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Dependencies:   mbed FreeRTOS

globalFlags.cpp@42:cc8501b824ba, 2019-01-23 (annotated)

Committer:
MasashiNomura
Date:
Wed Jan 23 11:58:53 2019 +0000
Revision:
42:cc8501b824ba
Parent:
41:45c982b1c5b6
Child:
43:156199c2f9b6
20190123 Modify for 45inc.; Add CMD for engine accel etc

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 19:4b0fe9a5ec38 1
takeru0x1103 16:05b9e44889f1 2 #include "globalFlags.h"
takeru0x1103 16:05b9e44889f1 3
MasashiNomura 22:24c9c2dedca9 4 //モニタ用LED
takeru0x1103 16:05b9e44889f1 5 DigitalOut led1(LED1);
takeru0x1103 16:05b9e44889f1 6 DigitalOut led2(LED2);
takeru0x1103 16:05b9e44889f1 7 DigitalOut led3(LED3);
takeru0x1103 16:05b9e44889f1 8 DigitalOut led4(LED4);
takeru0x1103 8:1ca49cb18290 9
MasashiNomura 40:debe99e228d3 10 //状態表示用
MasashiNomura 41:45c982b1c5b6 11 DigitalOut DO_01(p21);//R
MasashiNomura 41:45c982b1c5b6 12 DigitalOut DO_02(p22);//G
MasashiNomura 41:45c982b1c5b6 13 DigitalOut DO_03(p23);//B
MasashiNomura 40:debe99e228d3 14
MasashiNomura 33:eb260dbfc22a 15 //モーターアクセル用アナログ入力
MasashiNomura 33:eb260dbfc22a 16 AnalogIn AinAxl(p20);
takeru0x1103 21:78302ecdb661 17
MasashiNomura 38:24ee50452755 18 // //エンジンスロットル用アナログ入力
MasashiNomura 38:24ee50452755 19 // AnalogIn AinThrottle(p19);
MasashiNomura 36:2cc739c7e4cb 20
takeru0x1103 19:4b0fe9a5ec38 21 char g_CmdBuf[G_CMD_BUF_SIZ] ;// コマンド受け渡しバッファ
MasashiNomura 22:24c9c2dedca9 22 bool gf_CmdPrs;
takeru0x1103 19:4b0fe9a5ec38 23
MasashiNomura 22:24c9c2dedca9 24 bool gf_Armed ;//アーミングフラグ
MasashiNomura 23:79e20be4bc5b 25 bool gf_Dbg ;//デバッグタスク起動フラグ
MasashiNomura 37:d51dacb4c30f 26 //bool gf_fs_stat ;//強制遷移フラグ
MasashiNomura 37:d51dacb4c30f 27 bool gf_StopMot ;//モーターの強制停止 サーボ全閉
MasashiNomura 37:d51dacb4c30f 28 bool gf_FromActiveStat ;//モーターの強制停止 サーボ全閉が動作時に発生したかどうか
MasashiNomura 25:f3a6e7eec9c3 29
MasashiNomura 41:45c982b1c5b6 30 typPrintFlg gf_Print ;//
MasashiNomura 41:45c982b1c5b6 31 typPrintFlg gf_Mon ;//
takeru0x1103 19:4b0fe9a5ec38 32 typCalFlag gf_Cal ;//
MasashiNomura 41:45c982b1c5b6 33 //typDbgPrintFlg gf_DbgPrint ;//デバッグ用
MasashiNomura 22:24c9c2dedca9 34 typAccel gf_AxReq[2] ;//アクセル更新フラグ
MasashiNomura 42:cc8501b824ba 35 typAccel gf_AxReqH[2] ;//浮上時アクセル値更新フラグ
MasashiNomura 32:7f4145cc3551 36 typAxlRpm gf_MtReq[4] ;//モーター姿勢制御更新フラグ
MasashiNomura 29:eb3d72dd94aa 37 typAxlRpm gf_MtReqOfs[4] ;//モーターオフセット更新フラグ
MasashiNomura 29:eb3d72dd94aa 38 typAxlRpm gf_MtReqDct[8] ;//ダイレクト(FPGA関数直接呼び出し)モーター更新フラグ
MasashiNomura 32:7f4145cc3551 39 typAxlRpm gf_MtReqU[4] ;//モーターユーザー更新フラグ
MasashiNomura 32:7f4145cc3551 40
MasashiNomura 42:cc8501b824ba 41 typSWCmd gf_SwCmd; //スイッチが押されたことを模擬するフラグ
MasashiNomura 42:cc8501b824ba 42
MasashiNomura 22:24c9c2dedca9 43 enmHbState gf_State = SLEEP;
MasashiNomura 36:2cc739c7e4cb 44 bool gf_StateEnt ;//状態遷移後、最初であることを示す
takeru0x1103 19:4b0fe9a5ec38 45
MasashiNomura 24:c5945aaae777 46 bool gf_PidParaUpdate ;//PID Pp,P,I,Dの係数アップデートフラグ
MasashiNomura 24:c5945aaae777 47 typPidPara g_PidPara ;//PID Pp,P,I,Dの係数の外部設定用
takeru0x1103 20:0394e15412c3 48
MasashiNomura 36:2cc739c7e4cb 49 // bool gf_MotParaUpdate[4] ;//モーターのパラメータ値更新フラグ
MasashiNomura 36:2cc739c7e4cb 50 // typMotPara g_MotPara[4];
MasashiNomura 25:f3a6e7eec9c3 51
MasashiNomura 22:24c9c2dedca9 52 void initFlags(){
MasashiNomura 22:24c9c2dedca9 53 memset(g_CmdBuf,0x0,sizeof(g_CmdBuf));
MasashiNomura 22:24c9c2dedca9 54 gf_CmdPrs = false;
MasashiNomura 22:24c9c2dedca9 55 gf_Armed = false;
MasashiNomura 22:24c9c2dedca9 56 gf_Dbg = false;
MasashiNomura 25:f3a6e7eec9c3 57 gf_StopMot = false;
MasashiNomura 25:f3a6e7eec9c3 58
MasashiNomura 41:45c982b1c5b6 59 // gf_Print.flg = 0;
MasashiNomura 41:45c982b1c5b6 60 // gf_Mon.flg = 0;
MasashiNomura 41:45c982b1c5b6 61 gf_Print.d1.flg = 0;
MasashiNomura 41:45c982b1c5b6 62 gf_Print.d2.flg = 0;
MasashiNomura 39:1b76f7df8804 63
MasashiNomura 22:24c9c2dedca9 64 gf_Cal.flg = 0;
MasashiNomura 26:732bc37fbefd 65
MasashiNomura 41:45c982b1c5b6 66 //gf_DbgPrint.flg = 0;
MasashiNomura 26:732bc37fbefd 67
MasashiNomura 22:24c9c2dedca9 68 gf_AxReq[0].dt = 0;
MasashiNomura 22:24c9c2dedca9 69 gf_AxReq[1].dt = 0;
MasashiNomura 42:cc8501b824ba 70 gf_AxReqH[0].dt = 0;
MasashiNomura 42:cc8501b824ba 71 gf_AxReqH[1].dt = 0;
MasashiNomura 27:ff63c23bc689 72 for(int i=0; i<4;++i){
MasashiNomura 32:7f4145cc3551 73 gf_MtReq[i].req = false;
MasashiNomura 32:7f4145cc3551 74 gf_MtReq[i].val = 0;
MasashiNomura 32:7f4145cc3551 75 gf_MtReqOfs[i].req = false;
MasashiNomura 32:7f4145cc3551 76 gf_MtReqOfs[i].val = 0;
MasashiNomura 32:7f4145cc3551 77 gf_MtReqU[i].req = false;
MasashiNomura 32:7f4145cc3551 78 gf_MtReqU[i].val = 0;
MasashiNomura 27:ff63c23bc689 79 }
MasashiNomura 27:ff63c23bc689 80 for(int i = 0; i < 8; ++i){
MasashiNomura 32:7f4145cc3551 81 gf_MtReqDct[i].req = false;
MasashiNomura 32:7f4145cc3551 82 gf_MtReqDct[i].val = 0;
MasashiNomura 27:ff63c23bc689 83 }
MasashiNomura 42:cc8501b824ba 84
MasashiNomura 42:cc8501b824ba 85 gf_SwCmd.dt = 0;
MasashiNomura 42:cc8501b824ba 86
MasashiNomura 22:24c9c2dedca9 87 gf_State = SLEEP;
MasashiNomura 36:2cc739c7e4cb 88 gf_StateEnt = false;
MasashiNomura 27:ff63c23bc689 89 g_PidPara.PP = 2;
MasashiNomura 32:7f4145cc3551 90 g_PidPara.P = 0;
MasashiNomura 25:f3a6e7eec9c3 91 g_PidPara.I = 0;
MasashiNomura 24:c5945aaae777 92 g_PidPara.D = 0;
MasashiNomura 24:c5945aaae777 93 g_PidPara.IMax = 2000;
MasashiNomura 24:c5945aaae777 94 g_PidPara.IMin = -2000;
MasashiNomura 36:2cc739c7e4cb 95 // for(int i = 0; i < 4; ++i){
MasashiNomura 36:2cc739c7e4cb 96 // gf_MotParaUpdate[i] = false;
MasashiNomura 36:2cc739c7e4cb 97 // g_MotPara[i].limit_hi = LIM_MOT_INP_MAX;
MasashiNomura 36:2cc739c7e4cb 98 // g_MotPara[i].limit_low = LIM_MOT_INP_MIN;
MasashiNomura 36:2cc739c7e4cb 99 // }
MasashiNomura 22:24c9c2dedca9 100 }
MasashiNomura 35:3779201b4c73 101
MasashiNomura 41:45c982b1c5b6 102 void setDOCol(eLedCol col)
MasashiNomura 41:45c982b1c5b6 103 {
MasashiNomura 41:45c982b1c5b6 104 switch(col){
MasashiNomura 41:45c982b1c5b6 105 case WHITE:
MasashiNomura 42:cc8501b824ba 106 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 107 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 108 DO_03 = 1;
MasashiNomura 41:45c982b1c5b6 109 break;
MasashiNomura 41:45c982b1c5b6 110 case RED:
MasashiNomura 42:cc8501b824ba 111 DO_01 = 1;
MasashiNomura 41:45c982b1c5b6 112 DO_02 = 0;
MasashiNomura 41:45c982b1c5b6 113 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 114 break;
MasashiNomura 41:45c982b1c5b6 115 case GREEN:
MasashiNomura 41:45c982b1c5b6 116 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 117 DO_02 = 1;
MasashiNomura 41:45c982b1c5b6 118 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 119 break;
MasashiNomura 41:45c982b1c5b6 120 case BLUE:
MasashiNomura 41:45c982b1c5b6 121 DO_01 = 0;
MasashiNomura 41:45c982b1c5b6 122 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 123 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 124 break;
MasashiNomura 42:cc8501b824ba 125 case YELLOW:
MasashiNomura 42:cc8501b824ba 126 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 127 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 128 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 129 break;
MasashiNomura 42:cc8501b824ba 130 case PURPLE:
MasashiNomura 42:cc8501b824ba 131 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 132 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 133 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 134 break;
MasashiNomura 42:cc8501b824ba 135 case LIGHT_BLUE:
MasashiNomura 42:cc8501b824ba 136 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 137 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 138 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 139 break;
MasashiNomura 42:cc8501b824ba 140 case BLK_WHITE:
MasashiNomura 42:cc8501b824ba 141 DO_01 = !DO_01;
MasashiNomura 42:cc8501b824ba 142 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 143 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 144 break;
MasashiNomura 42:cc8501b824ba 145 case BLK_RED:
MasashiNomura 42:cc8501b824ba 146 DO_01 = !DO_01;
MasashiNomura 42:cc8501b824ba 147 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 148 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 149 break;
MasashiNomura 42:cc8501b824ba 150 case BLK_GREEN:
MasashiNomura 42:cc8501b824ba 151 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 152 DO_02 = !DO_02;
MasashiNomura 42:cc8501b824ba 153 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 154 break;
MasashiNomura 42:cc8501b824ba 155 case BLK_BLUE:
MasashiNomura 42:cc8501b824ba 156 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 157 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 158 DO_03 = !DO_03;
MasashiNomura 42:cc8501b824ba 159 break;
MasashiNomura 42:cc8501b824ba 160 case BLK_YELLOW:
MasashiNomura 41:45c982b1c5b6 161 DO_01 = !DO_01;
MasashiNomura 41:45c982b1c5b6 162 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 163 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 164 break;
MasashiNomura 42:cc8501b824ba 165 case BLK_PURPLE:
MasashiNomura 41:45c982b1c5b6 166 DO_01 = !DO_01;
MasashiNomura 41:45c982b1c5b6 167 DO_02 = 0;
MasashiNomura 41:45c982b1c5b6 168 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 169 break;
MasashiNomura 42:cc8501b824ba 170 case BLK_LIGHT_BLUE:
MasashiNomura 41:45c982b1c5b6 171 DO_01 = 0;
MasashiNomura 41:45c982b1c5b6 172 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 173 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 174 break;
MasashiNomura 41:45c982b1c5b6 175 case OFF:
MasashiNomura 41:45c982b1c5b6 176 default:
MasashiNomura 41:45c982b1c5b6 177 DO_01 = 0;//R
MasashiNomura 41:45c982b1c5b6 178 DO_02 = 0;//G
MasashiNomura 41:45c982b1c5b6 179 DO_03 = 0;//B
MasashiNomura 41:45c982b1c5b6 180 break;
MasashiNomura 41:45c982b1c5b6 181 }
MasashiNomura 41:45c982b1c5b6 182 }
MasashiNomura 41:45c982b1c5b6 183
MasashiNomura 41:45c982b1c5b6 184 void setDO4LED(enmHbState stat)
MasashiNomura 41:45c982b1c5b6 185 {
MasashiNomura 41:45c982b1c5b6 186 if(stat == NONE)
MasashiNomura 41:45c982b1c5b6 187 {// 消灯
MasashiNomura 41:45c982b1c5b6 188 setDOCol(OFF);
MasashiNomura 41:45c982b1c5b6 189 }
MasashiNomura 41:45c982b1c5b6 190 else if(stat == SLEEP)
MasashiNomura 41:45c982b1c5b6 191 {//YELLOW
MasashiNomura 41:45c982b1c5b6 192 setDOCol(YELLOW);
MasashiNomura 41:45c982b1c5b6 193 }
MasashiNomura 41:45c982b1c5b6 194 else if(stat == WAKEUP || stat == STANDBY)
MasashiNomura 41:45c982b1c5b6 195 {//BLUE
MasashiNomura 41:45c982b1c5b6 196 setDOCol(BLUE);
MasashiNomura 41:45c982b1c5b6 197 }
MasashiNomura 41:45c982b1c5b6 198 else if(stat == IDLE)
MasashiNomura 41:45c982b1c5b6 199 {//GREEN
MasashiNomura 41:45c982b1c5b6 200 setDOCol(GREEN);
MasashiNomura 41:45c982b1c5b6 201 }
MasashiNomura 41:45c982b1c5b6 202 else if(stat == TAKE_OFF || stat == HOVER || stat == DRIVE || stat == GROUND || stat == EMGGND)
MasashiNomura 41:45c982b1c5b6 203 {//PURPLE
MasashiNomura 41:45c982b1c5b6 204 setDOCol(PURPLE);
MasashiNomura 41:45c982b1c5b6 205 }
MasashiNomura 42:cc8501b824ba 206 else if(stat == CHK_EG_ENT || stat == CHK_EG_MID || stat == CHK_EG_EXIT)
MasashiNomura 41:45c982b1c5b6 207 {//LIGHT BLUE
MasashiNomura 41:45c982b1c5b6 208 setDOCol(LIGHT_BLUE);
MasashiNomura 41:45c982b1c5b6 209 }
MasashiNomura 42:cc8501b824ba 210 else if(stat == CHK_EG_F || stat == CHK_EG_R )
MasashiNomura 42:cc8501b824ba 211 {//BLK_LIGHT BLUE
MasashiNomura 42:cc8501b824ba 212 setDOCol(BLK_LIGHT_BLUE);
MasashiNomura 42:cc8501b824ba 213 }
MasashiNomura 41:45c982b1c5b6 214 else if(stat == CHK_ENT || stat == CHK_MOT || stat == CHK_AXL || stat == CHK_ATT || stat == CHK_EXIT)
MasashiNomura 41:45c982b1c5b6 215 {//WHITE
MasashiNomura 41:45c982b1c5b6 216 setDOCol(WHITE);
MasashiNomura 41:45c982b1c5b6 217 }
MasashiNomura 41:45c982b1c5b6 218 else/* if(stat == MOT_STOP)*/
MasashiNomura 41:45c982b1c5b6 219 {
MasashiNomura 41:45c982b1c5b6 220 setDOCol(RED);
MasashiNomura 41:45c982b1c5b6 221 }
MasashiNomura 41:45c982b1c5b6 222 }
MasashiNomura 41:45c982b1c5b6 223
MasashiNomura 22:24c9c2dedca9 224 void setState(enmHbState stat){
MasashiNomura 22:24c9c2dedca9 225 // ありえない遷移を排除
MasashiNomura 22:24c9c2dedca9 226 if(gf_State == SLEEP){if(stat != WAKEUP) return;}
MasashiNomura 22:24c9c2dedca9 227 if(gf_State == WAKEUP){if(stat != STANDBY) return;}
MasashiNomura 22:24c9c2dedca9 228 if(gf_State == STANDBY){if(stat !=IDLE) return;}
MasashiNomura 23:79e20be4bc5b 229 if(gf_State == IDLE){if(stat != TAKE_OFF && stat != SLEEP) return;}
MasashiNomura 23:79e20be4bc5b 230 if(gf_State == TAKE_OFF){if(stat != HOVER && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 231 if(gf_State == GROUND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 232 if(gf_State == HOVER){if(stat != DRIVE && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 233 if(gf_State == DRIVE){if(stat != HOVER && stat != EMGGND) return;}
MasashiNomura 22:24c9c2dedca9 234 if(gf_State == EMGGND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 235
MasashiNomura 23:79e20be4bc5b 236 sp.printf("state: %d\r\n",stat);
MasashiNomura 22:24c9c2dedca9 237 gf_State = stat;
MasashiNomura 36:2cc739c7e4cb 238 gf_StateEnt = true;
MasashiNomura 22:24c9c2dedca9 239 }
MasashiNomura 23:79e20be4bc5b 240 void setStateF(enmHbState stat){
MasashiNomura 23:79e20be4bc5b 241 sp.printf("state: %d\r\n",stat);
MasashiNomura 23:79e20be4bc5b 242 enmHbState tmp;
MasashiNomura 25:f3a6e7eec9c3 243 if((UINT16)stat > MOT_STOP){
MasashiNomura 23:79e20be4bc5b 244 tmp = SLEEP;
MasashiNomura 23:79e20be4bc5b 245 }
MasashiNomura 23:79e20be4bc5b 246 else
MasashiNomura 23:79e20be4bc5b 247 {
MasashiNomura 23:79e20be4bc5b 248 tmp = stat;
MasashiNomura 23:79e20be4bc5b 249 }
MasashiNomura 23:79e20be4bc5b 250 gf_State = tmp;
MasashiNomura 36:2cc739c7e4cb 251 gf_StateEnt = true;
MasashiNomura 23:79e20be4bc5b 252 }
MasashiNomura 37:d51dacb4c30f 253
MasashiNomura 37:d51dacb4c30f 254 bool isActiveState(){
MasashiNomura 37:d51dacb4c30f 255 if(gf_State >= IDLE && gf_State <= EMGGND){
MasashiNomura 37:d51dacb4c30f 256 return true;
MasashiNomura 37:d51dacb4c30f 257 }
MasashiNomura 37:d51dacb4c30f 258 else {
MasashiNomura 37:d51dacb4c30f 259 return false;
MasashiNomura 37:d51dacb4c30f 260 }
MasashiNomura 37:d51dacb4c30f 261 }
MasashiNomura 37:d51dacb4c30f 262
takeru0x1103 21:78302ecdb661 263 /*
takeru0x1103 19:4b0fe9a5ec38 264 //===========================================
takeru0x1103 19:4b0fe9a5ec38 265 //コンストラクタ
takeru0x1103 19:4b0fe9a5ec38 266 //===========================================
takeru0x1103 19:4b0fe9a5ec38 267 GlobalFlags::GlobalFlags(){
takeru0x1103 19:4b0fe9a5ec38 268 //初期ステート
takeru0x1103 21:78302ecdb661 269 state = SLEEP;
takeru0x1103 19:4b0fe9a5ec38 270 //ステートキュー初期化
takeru0x1103 19:4b0fe9a5ec38 271 for(int i=0; i<STATE_QUE_SIZ; i++){
takeru0x1103 19:4b0fe9a5ec38 272 stateQueue[i] = NONE;
MasashiNomura 33:eb260dbfc22a 273 }
takeru0x1103 19:4b0fe9a5ec38 274 rp = wp = 0;//先頭を指す
takeru0x1103 19:4b0fe9a5ec38 275 full = false;//最初はエンプティ
takeru0x1103 19:4b0fe9a5ec38 276 empty = true;
takeru0x1103 19:4b0fe9a5ec38 277 }
takeru0x1103 19:4b0fe9a5ec38 278
takeru0x1103 21:78302ecdb661 279
takeru0x1103 19:4b0fe9a5ec38 280 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 281 //ステートのFIFOにプッシュする
takeru0x1103 19:4b0fe9a5ec38 282 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 283 bool GlobalFlags::push(enmHbState iState){
takeru0x1103 19:4b0fe9a5ec38 284 if(full){
takeru0x1103 19:4b0fe9a5ec38 285 return false;//FFULLフラグが立ってら入力を受け付けない
takeru0x1103 19:4b0fe9a5ec38 286 }else{
takeru0x1103 19:4b0fe9a5ec38 287 stateQueue[wp] = iState;//キューに突っ込んで
takeru0x1103 19:4b0fe9a5ec38 288 wp = (wp==STATE_QUE_SIZ) ? 0 : wp+1;//ライトポインタを進める
takeru0x1103 19:4b0fe9a5ec38 289 full = (wp == rp)? true : false; //次ライト予定の場所がリードポインタに追いついたらFULLを立てる
takeru0x1103 19:4b0fe9a5ec38 290 empty = false;
takeru0x1103 19:4b0fe9a5ec38 291 return true;
takeru0x1103 19:4b0fe9a5ec38 292 }
takeru0x1103 19:4b0fe9a5ec38 293 }
takeru0x1103 19:4b0fe9a5ec38 294
takeru0x1103 19:4b0fe9a5ec38 295 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 296 //ステートFIFOから次の予約ステートを引き抜く
takeru0x1103 19:4b0fe9a5ec38 297 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 298 bool GlobalFlags::pull(){
takeru0x1103 19:4b0fe9a5ec38 299 if(empty){
takeru0x1103 19:4b0fe9a5ec38 300 return false;//EMPTYだったら引き抜けない
takeru0x1103 19:4b0fe9a5ec38 301 }else{
takeru0x1103 19:4b0fe9a5ec38 302 state = stateQueue[rp];//リードポインタの指すデータをステートに移す
takeru0x1103 19:4b0fe9a5ec38 303 stateQueue[rp] = NONE;//バッファを消す
takeru0x1103 19:4b0fe9a5ec38 304 rp = (rp==STATE_QUE_SIZ) ? 0 : rp+1;//リードポインタを進める
takeru0x1103 19:4b0fe9a5ec38 305 full = false; //フルではなくなる
takeru0x1103 19:4b0fe9a5ec38 306 empty = (stateQueue[rp] == NONE) ? true : false;//次にリードする場所がNONEだったらEMPTYを立てる
takeru0x1103 19:4b0fe9a5ec38 307 return true;
takeru0x1103 19:4b0fe9a5ec38 308 }
takeru0x1103 19:4b0fe9a5ec38 309 }
takeru0x1103 21:78302ecdb661 310 */
takeru0x1103 19:4b0fe9a5ec38 311
MasashiNomura 33:eb260dbfc22a 312