SequenceController.hpp

00001 #include "mbed.h"
00002 #include "ConfigFile.h"
00003 #include <string>            //mbed doesn't use cstring
00004 
00005 #ifndef SEQUENCECONTROLLER_HPP
00006 #define SEQUENCECONTROLLER_HPP
00007 
00008 //struct for saving the data
00009 struct sequenceStruct {
00010     string title;
00011     int state;      //for the current StateMachine, states are ID-ed with enumeration
00012     float timeout;
00013     float depth;
00014     float pitch;
00015 };
00016 
00017 //struct for saving the leg data
00018 struct legStruct {
00019     int state;      //for the current StateMachine, states are ID-ed with enumeration
00020     float timeout;
00021     float yo_time;
00022     float min_depth;
00023     float max_depth;
00024     float heading;
00025     string title;
00026 };
00027 
00028 class SequenceController {
00029 public:
00030     SequenceController();
00031     
00032     sequenceStruct sequenceStructLoaded[256];
00033     
00034     void loadSequence();
00035     
00036     sequenceStruct process(string input_string);
00037     
00038     void sequenceFunction();    //process the sequence
00039     
00040     void setState(int input_state);           //manually set the state of the system
00041     int getState();
00042     void setTimeout(float input_timeout);
00043     void setDepthCommand(float input_depth_command);
00044     void setPitchCommand(float input_pitch_command);
00045     
00046     int getSequenceState();
00047     
00048 private:
00049     char _neutral_sequence;
00050     char _dive_cycle;
00051     char _exit;
00052     
00053     int _number_of_sequences;
00054     int _sequence_counter;
00055     
00056     Ticker sequenceTicker;          //Ticker for the sequenceFunction
00057     
00058     int _current_state;
00059 };
00060 class LegController {
00061 public:
00062     LegController();
00063     
00064     legStruct legStructLoaded[32];
00065     
00066     int loadLeg();
00067     
00068     legStruct process(string input_string);
00069     legStruct load_def_leg();   //make sure defaults are in the leg structure 
00070     
00071     void legFunction();    //process the sequence
00072     
00073     void setState(int input_state);           //manually set the state of the system
00074     int getState();
00075     void setTimeout(float input_timeout);
00076     void setDepthCommand(float input_depth_command);
00077     void setPitchCommand(float input_pitch_command);
00078     
00079     int getLegState();
00080     
00081 private:
00082     char _neutral_sequence;
00083     char _dive_cycle;
00084     char _exit;
00085     
00086     int _number_of_legs;
00087     int _leg_counter;
00088     
00089     Ticker sequenceTicker;          //Ticker for the sequenceFunction
00090     
00091     int _current_state;
00092 }; 
00093 #endif