jun 14 16:10:25 2018 +0000
Revision:
57:ec69651c8c21
Parent:
55:f4ec445c42fe
Child:
58:94b7fd55185e
Working version with debug and simple menu

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 57:ec69651c8c21 50 void showSimpleMenu(); // simple menu
tnhnrl 57:ec69651c8c21 51 void showDebugMenu(); // debug menu
tnhnrl 16:3363b9f14913 52
tnhnrl 17:7c16b5671d0e 53 void keyboard();
tnhnrl 16:3363b9f14913 54
tnhnrl 49:47ffa4feb6db 55 void keyboard_menu_MANUAL_TUNING();
tnhnrl 52:f207567d3ea4 56 void keyboard_menu_STREAM_STATUS();
tnhnrl 52:f207567d3ea4 57 void keyboard_menu_CHANNEL_READINGS();
tnhnrl 55:f4ec445c42fe 58 void keyboard_menu_POSITION_READINGS();
tnhnrl 52:f207567d3ea4 59 void keyboard_menu_RUDDER_SERVO_settings();
tnhnrl 54:d4990fb68404 60 void keyboard_menu_COUNTS_STATUS();
tnhnrl 49:47ffa4feb6db 61
tnhnrl 16:3363b9f14913 62 void keyboard_menu_BCE_PID_settings();
tnhnrl 16:3363b9f14913 63 void keyboard_menu_BATT_PID_settings();
tnhnrl 16:3363b9f14913 64 void keyboard_menu_DEPTH_PID_settings();
tnhnrl 16:3363b9f14913 65 void keyboard_menu_PITCH_PID_settings();
tnhnrl 16:3363b9f14913 66
tnhnrl 16:3363b9f14913 67 float getDepthCommand();
tnhnrl 16:3363b9f14913 68 float getPitchCommand();
tnhnrl 32:f2f8ae34aadc 69 float getDepthReading();
tnhnrl 32:f2f8ae34aadc 70 float getPitchReading();
tnhnrl 32:f2f8ae34aadc 71 float getTimerReading();
tnhnrl 16:3363b9f14913 72
tnhnrl 32:f2f8ae34aadc 73 int runNeutralStateMachine(); //substate returns the state (which is used in overall FSM)
tnhnrl 17:7c16b5671d0e 74
tnhnrl 28:16c83a2fdefa 75 int getState();
tnhnrl 17:7c16b5671d0e 76 void setState(int input_state);
tnhnrl 28:16c83a2fdefa 77
tnhnrl 17:7c16b5671d0e 78 void setTimeout(float input_timeout);
tnhnrl 17:7c16b5671d0e 79 void setDepthCommand(float input_depth_command);
tnhnrl 17:7c16b5671d0e 80 void setPitchCommand(float input_pitch_command);
tnhnrl 17:7c16b5671d0e 81
tnhnrl 17:7c16b5671d0e 82 void setNeutralPositions(float batt_pos_mm, float bce_pos_mm);
tnhnrl 17:7c16b5671d0e 83
tnhnrl 17:7c16b5671d0e 84 int timeoutRunning();
tnhnrl 17:7c16b5671d0e 85
tnhnrl 21:38c8544db6f4 86 void getDiveSequence(); //used in multi-dive sequence with public variables for now
tnhnrl 17:7c16b5671d0e 87
tnhnrl 32:f2f8ae34aadc 88 void runActiveNeutralStateMachine(); //new neutral substate returns the state (which is used in overall FSM)
tnhnrl 32:f2f8ae34aadc 89
tnhnrl 34:9b66c5188051 90 float * getLoggerArray(); //delete soon
tnhnrl 32:f2f8ae34aadc 91
tnhnrl 34:9b66c5188051 92 void recordData(int input_state); //record log data to file using MbedLogger class
tnhnrl 32:f2f8ae34aadc 93 void printDirectory();
tnhnrl 32:f2f8ae34aadc 94 void recordState(int input_state);
tnhnrl 34:9b66c5188051 95 void printCurrentSdLog(); //more tricky for SD card, work in progress
tnhnrl 32:f2f8ae34aadc 96
tnhnrl 32:f2f8ae34aadc 97 void createNewFile();
tnhnrl 32:f2f8ae34aadc 98
tnhnrl 32:f2f8ae34aadc 99 void transmitData();
tnhnrl 32:f2f8ae34aadc 100
tnhnrl 36:966a86937e17 101 float * dataArray();
tnhnrl 36:966a86937e17 102
tnhnrl 52:f207567d3ea4 103 //06/06/2018
tnhnrl 52:f207567d3ea4 104 float getFloatUserInput();
tnhnrl 52:f207567d3ea4 105
tnhnrl 16:3363b9f14913 106 private:
tnhnrl 57:ec69651c8c21 107 bool _debug_menu_on; // default is false to show simple menu, debug allows more tuning and has a lot of keyboard commands
tnhnrl 57:ec69651c8c21 108
tnhnrl 17:7c16b5671d0e 109 int _timeout; // generic timeout for every state, seconds
tnhnrl 28:16c83a2fdefa 110 float _pitchTolerance; // pitch angle tolerance for neutral finding exit criteria
tnhnrl 28:16c83a2fdefa 111 float _bceFloatPosition; // bce position for "float" states
tnhnrl 28:16c83a2fdefa 112 float _battFloatPosition; // batt position for "broadcast" state
tnhnrl 16:3363b9f14913 113
tnhnrl 32:f2f8ae34aadc 114 float _depth_command; // user keyboard depth
tnhnrl 32:f2f8ae34aadc 115 float _pitch_command; // user keyboard depth
tnhnrl 32:f2f8ae34aadc 116 float _depth_reading; // depth reading (to get the readings at the same time)
tnhnrl 32:f2f8ae34aadc 117 float _pitch_reading; // pitch reading (to get the readings at the same time)
tnhnrl 32:f2f8ae34aadc 118 float _timer_reading; // pitch reading (to get the readings at the same time)
tnhnrl 16:3363b9f14913 119
tnhnrl 16:3363b9f14913 120 Timer timer;
tnhnrl 17:7c16b5671d0e 121
danstrider 22:a10ee088403b 122 int _state; // Fine State Machine (FSM) state
tnhnrl 28:16c83a2fdefa 123 int _previous_state; // record previous state
danstrider 22:a10ee088403b 124 int _sub_state; // substate on find_neutral function
danstrider 22:a10ee088403b 125 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 126 float _neutral_timer; // keep time for rise/sink/level timer incremnets
tnhnrl 17:7c16b5671d0e 127
tnhnrl 28:16c83a2fdefa 128 bool _isTimeoutRunning;
tnhnrl 17:7c16b5671d0e 129
tnhnrl 28:16c83a2fdefa 130 bool _isSubStateTimerRunning;
tnhnrl 17:7c16b5671d0e 131
tnhnrl 21:38c8544db6f4 132 float _neutral_bce_pos_mm;
tnhnrl 21:38c8544db6f4 133 float _neutral_batt_pos_mm;
tnhnrl 17:7c16b5671d0e 134
tnhnrl 24:c7d9b5bf3829 135 int _multi_dive_counter;
tnhnrl 28:16c83a2fdefa 136
tnhnrl 21:38c8544db6f4 137 currentSequenceStruct currentStateStruct; //type_of_struct struct_name
tnhnrl 21:38c8544db6f4 138
tnhnrl 21:38c8544db6f4 139 bool _neutral_sub_state_active; // controls neutral_sub_state
tnhnrl 21:38c8544db6f4 140
tnhnrl 21:38c8544db6f4 141 float _depth_KP;
tnhnrl 21:38c8544db6f4 142 float _depth_KI;
tnhnrl 21:38c8544db6f4 143 float _depth_KD;
tnhnrl 21:38c8544db6f4 144
tnhnrl 21:38c8544db6f4 145 float _pitch_KP;
tnhnrl 21:38c8544db6f4 146 float _pitch_KI;
tnhnrl 21:38c8544db6f4 147 float _pitch_KD;
tnhnrl 28:16c83a2fdefa 148
tnhnrl 45:16b8162188ca 149 int _state_array[256]; //used to print out the states
tnhnrl 28:16c83a2fdefa 150 int _state_array_counter; //used to iterate through state records
tnhnrl 45:16b8162188ca 151 int _substate_array[256]; //used to print out the sub-states
tnhnrl 28:16c83a2fdefa 152 int _substate_array_counter; //used to iterate through sub-state records
tnhnrl 23:434f04ef1fad 153
tnhnrl 24:c7d9b5bf3829 154 int _substate;
tnhnrl 24:c7d9b5bf3829 155 int _previous_substate;
tnhnrl 28:16c83a2fdefa 156
tnhnrl 28:16c83a2fdefa 157 float _max_recorded_depth_neutral;
tnhnrl 28:16c83a2fdefa 158 float _max_recorded_depth_dive;
tnhnrl 32:f2f8ae34aadc 159
tnhnrl 32:f2f8ae34aadc 160 float _neutral_sink_command_mm; //defaults for neutral finding sub-FSM
tnhnrl 32:f2f8ae34aadc 161 float _neutral_rise_command_mm;
tnhnrl 32:f2f8ae34aadc 162 float _neutral_pitch_command_mm;
tnhnrl 32:f2f8ae34aadc 163
tnhnrl 32:f2f8ae34aadc 164 float _max_recorded_auto_neutral_depth;
tnhnrl 32:f2f8ae34aadc 165
tnhnrl 32:f2f8ae34aadc 166 //float _logger_array[1048][5]; //array to hold the input, one log per dive (row/col)
tnhnrl 32:f2f8ae34aadc 167 bool _is_log_timer_running;
tnhnrl 32:f2f8ae34aadc 168 float _log_timer;
tnhnrl 32:f2f8ae34aadc 169
tnhnrl 32:f2f8ae34aadc 170 float _data_log[9];
tnhnrl 32:f2f8ae34aadc 171
tnhnrl 57:ec69651c8c21 172 float _BCE_position_command; // NEW COMMANDS FOR POSITION CONTROLLER
tnhnrl 57:ec69651c8c21 173 float _BMM_position_command; // NEW COMMANDS FOR POSITION CONTROLLER
tnhnrl 57:ec69651c8c21 174
tnhnrl 32:f2f8ae34aadc 175 volatile bool _file_closed;
tnhnrl 16:3363b9f14913 176 };
tnhnrl 20:8987a9ae2bc7 177
tnhnrl 16:3363b9f14913 178 #endif