File content as of revision 6:ab9f3695633f:

#include "sm_sections.h"


s_Section s_section1;
s_Section s_section2;

E_STATE_SECTIONS e_stateSections;

void init_sm_sections(){

    d_ODOM_distFromSectionStart_m = 0.0;
    e_stateSections = STOPPED;
    s_UTILS_currentSection = NULL;


 //section de départ
    s_section1.nextSection = &s_section2;
    s_section1.consigne_position = 0.75;
    s_section1.targetSpeed_mps = 1.0;
    s_section1.lng_section_m = 1.0;
    s_section1.coef_p = 1.0;
    s_section1.coef_d = 0.0;
    s_section1.coef_i = 0.000;

    //epingle 1
    s_section2.nextSection = NULL;
    s_section2.consigne_position = 0.75;
    s_section2.targetSpeed_mps = 1.0;
    s_section2.lng_section_m = 1.0;
    s_section2.coef_p = 1.0;
    s_section2.coef_d = 0.0;
    s_section2.coef_i = 0.000;

    return;
}
void update_sm_sections(){
    
    E_STATE_SECTIONS e_next_state = e_stateSections;

    //pc.printf("\r\nUpdate Section\r\n");
    
    if(b_UTILS_flag_button){
        e_next_state = INIT_SECTION;
    }
    else if(s_UTILS_currentSection == NULL && e_stateSections != INIT_SECTION) {
        e_next_state = STOPPED;
    } else {

        switch (e_stateSections) {
            case INIT_SECTION:
                e_next_state = LOADING_SECTION;
            break;
            case RUNNING_SECTION:
                if(d_ODOM_distFromSectionStart_m > s_UTILS_currentSection->lng_section_m) {
                    e_next_state = LOADING_SECTION;
                } else if (b_UTILS_flag_emergency_stop){
                    e_next_state = STOPPED;
                    }
                    else{
                    return;
                }
                break;
            case LOADING_SECTION:
                if(s_UTILS_currentSection != NULL && !b_UTILS_flag_emergency_stop) { //la section a ete chargee dans sectionOutput
                    e_next_state = RUNNING_SECTION;
                } else {
                    e_next_state=STOPPED;
                }
                break;
            case STOPPED:
                if(s_UTILS_currentSection != NULL) {
                    e_next_state = RUNNING_SECTION;
                } else {
                    return;
                }
                break;
            default:
                break;
        }
    }
    e_stateSections = e_next_state;
    return;
}
void output_sm_sections(){

    //pc.printf("\r\n Output Section\r\n");
    if(s_UTILS_currentSection !=NULL) {
        switch (e_stateSections) {
            case INIT_SECTION:
            b_UTILS_flag_button = false;
            s_UTILS_currentSection = &s_section1;
            case RUNNING_SECTION:
                break;
            case LOADING_SECTION:
                s_UTILS_currentSection=s_UTILS_currentSection->nextSection;
                d_ODOM_distFromSectionStart_m = 0.0;
                break;
            case STOPPED:
                //on est à l'arret
                break;
            default:
                break;
        }
    }
    return;
}