matignon martin / Mbed OS MbedFinalStateMachine

This library is designed to create and run state graphs. It supports hierarchical states and parallel states execution.

utt_foobar.h@3:d4d69d0d8381, 2019-02-12 (annotated)

Committer:
martin13
Date:
Tue Feb 12 08:56:43 2019 +0000
Revision:
3:d4d69d0d8381
Parent:
2:5e2336b52d0a
Child:
4:22b4462fcb26
Added README.md

Who changed what in which revision?

UserRevisionLine numberNew contents of line
martin13 0:f4fdca2c4c67 1 #ifndef __UTT_FOOBAR_H__
martin13 0:f4fdca2c4c67 2 #define __UTT_FOOBAR_H__
martin13 0:f4fdca2c4c67 3
martin13 0:f4fdca2c4c67 4 #include "StateMachine.h"
martin13 2:5e2336b52d0a 5 #include "Logger.h"
martin13 2:5e2336b52d0a 6
martin13 2:5e2336b52d0a 7
martin13 2:5e2336b52d0a 8 // different commands to set the update rate from once a second (1 Hz) to 10 times a second (10Hz)
martin13 2:5e2336b52d0a 9 // Note that these only control the rate at which the position is echoed, to actually speed up the
martin13 2:5e2336b52d0a 10 // position fix you must also send one of the position fix rate commands below too.
martin13 2:5e2336b52d0a 11 #define PMTK_SET_NMEA_UPDATE_100_MILLIHERTZ "$PMTK220,10000*2F" // Once every 10 seconds, 100 millihertz.
martin13 2:5e2336b52d0a 12 #define PMTK_SET_NMEA_UPDATE_200_MILLIHERTZ "$PMTK220,5000*1B" // Once every 5 seconds, 200 millihertz.
martin13 2:5e2336b52d0a 13 #define PMTK_SET_NMEA_UPDATE_1HZ "$PMTK220,1000*1F"
martin13 2:5e2336b52d0a 14 #define PMTK_SET_NMEA_UPDATE_5HZ "$PMTK220,200*2C"
martin13 2:5e2336b52d0a 15 #define PMTK_SET_NMEA_UPDATE_10HZ "$PMTK220,100*2F"
martin13 2:5e2336b52d0a 16 // Position fix update rate commands.
martin13 2:5e2336b52d0a 17 #define PMTK_API_SET_FIX_CTL_100_MILLIHERTZ "$PMTK300,10000,0,0,0,0*2C" // Once every 10 seconds, 100 millihertz.
martin13 2:5e2336b52d0a 18 #define PMTK_API_SET_FIX_CTL_200_MILLIHERTZ "$PMTK300,5000,0,0,0,0*18" // Once every 5 seconds, 200 millihertz.
martin13 2:5e2336b52d0a 19 #define PMTK_API_SET_FIX_CTL_1HZ "$PMTK300,1000,0,0,0,0*1C"
martin13 2:5e2336b52d0a 20 #define PMTK_API_SET_FIX_CTL_5HZ "$PMTK300,200,0,0,0,0*2F"
martin13 2:5e2336b52d0a 21 // Can't fix position faster than 5 times a second!
martin13 2:5e2336b52d0a 22
martin13 2:5e2336b52d0a 23
martin13 2:5e2336b52d0a 24 #define PMTK_SET_BAUD_57600 "$PMTK251,57600*2C"
martin13 2:5e2336b52d0a 25 #define PMTK_SET_BAUD_9600 "$PMTK251,9600*17"
martin13 2:5e2336b52d0a 26
martin13 2:5e2336b52d0a 27 // turn on only the second sentence (GPRMC)
martin13 2:5e2336b52d0a 28 #define PMTK_SET_NMEA_OUTPUT_RMCONLY "$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29"
martin13 2:5e2336b52d0a 29 // turn on GPRMC and GGA
martin13 2:5e2336b52d0a 30 #define PMTK_SET_NMEA_OUTPUT_RMCGGA "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
martin13 2:5e2336b52d0a 31 // turn on ALL THE DATA
martin13 2:5e2336b52d0a 32 #define PMTK_SET_NMEA_OUTPUT_ALLDATA "$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
martin13 2:5e2336b52d0a 33 // turn off output
martin13 2:5e2336b52d0a 34 #define PMTK_SET_NMEA_OUTPUT_OFF "$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
martin13 2:5e2336b52d0a 35
martin13 2:5e2336b52d0a 36 // to generate your own sentences, check out the MTK command datasheet and use a checksum calculator
martin13 2:5e2336b52d0a 37 // such as the awesome http://www.hhhh.org/wiml/proj/nmeaxor.html
martin13 2:5e2336b52d0a 38
martin13 2:5e2336b52d0a 39 #define PMTK_LOCUS_STARTLOG "$PMTK185,0*22"
martin13 2:5e2336b52d0a 40 #define PMTK_LOCUS_STOPLOG "$PMTK185,1*23"
martin13 2:5e2336b52d0a 41 #define PMTK_LOCUS_STARTSTOPACK "$PMTK001,185,3*3C"
martin13 2:5e2336b52d0a 42 #define PMTK_LOCUS_QUERY_STATUS "$PMTK183*38"
martin13 2:5e2336b52d0a 43 #define PMTK_LOCUS_ERASE_FLASH "$PMTK184,1*22"
martin13 2:5e2336b52d0a 44 #define LOCUS_OVERLAP 0
martin13 2:5e2336b52d0a 45 #define LOCUS_FULLSTOP 1
martin13 2:5e2336b52d0a 46
martin13 2:5e2336b52d0a 47 #define PMTK_ENABLE_SBAS "$PMTK313,1*2E"
martin13 2:5e2336b52d0a 48 #define PMTK_ENABLE_WAAS "$PMTK301,2*2E"
martin13 2:5e2336b52d0a 49
martin13 2:5e2336b52d0a 50 // standby command & boot successful message
martin13 2:5e2336b52d0a 51 #define PMTK_STANDBY "$PMTK161,0*28"
martin13 2:5e2336b52d0a 52 #define PMTK_STANDBY_SUCCESS "$PMTK001,161,3*36" // Not needed currently
martin13 2:5e2336b52d0a 53 #define PMTK_AWAKE "$PMTK010,002*2D"
martin13 2:5e2336b52d0a 54
martin13 2:5e2336b52d0a 55 // ask for the release and version
martin13 2:5e2336b52d0a 56 #define PMTK_Q_RELEASE "$PMTK605*31"
martin13 2:5e2336b52d0a 57
martin13 2:5e2336b52d0a 58 // request for updates on antenna status
martin13 2:5e2336b52d0a 59 #define PGCMD_ANTENNA "$PGCMD,33,1*6C"
martin13 2:5e2336b52d0a 60 #define PGCMD_NOANTENNA "$PGCMD,33,0*6D"
martin13 2:5e2336b52d0a 61
martin13 2:5e2336b52d0a 62 // how long to wait when we're looking for a response
martin13 2:5e2336b52d0a 63 #define MAXWAITSENTENCE 5
martin13 0:f4fdca2c4c67 64
martin13 0:f4fdca2c4c67 65 class Foo : public State{
martin13 0:f4fdca2c4c67 66
martin13 0:f4fdca2c4c67 67 public:
martin13 0:f4fdca2c4c67 68
martin13 0:f4fdca2c4c67 69 static const char* OUTCOME_BAR;
martin13 0:f4fdca2c4c67 70
martin13 0:f4fdca2c4c67 71 Foo(const char* uuid, UserData *ud):
martin13 0:f4fdca2c4c67 72 State(uuid){
martin13 0:f4fdca2c4c67 73 /* Capture UserData, see in utt_foobar_with_ud.h example. */
martin13 2:5e2336b52d0a 74
martin13 2:5e2336b52d0a 75 gps_Serial = new RawSerial(D10, D2);
martin13 2:5e2336b52d0a 76 gps_Serial->baud(9600);
martin13 2:5e2336b52d0a 77 nnema = new char[129];
martin13 2:5e2336b52d0a 78
martin13 2:5e2336b52d0a 79 sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
martin13 2:5e2336b52d0a 80 sendCommand(PMTK_SET_NMEA_UPDATE_5HZ);
martin13 2:5e2336b52d0a 81 sendCommand(PMTK_API_SET_FIX_CTL_5HZ);
martin13 2:5e2336b52d0a 82 sendCommand(PGCMD_ANTENNA);
martin13 2:5e2336b52d0a 83 }
martin13 2:5e2336b52d0a 84
martin13 2:5e2336b52d0a 85 void sendCommand(const char *str) {
martin13 2:5e2336b52d0a 86 gps_Serial->printf(str);
martin13 0:f4fdca2c4c67 87 }
martin13 0:f4fdca2c4c67 88
martin13 0:f4fdca2c4c67 89 virtual void onEntry(){
martin13 0:f4fdca2c4c67 90 /* Do something before onExecute() */
martin13 0:f4fdca2c4c67 91 }
martin13 0:f4fdca2c4c67 92
martin13 0:f4fdca2c4c67 93 virtual const char* onExecute(){
martin13 0:f4fdca2c4c67 94 /* Do something */
martin13 2:5e2336b52d0a 95
martin13 2:5e2336b52d0a 96 int offset = 0;
martin13 2:5e2336b52d0a 97 memset(nnema,'x',129);
martin13 2:5e2336b52d0a 98
martin13 2:5e2336b52d0a 99
martin13 2:5e2336b52d0a 100 while(gps_Serial->readable()){
martin13 2:5e2336b52d0a 101
martin13 2:5e2336b52d0a 102 char c = gps_Serial->getc();
martin13 2:5e2336b52d0a 103 //Logger::info("%c",c);
martin13 2:5e2336b52d0a 104 nnema[offset++] = c;
martin13 2:5e2336b52d0a 105 }
martin13 2:5e2336b52d0a 106 //nnema[++offset] = '\0';
martin13 2:5e2336b52d0a 107
martin13 2:5e2336b52d0a 108 Logger::info("%i = %s",offset, nnema);
martin13 2:5e2336b52d0a 109
martin13 0:f4fdca2c4c67 110 return OUTCOME_BAR;
martin13 0:f4fdca2c4c67 111 }
martin13 0:f4fdca2c4c67 112
martin13 0:f4fdca2c4c67 113 virtual void onExit(){
martin13 0:f4fdca2c4c67 114 /* Do something before exit state */
martin13 0:f4fdca2c4c67 115 }
martin13 2:5e2336b52d0a 116
martin13 2:5e2336b52d0a 117 private:
martin13 2:5e2336b52d0a 118 RawSerial *gps_Serial;
martin13 2:5e2336b52d0a 119 char* nnema;
martin13 0:f4fdca2c4c67 120 };
martin13 0:f4fdca2c4c67 121
martin13 0:f4fdca2c4c67 122 const char* Foo::OUTCOME_BAR = "OUTCOME_BAR";
martin13 0:f4fdca2c4c67 123
martin13 0:f4fdca2c4c67 124 class Bar : public State{
martin13 0:f4fdca2c4c67 125
martin13 0:f4fdca2c4c67 126 public:
martin13 0:f4fdca2c4c67 127
martin13 0:f4fdca2c4c67 128 static const char* OUTCOME_FOO;
martin13 0:f4fdca2c4c67 129
martin13 0:f4fdca2c4c67 130 Bar(const char* uuid, UserData *ud):
martin13 0:f4fdca2c4c67 131 State(uuid){
martin13 0:f4fdca2c4c67 132 /* Capture UserData, see in utt_foobar_with_ud.h example. */
martin13 0:f4fdca2c4c67 133 }
martin13 0:f4fdca2c4c67 134
martin13 0:f4fdca2c4c67 135 virtual void onEntry(){
martin13 0:f4fdca2c4c67 136 /* Do something before onExecute() */
martin13 0:f4fdca2c4c67 137 }
martin13 0:f4fdca2c4c67 138
martin13 0:f4fdca2c4c67 139 virtual const char* onExecute(){
martin13 0:f4fdca2c4c67 140 /* Do something */
martin13 2:5e2336b52d0a 141 wait(1);
martin13 0:f4fdca2c4c67 142 return OUTCOME_FOO;
martin13 0:f4fdca2c4c67 143 }
martin13 0:f4fdca2c4c67 144
martin13 0:f4fdca2c4c67 145 virtual void onExit(){
martin13 0:f4fdca2c4c67 146 /* Do something before exit state */
martin13 0:f4fdca2c4c67 147 }
martin13 0:f4fdca2c4c67 148 };
martin13 0:f4fdca2c4c67 149
martin13 0:f4fdca2c4c67 150 const char* Bar::OUTCOME_FOO = "OUTCOME_FOO";
martin13 0:f4fdca2c4c67 151
martin13 0:f4fdca2c4c67 152 class FooBar : public StateMachine{
martin13 0:f4fdca2c4c67 153
martin13 0:f4fdca2c4c67 154 public:
martin13 0:f4fdca2c4c67 155
martin13 0:f4fdca2c4c67 156 FooBar(const char* uuid):
martin13 0:f4fdca2c4c67 157 StateMachine(uuid),
martin13 0:f4fdca2c4c67 158 foo(NULL), bar(NULL)
martin13 0:f4fdca2c4c67 159 {
martin13 0:f4fdca2c4c67 160 // States instance with StateMachine context
martin13 0:f4fdca2c4c67 161 foo = this->Instance<Foo>("FOO");
martin13 0:f4fdca2c4c67 162 bar = this->Instance<Bar>("BAR");
martin13 0:f4fdca2c4c67 163
martin13 0:f4fdca2c4c67 164 // Connect Foo to Bar
martin13 0:f4fdca2c4c67 165 this->connect(STATE(foo), Foo::OUTCOME_BAR, STATE(bar));
martin13 0:f4fdca2c4c67 166
martin13 0:f4fdca2c4c67 167 // Connect Bar to Foo
martin13 0:f4fdca2c4c67 168 this->connect(STATE(bar), Bar::OUTCOME_FOO, STATE(foo));
martin13 0:f4fdca2c4c67 169
martin13 0:f4fdca2c4c67 170 // Set the first state calling when the state machine starts
martin13 0:f4fdca2c4c67 171 this->setInitialState(STATE(foo));
martin13 0:f4fdca2c4c67 172 }
martin13 0:f4fdca2c4c67 173
martin13 0:f4fdca2c4c67 174 private:
martin13 0:f4fdca2c4c67 175 Foo *foo;
martin13 0:f4fdca2c4c67 176 Bar *bar;
martin13 0:f4fdca2c4c67 177 };
martin13 0:f4fdca2c4c67 178
martin13 0:f4fdca2c4c67 179 // Preempt state mahine button
martin13 0:f4fdca2c4c67 180 InterruptIn button(PC_13);
martin13 0:f4fdca2c4c67 181
martin13 0:f4fdca2c4c67 182 void unit_test(){
martin13 0:f4fdca2c4c67 183
martin13 0:f4fdca2c4c67 184 FooBar foobar("FOOBAR_SM");
martin13 0:f4fdca2c4c67 185
martin13 0:f4fdca2c4c67 186 button.rise(&foobar, &FooBar::preempt);
martin13 0:f4fdca2c4c67 187
martin13 0:f4fdca2c4c67 188 foobar.printGraph();
martin13 0:f4fdca2c4c67 189
martin13 0:f4fdca2c4c67 190 Logger::info("STATE MACHINE FINISHED WITH OUTCOME \"%s\"",foobar.execute());
martin13 0:f4fdca2c4c67 191 }
martin13 0:f4fdca2c4c67 192
martin13 0:f4fdca2c4c67 193
martin13 0:f4fdca2c4c67 194 #endif /* #ifndef __UTT_FOOBAR_H__*/