initial solution
This commit is contained in:
commit
37d1d83b47
19 changed files with 2775 additions and 0 deletions
16
robot_cdt/.cproject
Normal file
16
robot_cdt/.cproject
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@ -0,0 +1,16 @@
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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
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<storageModule moduleId="org.eclipse.cdt.core.settings">
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<cconfiguration id="org.eclipse.cdt.core.default.config.1294983493">
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<storageModule buildSystemId="org.eclipse.cdt.core.defaultConfigDataProvider" id="org.eclipse.cdt.core.default.config.1294983493" moduleId="org.eclipse.cdt.core.settings" name="Configuration">
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<externalSettings/>
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<extensions/>
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</storageModule>
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<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
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</cconfiguration>
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</storageModule>
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<storageModule moduleId="org.eclipse.cdt.core.pathentry">
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<pathentry kind="out" path=""/>
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</storageModule>
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<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
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</cproject>
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26
robot_cdt/.project
Normal file
26
robot_cdt/.project
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@ -0,0 +1,26 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<projectDescription>
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<name>robot_cdt</name>
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<comment></comment>
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<projects>
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</projects>
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<buildSpec>
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<buildCommand>
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<name>org.eclipse.xtext.ui.shared.xtextBuilder</name>
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<arguments>
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</arguments>
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</buildCommand>
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<buildCommand>
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<name>org.eclipse.cdt.core.cBuilder</name>
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<triggers>clean,full,incremental,</triggers>
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<arguments>
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</arguments>
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</buildCommand>
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</buildSpec>
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<natures>
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<nature>org.eclipse.cdt.core.cnature</nature>
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<nature>org.eclipse.cdt.core.ccnature</nature>
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<nature>org.eclipse.cdt.make.core.makeNature</nature>
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<nature>org.eclipse.xtext.ui.shared.xtextNature</nature>
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</natures>
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</projectDescription>
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2
robot_cdt/.settings/org.eclipse.core.resources.prefs
Normal file
2
robot_cdt/.settings/org.eclipse.core.resources.prefs
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@ -0,0 +1,2 @@
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eclipse.preferences.version=1
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encoding/<project>=UTF-8
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31
robot_cdt/Makefile
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31
robot_cdt/Makefile
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@ -0,0 +1,31 @@
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SRCS = \
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src/controller.c \
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src/pid.c \
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src/sc_rxc.c \
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src/sc_timer_service.c \
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src-gen/Statechart.c \
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TARGET = main
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CC = gcc
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CFLAGS = -Wall -Wextra
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OBJS = $(addprefix build/,$(SRCS:.c=.o))
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build/%.o: %.c create_build_dirs
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$(CC) $(CFLAGS) -c $< -o $@
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$(TARGET): $(OBJS)
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$(CC) $(CFLAGS) -o build/$@ $^
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# all: $(TARGET)
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all: $(OBJS)
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create_build_dirs:
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mkdir -p build/src
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mkdir -p build/src-gen
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clean:
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rm -rf build
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.PHONY: all create_build_dirs clean
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23
robot_cdt/Statechart.sgen
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23
robot_cdt/Statechart.sgen
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@ -0,0 +1,23 @@
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GeneratorModel for create::c {
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const PROJECT : string = "robot_cdt"
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const FOLDER : string = "src-gen"
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statechart Statechart {
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feature Outlet {
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targetProject = PROJECT
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targetFolder = FOLDER
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libraryTargetFolder = "src"
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}
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feature GeneratorOptions {
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userAllocatedQueue = false
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}
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feature GeneralFeatures {
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timerService = true
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timerServiceTimeType = ""
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}
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}
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}
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339
robot_cdt/Statechart.ysc
Normal file
339
robot_cdt/Statechart.ysc
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@ -0,0 +1,339 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:sgraph="http://www.yakindu.org/sct/sgraph/2.0.0">
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<sgraph:Statechart xmi:id="_jCYoMD-lEfCA8aDVRFe8Eg" specification="@EventDriven
@SuperSteps(no)

import: "./src/data_types.h"

interface:
	in event sensor: real

	in event buttonPressed
	in event buttonReleased
	
	out event setMotorR: real
	out event setMotorL: real

	operation pid(sensor: real, pid_vars: pid_vars_t): real

internal:
	var speed: real
	var pid_vars: pid_vars_t" name="Statechart" domainID="com.yakindu.domain.c">
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<regions xmi:id="_jCcSkz-lEfCA8aDVRFe8Eg" name="main region">
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<vertices xsi:type="sgraph:State" xmi:id="_IsdxcD-yEfCA8aDVRFe8Eg" name="on" incomingTransitions="_ff2psD-yEfCA8aDVRFe8Eg">
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<regions xmi:id="_IseYgD-yEfCA8aDVRFe8Eg" name="r1">
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<vertices xsi:type="sgraph:State" xmi:id="_jCcSlj-lEfCA8aDVRFe8Eg" specification="entry /
speed = pid(sensor.value, pid_vars);
raise setMotorL: speed;
raise setMotorR: speed" name="responding" incomingTransitions="_jCcSlT-lEfCA8aDVRFe8Eg _numMwD-yEfCA8aDVRFe8Eg">
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<outgoingTransitions xmi:id="_j3djID-yEfCA8aDVRFe8Eg" specification="sensor" target="_jVEAsD-yEfCA8aDVRFe8Eg"/>
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</vertices>
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<vertices xsi:type="sgraph:State" xmi:id="_jCc5qD-lEfCA8aDVRFe8Eg" specification="entry /
raise setMotorL: 1;
raise setMotorR: -1" name="sensor_error" incomingTransitions="_lLxqsD-yEfCA8aDVRFe8Eg">
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<outgoingTransitions xmi:id="_OVcWsD-zEfCA8aDVRFe8Eg" specification="sensor" target="_jVEAsD-yEfCA8aDVRFe8Eg"/>
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</vertices>
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<vertices xsi:type="sgraph:Entry" xmi:id="_jCcSlD-lEfCA8aDVRFe8Eg">
|
||||
<outgoingTransitions xmi:id="_jCcSlT-lEfCA8aDVRFe8Eg" target="_jCcSlj-lEfCA8aDVRFe8Eg"/>
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</vertices>
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||||
<vertices xsi:type="sgraph:Choice" xmi:id="_jVEAsD-yEfCA8aDVRFe8Eg" incomingTransitions="_j3djID-yEfCA8aDVRFe8Eg _OVcWsD-zEfCA8aDVRFe8Eg">
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||||
<outgoingTransitions xmi:id="_lLxqsD-yEfCA8aDVRFe8Eg" specification="[sensor.value < 0]" target="_jCc5qD-lEfCA8aDVRFe8Eg"/>
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||||
<outgoingTransitions xmi:id="_numMwD-yEfCA8aDVRFe8Eg" specification="else" target="_jCcSlj-lEfCA8aDVRFe8Eg"/>
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</vertices>
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</regions>
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<regions xmi:id="_n4LKGD-zEfCA8aDVRFe8Eg" name="r2">
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<vertices xsi:type="sgraph:State" xmi:id="_n4MYWT-zEfCA8aDVRFe8Eg" name="not_pressed" incomingTransitions="_n4MYNT-zEfCA8aDVRFe8Eg _n4MYND-zEfCA8aDVRFe8Eg">
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||||
<outgoingTransitions xmi:id="_n4M_SD-zEfCA8aDVRFe8Eg" specification="buttonPressed" target="_n4LxLD-zEfCA8aDVRFe8Eg"/>
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</vertices>
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||||
<vertices xsi:type="sgraph:State" xmi:id="_n4LxLD-zEfCA8aDVRFe8Eg" name="pressed" incomingTransitions="_n4M_SD-zEfCA8aDVRFe8Eg">
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||||
<outgoingTransitions xmi:id="_n4LxNz-zEfCA8aDVRFe8Eg" specification="after 2s" target="_Kp4gYD-yEfCA8aDVRFe8Eg"/>
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<outgoingTransitions xmi:id="_n4MYNT-zEfCA8aDVRFe8Eg" specification="buttonReleased" target="_n4MYWT-zEfCA8aDVRFe8Eg"/>
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||||
</vertices>
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||||
<vertices xsi:type="sgraph:Entry" xmi:id="_n4LKIz-zEfCA8aDVRFe8Eg">
|
||||
<outgoingTransitions xmi:id="_n4MYND-zEfCA8aDVRFe8Eg" specification="" target="_n4MYWT-zEfCA8aDVRFe8Eg"/>
|
||||
</vertices>
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||||
</regions>
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||||
</vertices>
|
||||
<vertices xsi:type="sgraph:State" xmi:id="_Kp4gYD-yEfCA8aDVRFe8Eg" name="off" incomingTransitions="_n4LxNz-zEfCA8aDVRFe8Eg _YGkvAD-yEfCA8aDVRFe8Eg">
|
||||
<outgoingTransitions xmi:id="_ff2psD-yEfCA8aDVRFe8Eg" specification="buttonPressed" target="_IsdxcD-yEfCA8aDVRFe8Eg"/>
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||||
</vertices>
|
||||
<vertices xsi:type="sgraph:Entry" xmi:id="_XxLt0D-yEfCA8aDVRFe8Eg">
|
||||
<outgoingTransitions xmi:id="_YGkvAD-yEfCA8aDVRFe8Eg" specification="" target="_Kp4gYD-yEfCA8aDVRFe8Eg"/>
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||||
</vertices>
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||||
</regions>
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</sgraph:Statechart>
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<notation:Diagram xmi:id="_jCeHwD-lEfCA8aDVRFe8Eg" type="org.yakindu.sct.ui.editor.editor.StatechartDiagramEditor" element="_jCYoMD-lEfCA8aDVRFe8Eg" measurementUnit="Pixel">
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||||
<children xmi:id="_jCeHwT-lEfCA8aDVRFe8Eg" type="Region" element="_jCcSkz-lEfCA8aDVRFe8Eg">
|
||||
<children xsi:type="notation:DecorationNode" xmi:id="_jCeHwj-lEfCA8aDVRFe8Eg" type="RegionName">
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeHwz-lEfCA8aDVRFe8Eg"/>
|
||||
<layoutConstraint xsi:type="notation:Location" xmi:id="_jCeHxD-lEfCA8aDVRFe8Eg"/>
|
||||
</children>
|
||||
<children xsi:type="notation:Shape" xmi:id="_jCeHxT-lEfCA8aDVRFe8Eg" type="RegionCompartment" fontName="Verdana" lineColor="4210752">
|
||||
<children xmi:id="_IsgNsD-yEfCA8aDVRFe8Eg" type="State" element="_IsdxcD-yEfCA8aDVRFe8Eg">
|
||||
<children xsi:type="notation:DecorationNode" xmi:id="_Isg0wD-yEfCA8aDVRFe8Eg" type="StateName">
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_Isg0wT-yEfCA8aDVRFe8Eg"/>
|
||||
<layoutConstraint xsi:type="notation:Location" xmi:id="_Ishb0D-yEfCA8aDVRFe8Eg"/>
|
||||
</children>
|
||||
<children xsi:type="notation:Compartment" xmi:id="_Ishb0T-yEfCA8aDVRFe8Eg" type="StateTextCompartment">
|
||||
<children xsi:type="notation:Shape" xmi:id="_Ishb0j-yEfCA8aDVRFe8Eg" type="StateTextCompartmentExpression" fontName="Verdana" lineColor="4210752">
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_Ishb0z-yEfCA8aDVRFe8Eg"/>
|
||||
</children>
|
||||
</children>
|
||||
<children xsi:type="notation:Compartment" xmi:id="_IsiC4D-yEfCA8aDVRFe8Eg" type="StateFigureCompartment">
|
||||
<children xmi:id="_IskfID-yEfCA8aDVRFe8Eg" type="Region" element="_IseYgD-yEfCA8aDVRFe8Eg">
|
||||
<children xsi:type="notation:DecorationNode" xmi:id="_IskfIz-yEfCA8aDVRFe8Eg" type="RegionName">
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_IskfJD-yEfCA8aDVRFe8Eg"/>
|
||||
<layoutConstraint xsi:type="notation:Location" xmi:id="_IskfJT-yEfCA8aDVRFe8Eg"/>
|
||||
</children>
|
||||
<children xsi:type="notation:Shape" xmi:id="_IskfJj-yEfCA8aDVRFe8Eg" type="RegionCompartment" fontName="Verdana" lineColor="4210752">
|
||||
<children xmi:id="_jCeH0D-lEfCA8aDVRFe8Eg" type="State" element="_jCcSlj-lEfCA8aDVRFe8Eg">
|
||||
<children xsi:type="notation:DecorationNode" xmi:id="_jCeH0T-lEfCA8aDVRFe8Eg" type="StateName">
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeH0j-lEfCA8aDVRFe8Eg"/>
|
||||
<layoutConstraint xsi:type="notation:Location" xmi:id="_jCeH0z-lEfCA8aDVRFe8Eg"/>
|
||||
</children>
|
||||
<children xsi:type="notation:Compartment" xmi:id="_jCeH1D-lEfCA8aDVRFe8Eg" type="StateTextCompartment">
|
||||
<children xsi:type="notation:Shape" xmi:id="_jCeH1T-lEfCA8aDVRFe8Eg" type="StateTextCompartmentExpression" fontName="Verdana" lineColor="4210752">
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jCeH1j-lEfCA8aDVRFe8Eg"/>
|
||||
</children>
|
||||
</children>
|
||||
<children xsi:type="notation:Compartment" xmi:id="_jCeH1z-lEfCA8aDVRFe8Eg" type="StateFigureCompartment"/>
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeH2D-lEfCA8aDVRFe8Eg" fontName="Verdana" fillColor="15720400" lineColor="12632256"/>
|
||||
<styles xsi:type="notation:FontStyle" xmi:id="_jCeH2T-lEfCA8aDVRFe8Eg"/>
|
||||
<styles xsi:type="notation:BooleanValueStyle" xmi:id="_jCeH2j-lEfCA8aDVRFe8Eg" name="isHorizontal" booleanValue="true"/>
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jCeH2z-lEfCA8aDVRFe8Eg" x="24" y="108" width="244" height="108"/>
|
||||
</children>
|
||||
<children xmi:id="_jCeH3D-lEfCA8aDVRFe8Eg" type="State" element="_jCc5qD-lEfCA8aDVRFe8Eg">
|
||||
<children xsi:type="notation:DecorationNode" xmi:id="_jCeH3T-lEfCA8aDVRFe8Eg" type="StateName">
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeH3j-lEfCA8aDVRFe8Eg"/>
|
||||
<layoutConstraint xsi:type="notation:Location" xmi:id="_jCeH3z-lEfCA8aDVRFe8Eg"/>
|
||||
</children>
|
||||
<children xsi:type="notation:Compartment" xmi:id="_jCeH4D-lEfCA8aDVRFe8Eg" type="StateTextCompartment">
|
||||
<children xsi:type="notation:Shape" xmi:id="_jCeH4T-lEfCA8aDVRFe8Eg" type="StateTextCompartmentExpression" fontName="Verdana" lineColor="4210752">
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jCeH4j-lEfCA8aDVRFe8Eg"/>
|
||||
</children>
|
||||
</children>
|
||||
<children xsi:type="notation:Compartment" xmi:id="_jCeH4z-lEfCA8aDVRFe8Eg" type="StateFigureCompartment"/>
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeH5D-lEfCA8aDVRFe8Eg" fontName="Verdana" fillColor="15720400" lineColor="12632256"/>
|
||||
<styles xsi:type="notation:FontStyle" xmi:id="_jCeH5T-lEfCA8aDVRFe8Eg"/>
|
||||
<styles xsi:type="notation:BooleanValueStyle" xmi:id="_jCeH5j-lEfCA8aDVRFe8Eg" name="isHorizontal" booleanValue="true"/>
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jCeH5z-lEfCA8aDVRFe8Eg" x="473" y="95" width="151" height="121"/>
|
||||
</children>
|
||||
<children xmi:id="_jCeHxj-lEfCA8aDVRFe8Eg" type="Entry" element="_jCcSlD-lEfCA8aDVRFe8Eg">
|
||||
<children xmi:id="_jCeHxz-lEfCA8aDVRFe8Eg" type="BorderItemLabelContainer">
|
||||
<children xsi:type="notation:DecorationNode" xmi:id="_jCeHyD-lEfCA8aDVRFe8Eg" type="BorderItemLabel">
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeHyT-lEfCA8aDVRFe8Eg"/>
|
||||
<layoutConstraint xsi:type="notation:Location" xmi:id="_jCeHyj-lEfCA8aDVRFe8Eg"/>
|
||||
</children>
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeHyz-lEfCA8aDVRFe8Eg" fontName="Verdana" lineColor="4210752"/>
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jCeHzD-lEfCA8aDVRFe8Eg"/>
|
||||
</children>
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeHzT-lEfCA8aDVRFe8Eg" fontName="Verdana" fillColor="0" lineColor="16777215"/>
|
||||
<styles xsi:type="notation:NamedStyle" xmi:id="_jCeHzj-lEfCA8aDVRFe8Eg" name="allowColors"/>
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jCeHzz-lEfCA8aDVRFe8Eg" x="114" y="55" width="15" height="15"/>
|
||||
</children>
|
||||
<children xsi:type="notation:Shape" xmi:id="_jVEnwD-yEfCA8aDVRFe8Eg" type="Choice" element="_jVEAsD-yEfCA8aDVRFe8Eg" fontName="Verdana" lineColor="4210752">
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jVEnwT-yEfCA8aDVRFe8Eg" x="325" y="126" width="33" height="35"/>
|
||||
</children>
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_IskfJz-yEfCA8aDVRFe8Eg"/>
|
||||
</children>
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_IskfIT-yEfCA8aDVRFe8Eg" fontName="Verdana" fillColor="16448250" lineColor="12632256"/>
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_IskfIj-yEfCA8aDVRFe8Eg"/>
|
||||
</children>
|
||||
<children xmi:id="_n4LKED-zEfCA8aDVRFe8Eg" type="Region" element="_n4LKGD-zEfCA8aDVRFe8Eg">
|
||||
<children xsi:type="notation:DecorationNode" xmi:id="_n4LKFT-zEfCA8aDVRFe8Eg" type="RegionName">
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_n4LKFz-zEfCA8aDVRFe8Eg"/>
|
||||
<layoutConstraint xsi:type="notation:Location" xmi:id="_n4LKFj-zEfCA8aDVRFe8Eg"/>
|
||||
</children>
|
||||
<children xsi:type="notation:Shape" xmi:id="_n4LKEz-zEfCA8aDVRFe8Eg" type="RegionCompartment" fontName="Verdana" lineColor="4210752">
|
||||
<children xmi:id="_n4MYPD-zEfCA8aDVRFe8Eg" type="State" element="_n4MYWT-zEfCA8aDVRFe8Eg">
|
||||
<children xsi:type="notation:DecorationNode" xmi:id="_n4MYPT-zEfCA8aDVRFe8Eg" type="StateName">
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_n4MYPj-zEfCA8aDVRFe8Eg"/>
|
||||
<layoutConstraint xsi:type="notation:Location" xmi:id="_n4MYPz-zEfCA8aDVRFe8Eg"/>
|
||||
</children>
|
||||
<children xsi:type="notation:Compartment" xmi:id="_n4MYQD-zEfCA8aDVRFe8Eg" type="StateTextCompartment">
|
||||
<children xsi:type="notation:Shape" xmi:id="_n4MYQT-zEfCA8aDVRFe8Eg" type="StateTextCompartmentExpression" fontName="Verdana" lineColor="4210752">
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_n4MYQj-zEfCA8aDVRFe8Eg"/>
|
||||
</children>
|
||||
</children>
|
||||
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||||
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||||
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|
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|
||||
</xmi:XMI>
|
||||
874
robot_cdt/src-gen/Statechart.c
Normal file
874
robot_cdt/src-gen/Statechart.c
Normal file
|
|
@ -0,0 +1,874 @@
|
|||
/* Generated by itemis CREATE code generator. */
|
||||
|
||||
|
||||
#include "../src/sc_types.h"
|
||||
|
||||
#include "Statechart.h"
|
||||
#include "Statechart_required.h"
|
||||
|
||||
/*! \file
|
||||
Implementation of the state machine 'Statechart'
|
||||
*/
|
||||
|
||||
#ifndef SC_UNUSED
|
||||
#define SC_UNUSED(P) (void)(P)
|
||||
#endif
|
||||
|
||||
/* prototypes of all internal functions */
|
||||
static void enact_main_region_on_r1_responding(Statechart* handle);
|
||||
static void enact_main_region_on_r1_sensor_error(Statechart* handle);
|
||||
static void enact_main_region_on_r2_pressed(Statechart* handle);
|
||||
static void exact_main_region_on_r2_pressed(Statechart* handle);
|
||||
static void enseq_main_region_on_default(Statechart* handle);
|
||||
static void enseq_main_region_on_r1_responding_default(Statechart* handle);
|
||||
static void enseq_main_region_on_r1_sensor_error_default(Statechart* handle);
|
||||
static void enseq_main_region_on_r2_not_pressed_default(Statechart* handle);
|
||||
static void enseq_main_region_on_r2_pressed_default(Statechart* handle);
|
||||
static void enseq_main_region_off_default(Statechart* handle);
|
||||
static void enseq_main_region_default(Statechart* handle);
|
||||
static void enseq_main_region_on_r1_default(Statechart* handle);
|
||||
static void enseq_main_region_on_r2_default(Statechart* handle);
|
||||
static void exseq_main_region_on(Statechart* handle);
|
||||
static void exseq_main_region_on_r1_responding(Statechart* handle);
|
||||
static void exseq_main_region_on_r1_sensor_error(Statechart* handle);
|
||||
static void exseq_main_region_on_r2_not_pressed(Statechart* handle);
|
||||
static void exseq_main_region_on_r2_pressed(Statechart* handle);
|
||||
static void exseq_main_region_off(Statechart* handle);
|
||||
static void exseq_main_region(Statechart* handle);
|
||||
static void exseq_main_region_on_r1(Statechart* handle);
|
||||
static void exseq_main_region_on_r2(Statechart* handle);
|
||||
static void react_main_region_on_r1__choice_0(Statechart* handle);
|
||||
static void react_main_region_on_r1__entry_Default(Statechart* handle);
|
||||
static void react_main_region_on_r2__entry_Default(Statechart* handle);
|
||||
static void react_main_region__entry_Default(Statechart* handle);
|
||||
|
||||
/*! The reactions of state responding. */
|
||||
static sc_integer main_region_on_r1_responding_react(Statechart* handle, const sc_integer transitioned_before);
|
||||
|
||||
/*! The reactions of state sensor_error. */
|
||||
static sc_integer main_region_on_r1_sensor_error_react(Statechart* handle, const sc_integer transitioned_before);
|
||||
|
||||
/*! The reactions of state not_pressed. */
|
||||
static sc_integer main_region_on_r2_not_pressed_react(Statechart* handle, const sc_integer transitioned_before);
|
||||
|
||||
/*! The reactions of state pressed. */
|
||||
static sc_integer main_region_on_r2_pressed_react(Statechart* handle, const sc_integer transitioned_before);
|
||||
|
||||
/*! The reactions of state off. */
|
||||
static sc_integer main_region_off_react(Statechart* handle, const sc_integer transitioned_before);
|
||||
|
||||
|
||||
static void clear_in_events(Statechart* handle);
|
||||
|
||||
static void micro_step(Statechart* handle);
|
||||
|
||||
/*! Performs a 'run to completion' step. */
|
||||
static void run_cycle(Statechart* handle);
|
||||
|
||||
|
||||
|
||||
|
||||
static void statechart_internal_set_speed(Statechart* handle, sc_real value)
|
||||
;
|
||||
static void statechart_internal_set_pid_vars(Statechart* handle, pid_vars_t value)
|
||||
;
|
||||
|
||||
|
||||
static void statechart_eventqueue_init(statechart_eventqueue * eq, statechart_event *buffer, sc_integer capacity);
|
||||
static sc_integer statechart_eventqueue_size(statechart_eventqueue * eq);
|
||||
static void statechart_event_init(statechart_event * ev, StatechartEventID name);
|
||||
static statechart_event statechart_eventqueue_pop(statechart_eventqueue * eq);
|
||||
static sc_boolean statechart_eventqueue_push(statechart_eventqueue * eq, statechart_event ev);
|
||||
static void statechart_add_event_to_queue(statechart_eventqueue * eq, StatechartEventID name);
|
||||
static sc_boolean statechart_dispatch_event(Statechart* handle, const statechart_event * event);
|
||||
static statechart_event statechart_get_next_event(Statechart* handle);
|
||||
static sc_boolean statechart_dispatch_next_event(Statechart* handle);
|
||||
static StatechartEventID statechart_get_timed_event_name(Statechart* handle, sc_eventid evid);
|
||||
static void statechart_event_value_init(statechart_event * ev, StatechartEventID name, void * value);
|
||||
static void statechart_add_value_event_to_queue(statechart_eventqueue * eq, StatechartEventID name, void * value);
|
||||
|
||||
|
||||
void statechart_init(Statechart* handle)
|
||||
{
|
||||
sc_integer i;
|
||||
|
||||
for (i = 0; i < STATECHART_MAX_ORTHOGONAL_STATES; ++i)
|
||||
{
|
||||
handle->stateConfVector[i] = Statechart_last_state;
|
||||
}
|
||||
|
||||
|
||||
clear_in_events(handle);
|
||||
|
||||
sc_observable_sc_real_init(&handle->iface.setMotorR);
|
||||
sc_observable_sc_real_init(&handle->iface.setMotorL);
|
||||
|
||||
/* Default init sequence for statechart Statechart */
|
||||
statechart_internal_set_speed(handle, 0.0);
|
||||
|
||||
handle->isExecuting = bool_false;
|
||||
statechart_eventqueue_init(&handle->in_event_queue, handle->in_buffer, STATECHART_IN_EVENTQUEUE_BUFFERSIZE);
|
||||
}
|
||||
|
||||
void statechart_enter(Statechart* handle)
|
||||
{
|
||||
/* Activates the state machine. */
|
||||
if (handle->isExecuting == bool_true)
|
||||
{
|
||||
return;
|
||||
}
|
||||
handle->isExecuting = bool_true;
|
||||
/* Default enter sequence for statechart Statechart */
|
||||
enseq_main_region_default(handle);
|
||||
handle->isExecuting = bool_false;
|
||||
}
|
||||
|
||||
void statechart_exit(Statechart* handle)
|
||||
{
|
||||
/* Deactivates the state machine. */
|
||||
if (handle->isExecuting == bool_true)
|
||||
{
|
||||
return;
|
||||
}
|
||||
handle->isExecuting = bool_true;
|
||||
/* Default exit sequence for statechart Statechart */
|
||||
exseq_main_region(handle);
|
||||
handle->stateConfVector[0] = Statechart_last_state;
|
||||
handle->stateConfVector[1] = Statechart_last_state;
|
||||
handle->stateConfVectorPosition = 1;
|
||||
handle->isExecuting = bool_false;
|
||||
}
|
||||
|
||||
/*!
|
||||
Can be used by the client code to trigger a run to completion step without raising an event.
|
||||
*/
|
||||
void statechart_trigger_without_event(Statechart* handle) {
|
||||
run_cycle(handle);
|
||||
}
|
||||
|
||||
|
||||
sc_boolean statechart_is_active(const Statechart* handle)
|
||||
{
|
||||
sc_boolean result = bool_false;
|
||||
sc_integer i;
|
||||
|
||||
for(i = 0; i < STATECHART_MAX_ORTHOGONAL_STATES; i++)
|
||||
{
|
||||
result = result || handle->stateConfVector[i] != Statechart_last_state;
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
/*
|
||||
* Always returns 'false' since this state machine can never become final.
|
||||
*/
|
||||
sc_boolean statechart_is_final(const Statechart* handle)
|
||||
{
|
||||
SC_UNUSED(handle);
|
||||
return bool_false;
|
||||
}
|
||||
|
||||
void statechart_raise_time_event(Statechart* handle, sc_eventid evid)
|
||||
{
|
||||
if ( ((sc_intptr_t)evid) >= ((sc_intptr_t)&(handle->timeEvents))
|
||||
&& ((sc_intptr_t)evid) < ((sc_intptr_t)&(handle->timeEvents)) + (unsigned)sizeof(StatechartTimeEvents))
|
||||
{
|
||||
statechart_add_event_to_queue(&(handle->in_event_queue), statechart_get_timed_event_name(handle, evid));
|
||||
run_cycle(handle);
|
||||
}
|
||||
}
|
||||
|
||||
sc_boolean statechart_is_state_active(const Statechart* handle, StatechartStates state)
|
||||
{
|
||||
sc_boolean result = bool_false;
|
||||
switch (state)
|
||||
{
|
||||
case Statechart_main_region_on :
|
||||
result = (sc_boolean) (handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_ON] >= Statechart_main_region_on
|
||||
&& handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_ON] <= Statechart_main_region_on_r2_pressed);
|
||||
break;
|
||||
case Statechart_main_region_on_r1_responding :
|
||||
result = (sc_boolean) (handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_ON_R1_RESPONDING] == Statechart_main_region_on_r1_responding
|
||||
);
|
||||
break;
|
||||
case Statechart_main_region_on_r1_sensor_error :
|
||||
result = (sc_boolean) (handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_ON_R1_SENSOR_ERROR] == Statechart_main_region_on_r1_sensor_error
|
||||
);
|
||||
break;
|
||||
case Statechart_main_region_on_r2_not_pressed :
|
||||
result = (sc_boolean) (handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_ON_R2_NOT_PRESSED] == Statechart_main_region_on_r2_not_pressed
|
||||
);
|
||||
break;
|
||||
case Statechart_main_region_on_r2_pressed :
|
||||
result = (sc_boolean) (handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_ON_R2_PRESSED] == Statechart_main_region_on_r2_pressed
|
||||
);
|
||||
break;
|
||||
case Statechart_main_region_off :
|
||||
result = (sc_boolean) (handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_OFF] == Statechart_main_region_off
|
||||
);
|
||||
break;
|
||||
default:
|
||||
result = bool_false;
|
||||
break;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
static void clear_in_events(Statechart* handle)
|
||||
{
|
||||
handle->iface.sensor_raised = bool_false;
|
||||
handle->iface.buttonPressed_raised = bool_false;
|
||||
handle->iface.buttonReleased_raised = bool_false;
|
||||
handle->timeEvents.statechart_main_region_on_r2_pressed_tev0_raised = bool_false;
|
||||
}
|
||||
|
||||
static void micro_step(Statechart* handle)
|
||||
{
|
||||
sc_integer transitioned = -1;
|
||||
handle->stateConfVectorPosition = 0;
|
||||
switch(handle->stateConfVector[ 0 ])
|
||||
{
|
||||
case Statechart_main_region_on_r1_responding :
|
||||
{
|
||||
transitioned = main_region_on_r1_responding_react(handle,transitioned);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_on_r1_sensor_error :
|
||||
{
|
||||
transitioned = main_region_on_r1_sensor_error_react(handle,transitioned);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_off :
|
||||
{
|
||||
transitioned = main_region_off_react(handle,transitioned);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
/* do nothing */
|
||||
break;
|
||||
}
|
||||
if ((handle->stateConfVectorPosition) < (1))
|
||||
{
|
||||
switch(handle->stateConfVector[ 1 ])
|
||||
{
|
||||
case Statechart_main_region_on_r2_not_pressed :
|
||||
{
|
||||
main_region_on_r2_not_pressed_react(handle,transitioned);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_on_r2_pressed :
|
||||
{
|
||||
main_region_on_r2_pressed_react(handle,transitioned);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
/* do nothing */
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void run_cycle(Statechart* handle)
|
||||
{
|
||||
/* Performs a 'run to completion' step. */
|
||||
if (handle->isExecuting == bool_true)
|
||||
{
|
||||
return;
|
||||
}
|
||||
handle->isExecuting = bool_true;
|
||||
statechart_dispatch_next_event(handle);
|
||||
do
|
||||
{
|
||||
micro_step(handle);
|
||||
clear_in_events(handle);
|
||||
} while (statechart_dispatch_next_event(handle) == bool_true);
|
||||
handle->isExecuting = bool_false;
|
||||
}
|
||||
|
||||
|
||||
void statechart_raise_sensor(Statechart* handle, sc_real value)
|
||||
{
|
||||
statechart_add_value_event_to_queue(&(handle->in_event_queue), Statechart_sensor, &value);
|
||||
run_cycle(handle);
|
||||
}
|
||||
|
||||
void statechart_raise_buttonPressed(Statechart* handle)
|
||||
{
|
||||
statechart_add_event_to_queue(&(handle->in_event_queue), Statechart_buttonPressed);
|
||||
run_cycle(handle);
|
||||
}
|
||||
|
||||
void statechart_raise_buttonReleased(Statechart* handle)
|
||||
{
|
||||
statechart_add_event_to_queue(&(handle->in_event_queue), Statechart_buttonReleased);
|
||||
run_cycle(handle);
|
||||
}
|
||||
|
||||
|
||||
sc_observable_sc_real* statechart_get_setMotorR(Statechart* handle)
|
||||
{
|
||||
return &handle->iface.setMotorR;
|
||||
}
|
||||
sc_observable_sc_real* statechart_get_setMotorL(Statechart* handle)
|
||||
{
|
||||
return &handle->iface.setMotorL;
|
||||
}
|
||||
|
||||
|
||||
static void statechart_internal_set_speed(Statechart* handle, sc_real value)
|
||||
{
|
||||
handle->internal.speed = value;
|
||||
}
|
||||
static void statechart_internal_set_pid_vars(Statechart* handle, pid_vars_t value)
|
||||
{
|
||||
handle->internal.pid_vars = value;
|
||||
}
|
||||
|
||||
|
||||
/* implementations of all internal functions */
|
||||
|
||||
/* Entry action for state 'responding'. */
|
||||
static void enact_main_region_on_r1_responding(Statechart* handle)
|
||||
{
|
||||
/* Entry action for state 'responding'. */
|
||||
statechart_internal_set_speed(handle, statechart_pid(handle,handle->iface.sensor_value, handle->internal.pid_vars));
|
||||
{
|
||||
sc_real iface_setMotorL_value = handle->internal.speed;
|
||||
sc_observable_sc_real_next(&handle->iface.setMotorL, iface_setMotorL_value);
|
||||
};
|
||||
{
|
||||
sc_real iface_setMotorR_value = handle->internal.speed;
|
||||
sc_observable_sc_real_next(&handle->iface.setMotorR, iface_setMotorR_value);
|
||||
};
|
||||
}
|
||||
|
||||
/* Entry action for state 'sensor_error'. */
|
||||
static void enact_main_region_on_r1_sensor_error(Statechart* handle)
|
||||
{
|
||||
/* Entry action for state 'sensor_error'. */
|
||||
{
|
||||
sc_real iface_setMotorL_value = 1;
|
||||
sc_observable_sc_real_next(&handle->iface.setMotorL, iface_setMotorL_value);
|
||||
};
|
||||
{
|
||||
sc_real iface_setMotorR_value = -(1);
|
||||
sc_observable_sc_real_next(&handle->iface.setMotorR, iface_setMotorR_value);
|
||||
};
|
||||
}
|
||||
|
||||
/* Entry action for state 'pressed'. */
|
||||
static void enact_main_region_on_r2_pressed(Statechart* handle)
|
||||
{
|
||||
/* Entry action for state 'pressed'. */
|
||||
statechart_set_timer(handle, (sc_eventid) &(handle->timeEvents.statechart_main_region_on_r2_pressed_tev0_raised) , (((sc_time) 2) * 1000), bool_false);
|
||||
}
|
||||
|
||||
/* Exit action for state 'pressed'. */
|
||||
static void exact_main_region_on_r2_pressed(Statechart* handle)
|
||||
{
|
||||
/* Exit action for state 'pressed'. */
|
||||
statechart_unset_timer(handle, (sc_eventid) &(handle->timeEvents.statechart_main_region_on_r2_pressed_tev0_raised) );
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for state on */
|
||||
static void enseq_main_region_on_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for state on */
|
||||
enseq_main_region_on_r1_default(handle);
|
||||
enseq_main_region_on_r2_default(handle);
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for state responding */
|
||||
static void enseq_main_region_on_r1_responding_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for state responding */
|
||||
enact_main_region_on_r1_responding(handle);
|
||||
handle->stateConfVector[0] = Statechart_main_region_on_r1_responding;
|
||||
handle->stateConfVectorPosition = 0;
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for state sensor_error */
|
||||
static void enseq_main_region_on_r1_sensor_error_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for state sensor_error */
|
||||
enact_main_region_on_r1_sensor_error(handle);
|
||||
handle->stateConfVector[0] = Statechart_main_region_on_r1_sensor_error;
|
||||
handle->stateConfVectorPosition = 0;
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for state not_pressed */
|
||||
static void enseq_main_region_on_r2_not_pressed_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for state not_pressed */
|
||||
handle->stateConfVector[1] = Statechart_main_region_on_r2_not_pressed;
|
||||
handle->stateConfVectorPosition = 1;
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for state pressed */
|
||||
static void enseq_main_region_on_r2_pressed_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for state pressed */
|
||||
enact_main_region_on_r2_pressed(handle);
|
||||
handle->stateConfVector[1] = Statechart_main_region_on_r2_pressed;
|
||||
handle->stateConfVectorPosition = 1;
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for state off */
|
||||
static void enseq_main_region_off_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for state off */
|
||||
handle->stateConfVector[0] = Statechart_main_region_off;
|
||||
handle->stateConfVectorPosition = 0;
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for region main region */
|
||||
static void enseq_main_region_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for region main region */
|
||||
react_main_region__entry_Default(handle);
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for region r1 */
|
||||
static void enseq_main_region_on_r1_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for region r1 */
|
||||
react_main_region_on_r1__entry_Default(handle);
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for region r2 */
|
||||
static void enseq_main_region_on_r2_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for region r2 */
|
||||
react_main_region_on_r2__entry_Default(handle);
|
||||
}
|
||||
|
||||
/* Default exit sequence for state on */
|
||||
static void exseq_main_region_on(Statechart* handle)
|
||||
{
|
||||
/* Default exit sequence for state on */
|
||||
exseq_main_region_on_r1(handle);
|
||||
exseq_main_region_on_r2(handle);
|
||||
handle->stateConfVector[0] = Statechart_last_state;
|
||||
handle->stateConfVector[1] = Statechart_last_state;
|
||||
handle->stateConfVectorPosition = 1;
|
||||
}
|
||||
|
||||
/* Default exit sequence for state responding */
|
||||
static void exseq_main_region_on_r1_responding(Statechart* handle)
|
||||
{
|
||||
/* Default exit sequence for state responding */
|
||||
handle->stateConfVector[0] = Statechart_main_region_on;
|
||||
handle->stateConfVectorPosition = 0;
|
||||
}
|
||||
|
||||
/* Default exit sequence for state sensor_error */
|
||||
static void exseq_main_region_on_r1_sensor_error(Statechart* handle)
|
||||
{
|
||||
/* Default exit sequence for state sensor_error */
|
||||
handle->stateConfVector[0] = Statechart_main_region_on;
|
||||
handle->stateConfVectorPosition = 0;
|
||||
}
|
||||
|
||||
/* Default exit sequence for state not_pressed */
|
||||
static void exseq_main_region_on_r2_not_pressed(Statechart* handle)
|
||||
{
|
||||
/* Default exit sequence for state not_pressed */
|
||||
handle->stateConfVector[1] = Statechart_main_region_on;
|
||||
handle->stateConfVectorPosition = 1;
|
||||
}
|
||||
|
||||
/* Default exit sequence for state pressed */
|
||||
static void exseq_main_region_on_r2_pressed(Statechart* handle)
|
||||
{
|
||||
/* Default exit sequence for state pressed */
|
||||
handle->stateConfVector[1] = Statechart_main_region_on;
|
||||
handle->stateConfVectorPosition = 1;
|
||||
exact_main_region_on_r2_pressed(handle);
|
||||
}
|
||||
|
||||
/* Default exit sequence for state off */
|
||||
static void exseq_main_region_off(Statechart* handle)
|
||||
{
|
||||
/* Default exit sequence for state off */
|
||||
handle->stateConfVector[0] = Statechart_last_state;
|
||||
handle->stateConfVectorPosition = 0;
|
||||
}
|
||||
|
||||
/* Default exit sequence for region main region */
|
||||
static void exseq_main_region(Statechart* handle)
|
||||
{
|
||||
/* Default exit sequence for region main region */
|
||||
/* Handle exit of all possible states (of Statechart.main_region) at position 0... */
|
||||
switch(handle->stateConfVector[ 0 ])
|
||||
{
|
||||
case Statechart_main_region_on_r1_responding :
|
||||
{
|
||||
exseq_main_region_on_r1_responding(handle);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_on_r1_sensor_error :
|
||||
{
|
||||
exseq_main_region_on_r1_sensor_error(handle);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_off :
|
||||
{
|
||||
exseq_main_region_off(handle);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
/* do nothing */
|
||||
break;
|
||||
}
|
||||
/* Handle exit of all possible states (of Statechart.main_region) at position 1... */
|
||||
switch(handle->stateConfVector[ 1 ])
|
||||
{
|
||||
case Statechart_main_region_on_r2_not_pressed :
|
||||
{
|
||||
exseq_main_region_on_r2_not_pressed(handle);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_on_r2_pressed :
|
||||
{
|
||||
exseq_main_region_on_r2_pressed(handle);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
/* do nothing */
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* Default exit sequence for region r1 */
|
||||
static void exseq_main_region_on_r1(Statechart* handle)
|
||||
{
|
||||
/* Default exit sequence for region r1 */
|
||||
/* Handle exit of all possible states (of Statechart.main_region.on.r1) at position 0... */
|
||||
switch(handle->stateConfVector[ 0 ])
|
||||
{
|
||||
case Statechart_main_region_on_r1_responding :
|
||||
{
|
||||
exseq_main_region_on_r1_responding(handle);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_on_r1_sensor_error :
|
||||
{
|
||||
exseq_main_region_on_r1_sensor_error(handle);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
/* do nothing */
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* Default exit sequence for region r2 */
|
||||
static void exseq_main_region_on_r2(Statechart* handle)
|
||||
{
|
||||
/* Default exit sequence for region r2 */
|
||||
/* Handle exit of all possible states (of Statechart.main_region.on.r2) at position 1... */
|
||||
switch(handle->stateConfVector[ 1 ])
|
||||
{
|
||||
case Statechart_main_region_on_r2_not_pressed :
|
||||
{
|
||||
exseq_main_region_on_r2_not_pressed(handle);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_on_r2_pressed :
|
||||
{
|
||||
exseq_main_region_on_r2_pressed(handle);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
/* do nothing */
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* The reactions of state null. */
|
||||
static void react_main_region_on_r1__choice_0(Statechart* handle)
|
||||
{
|
||||
/* The reactions of state null. */
|
||||
if ((handle->iface.sensor_value) < (0))
|
||||
{
|
||||
enseq_main_region_on_r1_sensor_error_default(handle);
|
||||
} else
|
||||
{
|
||||
enseq_main_region_on_r1_responding_default(handle);
|
||||
}
|
||||
}
|
||||
|
||||
/* Default react sequence for initial entry */
|
||||
static void react_main_region_on_r1__entry_Default(Statechart* handle)
|
||||
{
|
||||
/* Default react sequence for initial entry */
|
||||
enseq_main_region_on_r1_responding_default(handle);
|
||||
}
|
||||
|
||||
/* Default react sequence for initial entry */
|
||||
static void react_main_region_on_r2__entry_Default(Statechart* handle)
|
||||
{
|
||||
/* Default react sequence for initial entry */
|
||||
enseq_main_region_on_r2_not_pressed_default(handle);
|
||||
}
|
||||
|
||||
/* Default react sequence for initial entry */
|
||||
static void react_main_region__entry_Default(Statechart* handle)
|
||||
{
|
||||
/* Default react sequence for initial entry */
|
||||
enseq_main_region_off_default(handle);
|
||||
}
|
||||
|
||||
|
||||
static sc_integer main_region_on_r1_responding_react(Statechart* handle, const sc_integer transitioned_before)
|
||||
{
|
||||
/* The reactions of state responding. */
|
||||
sc_integer transitioned_after = transitioned_before;
|
||||
if ((transitioned_after) < (0))
|
||||
{
|
||||
if (handle->iface.sensor_raised == bool_true)
|
||||
{
|
||||
exseq_main_region_on_r1_responding(handle);
|
||||
react_main_region_on_r1__choice_0(handle);
|
||||
transitioned_after = 0;
|
||||
}
|
||||
}
|
||||
return transitioned_after;
|
||||
}
|
||||
|
||||
static sc_integer main_region_on_r1_sensor_error_react(Statechart* handle, const sc_integer transitioned_before)
|
||||
{
|
||||
/* The reactions of state sensor_error. */
|
||||
sc_integer transitioned_after = transitioned_before;
|
||||
if ((transitioned_after) < (0))
|
||||
{
|
||||
if (handle->iface.sensor_raised == bool_true)
|
||||
{
|
||||
exseq_main_region_on_r1_sensor_error(handle);
|
||||
react_main_region_on_r1__choice_0(handle);
|
||||
transitioned_after = 0;
|
||||
}
|
||||
}
|
||||
return transitioned_after;
|
||||
}
|
||||
|
||||
static sc_integer main_region_on_r2_not_pressed_react(Statechart* handle, const sc_integer transitioned_before)
|
||||
{
|
||||
/* The reactions of state not_pressed. */
|
||||
sc_integer transitioned_after = transitioned_before;
|
||||
if ((transitioned_after) < (1))
|
||||
{
|
||||
if (handle->iface.buttonPressed_raised == bool_true)
|
||||
{
|
||||
exseq_main_region_on_r2_not_pressed(handle);
|
||||
enseq_main_region_on_r2_pressed_default(handle);
|
||||
transitioned_after = 1;
|
||||
}
|
||||
}
|
||||
/* If no transition was taken */
|
||||
if ((transitioned_after) == (transitioned_before))
|
||||
{
|
||||
/* then execute local reactions. */
|
||||
transitioned_after = transitioned_before;
|
||||
}
|
||||
return transitioned_after;
|
||||
}
|
||||
|
||||
static sc_integer main_region_on_r2_pressed_react(Statechart* handle, const sc_integer transitioned_before)
|
||||
{
|
||||
/* The reactions of state pressed. */
|
||||
sc_integer transitioned_after = transitioned_before;
|
||||
if ((transitioned_after) < (1))
|
||||
{
|
||||
if (handle->timeEvents.statechart_main_region_on_r2_pressed_tev0_raised == bool_true)
|
||||
{
|
||||
exseq_main_region_on(handle);
|
||||
handle->timeEvents.statechart_main_region_on_r2_pressed_tev0_raised = bool_false;
|
||||
enseq_main_region_off_default(handle);
|
||||
transitioned_after = 1;
|
||||
} else
|
||||
{
|
||||
if (handle->iface.buttonReleased_raised == bool_true)
|
||||
{
|
||||
exseq_main_region_on_r2_pressed(handle);
|
||||
enseq_main_region_on_r2_not_pressed_default(handle);
|
||||
transitioned_after = 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
/* If no transition was taken */
|
||||
if ((transitioned_after) == (transitioned_before))
|
||||
{
|
||||
/* then execute local reactions. */
|
||||
transitioned_after = transitioned_before;
|
||||
}
|
||||
return transitioned_after;
|
||||
}
|
||||
|
||||
static sc_integer main_region_off_react(Statechart* handle, const sc_integer transitioned_before)
|
||||
{
|
||||
/* The reactions of state off. */
|
||||
sc_integer transitioned_after = transitioned_before;
|
||||
if ((transitioned_after) < (0))
|
||||
{
|
||||
if (handle->iface.buttonPressed_raised == bool_true)
|
||||
{
|
||||
exseq_main_region_off(handle);
|
||||
enseq_main_region_on_default(handle);
|
||||
transitioned_after = 0;
|
||||
}
|
||||
}
|
||||
/* If no transition was taken */
|
||||
if ((transitioned_after) == (transitioned_before))
|
||||
{
|
||||
/* then execute local reactions. */
|
||||
transitioned_after = transitioned_before;
|
||||
}
|
||||
return transitioned_after;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
static void statechart_eventqueue_init(statechart_eventqueue * eq, statechart_event *buffer, sc_integer capacity)
|
||||
{
|
||||
eq->events = buffer;
|
||||
eq->capacity = capacity;
|
||||
eq->push_index = 0;
|
||||
eq->pop_index = 0;
|
||||
eq->size = 0;
|
||||
}
|
||||
|
||||
static sc_integer statechart_eventqueue_size(statechart_eventqueue * eq)
|
||||
{
|
||||
return eq->size;
|
||||
}
|
||||
|
||||
static statechart_event statechart_eventqueue_pop(statechart_eventqueue * eq)
|
||||
{
|
||||
statechart_event event;
|
||||
if(statechart_eventqueue_size(eq) <= 0) {
|
||||
statechart_event_init(&event, Statechart_invalid_event);
|
||||
}
|
||||
else {
|
||||
event = eq->events[eq->pop_index];
|
||||
|
||||
if(eq->pop_index < eq->capacity - 1) {
|
||||
eq->pop_index++;
|
||||
}
|
||||
else {
|
||||
eq->pop_index = 0;
|
||||
}
|
||||
eq->size--;
|
||||
}
|
||||
return event;
|
||||
}
|
||||
static sc_boolean statechart_eventqueue_push(statechart_eventqueue * eq, statechart_event ev)
|
||||
{
|
||||
if(statechart_eventqueue_size(eq) == eq->capacity) {
|
||||
return bool_false;
|
||||
}
|
||||
else {
|
||||
eq->events[eq->push_index] = ev;
|
||||
|
||||
if(eq->push_index < eq->capacity - 1) {
|
||||
eq->push_index++;
|
||||
}
|
||||
else {
|
||||
eq->push_index = 0;
|
||||
}
|
||||
eq->size++;
|
||||
|
||||
return bool_true;
|
||||
}
|
||||
}
|
||||
static void statechart_event_init(statechart_event * ev, StatechartEventID name)
|
||||
{
|
||||
ev->name = name;
|
||||
ev->has_value = bool_false;
|
||||
}
|
||||
|
||||
static void statechart_add_event_to_queue(statechart_eventqueue * eq, StatechartEventID name)
|
||||
{
|
||||
statechart_event event;
|
||||
statechart_event_init(&event, name);
|
||||
statechart_eventqueue_push(eq, event);
|
||||
}
|
||||
|
||||
static sc_boolean statechart_dispatch_event(Statechart* handle, const statechart_event * event) {
|
||||
switch(event->name) {
|
||||
case Statechart_sensor:
|
||||
{
|
||||
handle->iface.sensor_raised = bool_true;
|
||||
handle->iface.sensor_value = event->value.Statechart_sensor_value;
|
||||
return bool_true;
|
||||
}
|
||||
case Statechart_buttonPressed:
|
||||
{
|
||||
handle->iface.buttonPressed_raised = bool_true;
|
||||
return bool_true;
|
||||
}
|
||||
case Statechart_buttonReleased:
|
||||
{
|
||||
handle->iface.buttonReleased_raised = bool_true;
|
||||
return bool_true;
|
||||
}
|
||||
case Statechart_Statechart_main_region_on_r2_pressed_time_event_0:
|
||||
{
|
||||
handle->timeEvents.statechart_main_region_on_r2_pressed_tev0_raised = bool_true;
|
||||
return bool_true;
|
||||
}
|
||||
default:
|
||||
return bool_false;
|
||||
}
|
||||
}
|
||||
|
||||
static statechart_event statechart_get_next_event(Statechart* handle)
|
||||
{
|
||||
statechart_event next_event;
|
||||
statechart_event_init(&next_event, Statechart_invalid_event);
|
||||
if(statechart_eventqueue_size(&(handle->in_event_queue)) > 0) {
|
||||
next_event = statechart_eventqueue_pop(&(handle->in_event_queue));
|
||||
}
|
||||
return next_event;
|
||||
}
|
||||
|
||||
static sc_boolean statechart_dispatch_next_event(Statechart* handle)
|
||||
{
|
||||
statechart_event nextEvent;
|
||||
nextEvent = statechart_get_next_event(handle);
|
||||
return statechart_dispatch_event(handle, &nextEvent);
|
||||
}
|
||||
|
||||
static StatechartEventID statechart_get_timed_event_name(Statechart* handle, sc_eventid evid)
|
||||
{
|
||||
if(evid == &handle->timeEvents.statechart_main_region_on_r2_pressed_tev0_raised) {
|
||||
return Statechart_Statechart_main_region_on_r2_pressed_time_event_0;
|
||||
}
|
||||
return Statechart_invalid_event;
|
||||
}
|
||||
|
||||
|
||||
static void statechart_event_value_init(statechart_event * ev, StatechartEventID name, void * value)
|
||||
{
|
||||
ev->name = name;
|
||||
ev->has_value = bool_true;
|
||||
|
||||
switch(name)
|
||||
{
|
||||
case Statechart_sensor:
|
||||
ev->value.Statechart_sensor_value = *((sc_real*)value);
|
||||
break;
|
||||
default:
|
||||
/* do nothing */
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
static void statechart_add_value_event_to_queue(statechart_eventqueue * eq, StatechartEventID name, void * value)
|
||||
{
|
||||
statechart_event event;
|
||||
statechart_event_value_init(&event, name, value);
|
||||
statechart_eventqueue_push(eq, event);
|
||||
}
|
||||
227
robot_cdt/src-gen/Statechart.h
Normal file
227
robot_cdt/src-gen/Statechart.h
Normal file
|
|
@ -0,0 +1,227 @@
|
|||
/* Generated by itemis CREATE code generator. */
|
||||
|
||||
#ifndef STATECHART_H_
|
||||
#define STATECHART_H_
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*!
|
||||
* Forward declaration for the Statechart state machine.
|
||||
*/
|
||||
typedef struct Statechart Statechart;
|
||||
|
||||
/*!
|
||||
* Forward declaration of the data structure for the StatechartIface interface scope.
|
||||
*/
|
||||
typedef struct StatechartIface StatechartIface;
|
||||
|
||||
/*!
|
||||
* Forward declaration of the data structure for the StatechartInternal interface scope.
|
||||
*/
|
||||
typedef struct StatechartInternal StatechartInternal;
|
||||
|
||||
/*!
|
||||
* Forward declaration of the data structure for the StatechartTimeEvents interface scope.
|
||||
*/
|
||||
typedef struct StatechartTimeEvents StatechartTimeEvents;
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#include "../src/data_types.h"
|
||||
#include "../src/sc_types.h"
|
||||
#include "../src/sc_rxc.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*! \file
|
||||
Header of the state machine 'Statechart'.
|
||||
*/
|
||||
|
||||
#ifndef STATECHART_EVENTQUEUE_BUFFERSIZE
|
||||
#define STATECHART_EVENTQUEUE_BUFFERSIZE 20
|
||||
#endif
|
||||
#ifndef STATECHART_IN_EVENTQUEUE_BUFFERSIZE
|
||||
#define STATECHART_IN_EVENTQUEUE_BUFFERSIZE STATECHART_EVENTQUEUE_BUFFERSIZE
|
||||
#endif
|
||||
#ifndef SC_INVALID_EVENT_VALUE
|
||||
#define SC_INVALID_EVENT_VALUE 0
|
||||
#endif
|
||||
/*! Define number of states in the state enum */
|
||||
#define STATECHART_STATE_COUNT 6
|
||||
|
||||
/*! Define dimension of the state configuration vector for orthogonal states. */
|
||||
#define STATECHART_MAX_ORTHOGONAL_STATES 2
|
||||
/*! Define maximum number of time events that can be active at once */
|
||||
#define STATECHART_MAX_PARALLEL_TIME_EVENTS 1
|
||||
|
||||
/*! Define indices of states in the StateConfVector */
|
||||
#define SCVI_STATECHART_MAIN_REGION_ON 0
|
||||
#define SCVI_STATECHART_MAIN_REGION_ON_R1_RESPONDING 0
|
||||
#define SCVI_STATECHART_MAIN_REGION_ON_R1_SENSOR_ERROR 0
|
||||
#define SCVI_STATECHART_MAIN_REGION_ON_R2_NOT_PRESSED 1
|
||||
#define SCVI_STATECHART_MAIN_REGION_ON_R2_PRESSED 1
|
||||
#define SCVI_STATECHART_MAIN_REGION_OFF 0
|
||||
|
||||
/*
|
||||
* Union of all possible event value types.
|
||||
*/
|
||||
typedef union {
|
||||
sc_real Statechart_sensor_value;
|
||||
} statechart_event_value;
|
||||
|
||||
/*
|
||||
* Enum of event names in the statechart.
|
||||
*/
|
||||
typedef enum {
|
||||
Statechart_invalid_event = SC_INVALID_EVENT_VALUE,
|
||||
Statechart_sensor,
|
||||
Statechart_buttonPressed,
|
||||
Statechart_buttonReleased,
|
||||
Statechart_Statechart_main_region_on_r2_pressed_time_event_0
|
||||
} StatechartEventID;
|
||||
|
||||
/*
|
||||
* Struct that represents a single event.
|
||||
*/
|
||||
typedef struct {
|
||||
StatechartEventID name;
|
||||
sc_boolean has_value;
|
||||
statechart_event_value value;
|
||||
} statechart_event;
|
||||
|
||||
/*
|
||||
* Queue that holds the raised events.
|
||||
*/
|
||||
typedef struct statechart_eventqueue_s {
|
||||
statechart_event *events;
|
||||
sc_integer capacity;
|
||||
sc_integer pop_index;
|
||||
sc_integer push_index;
|
||||
sc_integer size;
|
||||
} statechart_eventqueue;
|
||||
|
||||
/*! Enumeration of all states */
|
||||
typedef enum
|
||||
{
|
||||
Statechart_last_state,
|
||||
Statechart_main_region_on,
|
||||
Statechart_main_region_on_r1_responding,
|
||||
Statechart_main_region_on_r1_sensor_error,
|
||||
Statechart_main_region_on_r2_not_pressed,
|
||||
Statechart_main_region_on_r2_pressed,
|
||||
Statechart_main_region_off
|
||||
} StatechartStates;
|
||||
|
||||
|
||||
|
||||
|
||||
/*! Type declaration of the data structure for the StatechartIface interface scope. */
|
||||
struct StatechartIface
|
||||
{
|
||||
sc_boolean sensor_raised;
|
||||
sc_real sensor_value;
|
||||
sc_boolean buttonPressed_raised;
|
||||
sc_boolean buttonReleased_raised;
|
||||
sc_observable_sc_real setMotorR;
|
||||
sc_observable_sc_real setMotorL;
|
||||
};
|
||||
|
||||
|
||||
|
||||
/*! Type declaration of the data structure for the StatechartInternal interface scope. */
|
||||
struct StatechartInternal
|
||||
{
|
||||
sc_real speed;
|
||||
pid_vars_t pid_vars;
|
||||
};
|
||||
|
||||
|
||||
|
||||
/*! Type declaration of the data structure for the StatechartTimeEvents interface scope. */
|
||||
struct StatechartTimeEvents
|
||||
{
|
||||
sc_boolean statechart_main_region_on_r2_pressed_tev0_raised;
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/*!
|
||||
* Type declaration of the data structure for the Statechart state machine.
|
||||
* This data structure has to be allocated by the client code.
|
||||
*/
|
||||
struct Statechart
|
||||
{
|
||||
StatechartStates stateConfVector[STATECHART_MAX_ORTHOGONAL_STATES];
|
||||
StatechartIface iface;
|
||||
StatechartInternal internal;
|
||||
StatechartTimeEvents timeEvents;
|
||||
sc_boolean isExecuting;
|
||||
sc_integer stateConfVectorPosition;
|
||||
statechart_eventqueue in_event_queue;
|
||||
statechart_event in_buffer[STATECHART_IN_EVENTQUEUE_BUFFERSIZE];
|
||||
};
|
||||
|
||||
|
||||
|
||||
/*! Initializes the Statechart state machine data structures. Must be called before first usage.*/
|
||||
extern void statechart_init(Statechart* handle);
|
||||
|
||||
|
||||
/*! Activates the state machine. */
|
||||
extern void statechart_enter(Statechart* handle);
|
||||
|
||||
/*! Deactivates the state machine. */
|
||||
extern void statechart_exit(Statechart* handle);
|
||||
|
||||
/*!
|
||||
Can be used by the client code to trigger a run to completion step without raising an event.
|
||||
*/
|
||||
extern void statechart_trigger_without_event(Statechart* handle);
|
||||
|
||||
|
||||
/*! Raises a time event. */
|
||||
extern void statechart_raise_time_event(Statechart* handle, sc_eventid evid);
|
||||
|
||||
/*! Raises the in event 'sensor' that is defined in the default interface scope. */
|
||||
extern void statechart_raise_sensor(Statechart* handle, sc_real value);
|
||||
/*! Raises the in event 'buttonPressed' that is defined in the default interface scope. */
|
||||
extern void statechart_raise_buttonPressed(Statechart* handle);
|
||||
/*! Raises the in event 'buttonReleased' that is defined in the default interface scope. */
|
||||
extern void statechart_raise_buttonReleased(Statechart* handle);
|
||||
/*! Returns the observable for the out event 'setMotorR' that is defined in the default interface scope. */
|
||||
extern sc_observable_sc_real* statechart_get_setMotorR(Statechart* handle);
|
||||
|
||||
/*! Returns the observable for the out event 'setMotorL' that is defined in the default interface scope. */
|
||||
extern sc_observable_sc_real* statechart_get_setMotorL(Statechart* handle);
|
||||
|
||||
|
||||
/*!
|
||||
* Checks whether the state machine is active (until 2.4.1 this method was used for states).
|
||||
* A state machine is active if it was entered. It is inactive if it has not been entered at all or if it has been exited.
|
||||
*/
|
||||
extern sc_boolean statechart_is_active(const Statechart* handle);
|
||||
|
||||
/*!
|
||||
* Checks if all active states are final.
|
||||
* If there are no active states then the state machine is considered being inactive. In this case this method returns false.
|
||||
*/
|
||||
extern sc_boolean statechart_is_final(const Statechart* handle);
|
||||
|
||||
/*! Checks if the specified state is active (until 2.4.1 the used method for states was called isActive()). */
|
||||
extern sc_boolean statechart_is_state_active(const Statechart* handle, StatechartStates state);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* STATECHART_H_ */
|
||||
56
robot_cdt/src-gen/Statechart_required.h
Normal file
56
robot_cdt/src-gen/Statechart_required.h
Normal file
|
|
@ -0,0 +1,56 @@
|
|||
/* Generated by itemis CREATE code generator. */
|
||||
|
||||
#ifndef STATECHART_REQUIRED_H_
|
||||
#define STATECHART_REQUIRED_H_
|
||||
|
||||
#include "../src/sc_types.h"
|
||||
#include "Statechart.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
/*! \file
|
||||
This header defines prototypes for all functions that are required by the state machine implementation.
|
||||
|
||||
This is a state machine uses time events which require access to a timing service. Thus the function prototypes:
|
||||
- statechart_set_timer and
|
||||
- statechart_unset_timer
|
||||
are defined.
|
||||
This state machine makes use of operations declared in the state machines interface or internal scopes. Thus the function prototypes:
|
||||
- statechart_pid
|
||||
are defined.
|
||||
|
||||
These functions will be called during a 'run to completion step' (runCycle) of the statechart.
|
||||
There are some constraints that have to be considered for the implementation of these functions:
|
||||
- make sure that the execution time is as short as possible.
|
||||
*/
|
||||
|
||||
extern sc_real statechart_pid( Statechart* handle, const sc_real sensor, const pid_vars_t pid_vars);
|
||||
|
||||
|
||||
|
||||
/*!
|
||||
This function has to set up timers for the time events that are required by the state machine.
|
||||
It will be called for each time event that is relevant for a state when a state will be entered.
|
||||
\param evid An unique identifier of the event.
|
||||
\time_ms The time in milliseconds
|
||||
\periodic Indicates the the time event must be raised periodically until the timer is unset
|
||||
*/
|
||||
extern void statechart_set_timer(Statechart* handle, const sc_eventid evid, const sc_time time_ms, const sc_boolean periodic);
|
||||
|
||||
/*!
|
||||
This function has to unset timers for the time events that are required by the state machine.
|
||||
It will be called for each time event that is relevant for a state when a state will be left.
|
||||
\param evid An unique identifier of the event.
|
||||
*/
|
||||
extern void statechart_unset_timer(Statechart* handle, const sc_eventid evid);
|
||||
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* STATECHART_REQUIRED_H_ */
|
||||
67
robot_cdt/src/controller.c
Normal file
67
robot_cdt/src/controller.c
Normal file
|
|
@ -0,0 +1,67 @@
|
|||
#include <time.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include "../src/sc_timer_service.h"
|
||||
#include "../src-gen/Statechart.h"
|
||||
#include "../src-gen/Statechart_required.h"
|
||||
#include "./data_types.h"
|
||||
#include "./pid.h"
|
||||
|
||||
#define TARGET_DIST 100
|
||||
|
||||
// YAKINDU forces us to use global variables so don't blame me
|
||||
#define MAX_TIMERS 4
|
||||
static sc_timer_t timers[MAX_TIMERS];
|
||||
static sc_timer_service_t timer_service;
|
||||
|
||||
// event handler callback functions
|
||||
void on_motorL(Statechart* sc, sc_real value) {
|
||||
fprintf(stderr, "got event motorL: %f\n", value);
|
||||
}
|
||||
void on_motorR(Statechart* sc, sc_real value) {
|
||||
fprintf(stderr, "got event motorR: %f\n", value);
|
||||
}
|
||||
|
||||
// called once, on startup
|
||||
void controller_init(
|
||||
Statechart* sc,
|
||||
sc_single_subscription_observer_sc_real* observer_motorL,
|
||||
sc_single_subscription_observer_sc_real* observer_motorR
|
||||
) {
|
||||
sc_timer_service_init(&timer_service, timers, MAX_TIMERS,
|
||||
(sc_raise_time_event_fp) &statechart_raise_time_event);
|
||||
|
||||
statechart_init(sc);
|
||||
statechart_enter(sc);
|
||||
|
||||
// subscribe to output events:
|
||||
|
||||
// motorL observer
|
||||
sc_single_subscription_observer_sc_real_init(observer_motorL, sc, (sc_observer_next_sc_real_fp) on_motorL);
|
||||
sc_single_subscription_observer_sc_real_subscribe(observer_motorL, statechart_get_setMotorL(sc));
|
||||
|
||||
// motorR observer
|
||||
sc_single_subscription_observer_sc_real_init(observer_motorR, sc, (sc_observer_next_sc_real_fp) on_motorR);
|
||||
sc_single_subscription_observer_sc_real_subscribe(observer_motorR, statechart_get_setMotorR(sc));
|
||||
}
|
||||
|
||||
// to be called every 10 ms
|
||||
void controller_poll() {
|
||||
sc_time elapsed = 10; // ms
|
||||
sc_timer_service_proceed(&timer_service, elapsed);
|
||||
fprintf(stderr, "made 10ms step\n");
|
||||
}
|
||||
|
||||
// finally, we need to implemented these functions (defined in "Statechart_required.h")
|
||||
sc_real statechart_pid(Statechart* handle, const sc_real sensor, pid_vars_t pid_vars) {
|
||||
sc_real error = TARGET_DIST - sensor; // is this correct?
|
||||
return pid(pid_vars, error);
|
||||
}
|
||||
// here you see the reason we need global variables for the timer service:
|
||||
// the signature of these functions is mandated by YAKINDU, and there is no 'timer service' parameter
|
||||
void statechart_set_timer(Statechart *sc, const sc_eventid evid, const sc_integer time_ms, const sc_boolean periodic) {
|
||||
sc_timer_set(&timer_service, sc, evid, time_ms, periodic);
|
||||
}
|
||||
void statechart_unset_timer(Statechart *sc, const sc_eventid evid) {
|
||||
sc_timer_unset(&timer_service, evid);
|
||||
}
|
||||
31
robot_cdt/src/data_types.h
Normal file
31
robot_cdt/src/data_types.h
Normal file
|
|
@ -0,0 +1,31 @@
|
|||
#ifndef DATA_TYPES_H
|
||||
#define DATA_TYPES_H
|
||||
|
||||
/**#include "nxt_motors.h"
|
||||
#include "ecrobot_interface.h"**/
|
||||
#include <stddef.h>
|
||||
#include <stdint.h>
|
||||
|
||||
typedef struct cc_log {
|
||||
uint32_t system_ticks;
|
||||
int error;
|
||||
float value;
|
||||
} log_t;
|
||||
|
||||
typedef struct {
|
||||
/* PID controller parameters */
|
||||
float Kp; // 4
|
||||
float Ki; // 8
|
||||
float Kd; // 12
|
||||
|
||||
/* max output limits for the PID controller */
|
||||
float output_max; // 16
|
||||
float output_min; // 20
|
||||
|
||||
/* below are session variables for the PID controller */
|
||||
float _integral_sum; // 24
|
||||
float _prev_err; // 28
|
||||
float _dt; // 32
|
||||
} pid_vars_t;
|
||||
|
||||
#endif
|
||||
23
robot_cdt/src/pid.c
Normal file
23
robot_cdt/src/pid.c
Normal file
|
|
@ -0,0 +1,23 @@
|
|||
#include "data_types.h"
|
||||
|
||||
double pid(pid_vars_t vars, double current_err) {
|
||||
/* current_error = setpoint - current_process_variable */
|
||||
|
||||
vars._integral_sum += current_err*(vars._dt);
|
||||
|
||||
double output = (vars.Kp)*current_err \
|
||||
+ (vars.Ki)*(vars._integral_sum) \
|
||||
+ (vars.Kd)*((current_err - (vars._prev_err))\
|
||||
/(vars._dt));
|
||||
|
||||
vars._prev_err = current_err;
|
||||
|
||||
/* limit output within output_min and output_max */
|
||||
if (output>(vars.output_max)) {
|
||||
output = vars.output_max;
|
||||
}
|
||||
else if (output<(vars.output_min)) {
|
||||
output = vars.output_min;
|
||||
}
|
||||
return output;
|
||||
}
|
||||
8
robot_cdt/src/pid.h
Normal file
8
robot_cdt/src/pid.h
Normal file
|
|
@ -0,0 +1,8 @@
|
|||
#ifndef PID_H
|
||||
#define PID_H
|
||||
|
||||
#include "data_types.h"
|
||||
|
||||
double pid(pid_vars_t vars, double current_err);
|
||||
|
||||
#endif
|
||||
172
robot_cdt/src/sc_rxc.c
Normal file
172
robot_cdt/src/sc_rxc.c
Normal file
|
|
@ -0,0 +1,172 @@
|
|||
/** Generated by itemis CREATE code generator. */
|
||||
|
||||
#include "sc_rxc.h"
|
||||
|
||||
|
||||
void sc_observer_init(sc_observer *self, sc_object_ref o, sc_observer_next_fp nf)
|
||||
{
|
||||
self->object = o;
|
||||
self->next = (sc_observer_next_fp) nf;
|
||||
}
|
||||
|
||||
void sc_observer_next(sc_observer *self)
|
||||
{
|
||||
if (self != sc_null && self->next != sc_null)
|
||||
{
|
||||
self->next(self->object);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void sc_subscription_init(sc_subscription *self, sc_observer *o)
|
||||
{
|
||||
self->observer = o;
|
||||
self->next = sc_null;
|
||||
}
|
||||
|
||||
|
||||
void sc_observable_init(sc_observable *self)
|
||||
{
|
||||
self->subscriptions = sc_null;
|
||||
}
|
||||
|
||||
|
||||
sc_boolean sc_observable_subscribe(sc_observable *self, sc_subscription *s)
|
||||
{
|
||||
sc_subscription *currentSub;
|
||||
if (s != sc_null && s->observer != sc_null && s->next == sc_null) {
|
||||
currentSub = self->subscriptions;
|
||||
s->next = (currentSub != sc_null) ? currentSub : s;
|
||||
self->subscriptions = s;
|
||||
return bool_true;
|
||||
}
|
||||
return bool_false;
|
||||
}
|
||||
|
||||
sc_boolean sc_observable_unsubscribe(sc_observable *self, sc_subscription *s)
|
||||
{
|
||||
sc_subscription *sub;
|
||||
|
||||
if (s != sc_null && self->subscriptions != sc_null)
|
||||
{
|
||||
if (self->subscriptions == s) {
|
||||
self->subscriptions = (s->next != s) ? s->next : sc_null;
|
||||
s->next = sc_null;
|
||||
|
||||
return bool_true;
|
||||
}
|
||||
|
||||
sub = self->subscriptions;
|
||||
while ( sub != sc_null )
|
||||
{
|
||||
if ( sub->next != sub && sub->next == s)
|
||||
{
|
||||
sub->next = (s->next != s) ? s->next : sub;
|
||||
return bool_true;
|
||||
}
|
||||
|
||||
sub = (sub->next != sub) ? sub->next : sc_null;
|
||||
}
|
||||
}
|
||||
return bool_false;
|
||||
}
|
||||
|
||||
|
||||
void sc_observable_next(sc_observable *self)
|
||||
{
|
||||
sc_subscription *sub = self->subscriptions;
|
||||
while (sub != sc_null)
|
||||
{
|
||||
if (sub->observer != sc_null)
|
||||
{
|
||||
sc_observer_next(sub->observer);
|
||||
}
|
||||
sub = (sub->next != sub) ? sub->next : sc_null;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void sc_single_subscription_observer_init(sc_single_subscription_observer *self, sc_object_ref o, sc_observer_next_fp nf)
|
||||
{
|
||||
sc_observer_init(&(self->observer), o, nf);
|
||||
sc_subscription_init(&(self->subscription), &(self->observer));
|
||||
}
|
||||
|
||||
|
||||
sc_boolean sc_single_subscription_observer_subscribe(sc_single_subscription_observer *self, sc_observable *o) {
|
||||
return sc_observable_subscribe(o, &(self->subscription));
|
||||
}
|
||||
|
||||
sc_boolean sc_single_subscription_observer_unsubscribe(sc_single_subscription_observer *self, sc_observable *o) {
|
||||
return sc_observable_unsubscribe(o, &(self->subscription));
|
||||
}
|
||||
|
||||
|
||||
/* -----------------------------------------------------------
|
||||
* declaration of reactive extensions for all Y-SCT default types
|
||||
*/
|
||||
|
||||
define_sc_reactive_extensions(sc_boolean)
|
||||
define_sc_reactive_extensions(sc_integer)
|
||||
define_sc_reactive_extensions(sc_real)
|
||||
|
||||
/* declaration of declare_sc_reactive_extensions(sc_string) */
|
||||
void sc_observer_sc_string_init(sc_observer_sc_string *self, sc_object_ref o, sc_observer_next_sc_string_fp nf)
|
||||
{
|
||||
self->object = o;
|
||||
self->next = nf;
|
||||
}
|
||||
|
||||
void sc_observer_sc_string_next(sc_observer_sc_string *self, sc_string value)
|
||||
{
|
||||
if (self != sc_null && self->next != sc_null)
|
||||
{
|
||||
self->next(self->object, value);
|
||||
}
|
||||
}
|
||||
|
||||
void sc_observable_sc_string_init(sc_observable_sc_string *self)
|
||||
{
|
||||
self->subscriptions = sc_null;
|
||||
}
|
||||
|
||||
sc_boolean sc_observable_sc_string_subscribe(sc_observable_sc_string *self, sc_subscription_sc_string *s) {
|
||||
return sc_observable_subscribe((sc_observable*) self, (sc_subscription *) s);
|
||||
}
|
||||
|
||||
sc_boolean sc_observable_sc_string_unsubscribe(sc_observable_sc_string *self, sc_subscription_sc_string *s) {
|
||||
return sc_observable_unsubscribe((sc_observable*) self, (sc_subscription *) s);
|
||||
}
|
||||
|
||||
void sc_observable_sc_string_next(sc_observable_sc_string *self, sc_string value)
|
||||
{
|
||||
sc_subscription_sc_string *sub = self->subscriptions;
|
||||
while (sub != sc_null)
|
||||
{
|
||||
if (sub->observer != sc_null)
|
||||
{
|
||||
sc_observer_sc_string_next(sub->observer, value);
|
||||
}
|
||||
sub = (sub->next != sub) ? sub->next : sc_null;
|
||||
}
|
||||
}
|
||||
|
||||
void sc_single_subscription_observer_sc_string_init(sc_single_subscription_observer_sc_string *self, sc_object_ref o, sc_observer_next_sc_string_fp nf)
|
||||
{
|
||||
sc_observer_sc_string_init(&(self->observer), o, nf);
|
||||
sc_subscription_sc_string_init(&(self->subscription), &(self->observer));
|
||||
}
|
||||
|
||||
sc_boolean sc_single_subscription_observer_sc_string_subscribe(sc_single_subscription_observer_sc_string *self, sc_observable_sc_string *o) {
|
||||
return sc_observable_subscribe((sc_observable *) o, (sc_subscription *) &(self->subscription));
|
||||
}
|
||||
|
||||
sc_boolean sc_single_subscription_observer_sc_string_unsubscribe(sc_single_subscription_observer_sc_string *self, sc_observable_sc_string *o) {
|
||||
return sc_observable_unsubscribe((sc_observable *)o, (sc_subscription *) &(self->subscription));
|
||||
}
|
||||
|
||||
void sc_subscription_sc_string_init(sc_subscription_sc_string *self, sc_observer_sc_string *o)
|
||||
{
|
||||
self->observer = o;
|
||||
self->next = sc_null;
|
||||
}
|
||||
260
robot_cdt/src/sc_rxc.h
Normal file
260
robot_cdt/src/sc_rxc.h
Normal file
|
|
@ -0,0 +1,260 @@
|
|||
/** Generated by itemis CREATE code generator. */
|
||||
|
||||
#ifndef SC_RXC_H_
|
||||
#define SC_RXC_H_
|
||||
|
||||
#include "sc_types.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*! A reference to generic, untyped object. */
|
||||
typedef void* sc_object_ref;
|
||||
|
||||
typedef struct sc_observer sc_observer;
|
||||
typedef struct sc_subscription sc_subscription;
|
||||
typedef struct sc_observable sc_observable;
|
||||
typedef struct sc_single_subscription_observer sc_single_subscription_observer;
|
||||
|
||||
|
||||
/* -----------------------------------------------------------
|
||||
* observers
|
||||
*/
|
||||
|
||||
typedef void (*sc_observer_next_fp)(sc_object_ref);
|
||||
struct sc_observer {
|
||||
sc_object_ref object;
|
||||
sc_observer_next_fp next;
|
||||
};
|
||||
|
||||
extern void sc_observer_init(sc_observer *self, sc_object_ref o, sc_observer_next_fp nf);
|
||||
extern void sc_observer_next(sc_observer *self);
|
||||
|
||||
|
||||
#define declare_sc_observer(T) \
|
||||
typedef void (*sc_observer_next_##T##_fp)(sc_object_ref, T); \
|
||||
typedef struct sc_observer_##T sc_observer_##T; \
|
||||
struct sc_observer_##T { \
|
||||
sc_object_ref object; \
|
||||
sc_observer_next_##T##_fp next; \
|
||||
}; \
|
||||
extern void sc_observer_##T##_init(sc_observer_##T *self, sc_object_ref o, sc_observer_next_##T##_fp nf); \
|
||||
extern void sc_observer_##T##_next(sc_observer_##T *self, T value);
|
||||
|
||||
|
||||
#define define_sc_observer(T) \
|
||||
void sc_observer_##T##_init(sc_observer_##T *self, sc_object_ref o, sc_observer_next_##T##_fp nf) \
|
||||
{ \
|
||||
self->object = o; \
|
||||
self->next = nf; \
|
||||
} \
|
||||
\
|
||||
void sc_observer_##T##_next(sc_observer_##T *self, T value) \
|
||||
{ \
|
||||
if (self != sc_null && self->next != sc_null) \
|
||||
{ \
|
||||
self->next(self->object, value); \
|
||||
} \
|
||||
} \
|
||||
\
|
||||
|
||||
|
||||
/* -----------------------------------------------------------
|
||||
* subscriptions
|
||||
*/
|
||||
|
||||
struct sc_subscription {
|
||||
sc_observer *observer;
|
||||
sc_subscription* next;
|
||||
};
|
||||
void sc_subscription_init(sc_subscription *self, sc_observer *o);
|
||||
|
||||
#define declare_sc_subscription(T) \
|
||||
typedef struct sc_subscription_##T sc_subscription_##T; \
|
||||
struct sc_subscription_##T { \
|
||||
sc_observer_##T *observer; \
|
||||
sc_subscription_##T *next; \
|
||||
}; \
|
||||
extern void sc_subscription_##T##_init(sc_subscription_##T *self, sc_observer_##T *o); \
|
||||
|
||||
|
||||
#define define_sc_subscription(T) \
|
||||
void sc_subscription_##T##_init(sc_subscription_##T *self, sc_observer_##T *o) \
|
||||
{ \
|
||||
self->observer = o; \
|
||||
self->next = sc_null; \
|
||||
} \
|
||||
|
||||
|
||||
|
||||
/* -----------------------------------------------------------
|
||||
* observables
|
||||
*/
|
||||
|
||||
struct sc_observable {
|
||||
sc_uinteger observer_count;
|
||||
sc_subscription *subscriptions;
|
||||
};
|
||||
|
||||
extern void sc_observable_init(sc_observable *self);
|
||||
extern sc_boolean sc_observable_subscribe(sc_observable *self, sc_subscription *s);
|
||||
extern sc_boolean sc_observable_unsubscribe(sc_observable *self, sc_subscription *s);
|
||||
extern void sc_observable_next(sc_observable *self);
|
||||
|
||||
#define sc_observable(T) sc_observable_##T
|
||||
|
||||
#define declare_sc_observable(T) \
|
||||
typedef struct sc_observable_##T sc_observable_##T; \
|
||||
struct sc_observable_##T { \
|
||||
sc_uinteger observer_count; \
|
||||
sc_subscription_##T *subscriptions; \
|
||||
}; \
|
||||
extern void sc_observable_##T##_init(sc_observable_##T *self); \
|
||||
extern sc_boolean sc_observable_##T##_subscribe(sc_observable_##T *self, sc_subscription_##T *s); \
|
||||
extern sc_boolean sc_observable_##T##_unsubscribe(sc_observable_##T *self, sc_subscription_##T *s); \
|
||||
extern void sc_observable_##T##_next(sc_observable_##T *self, T value); \
|
||||
|
||||
|
||||
#define define_sc_observable(T) \
|
||||
void sc_observable_##T##_init(sc_observable_##T *self) \
|
||||
{ \
|
||||
self->subscriptions = sc_null; \
|
||||
} \
|
||||
\
|
||||
sc_boolean sc_observable_##T##_subscribe(sc_observable_##T *self, sc_subscription_##T *s) {\
|
||||
return sc_observable_subscribe((sc_observable*) self, (sc_subscription *) s); \
|
||||
} \
|
||||
\
|
||||
sc_boolean sc_observable_##T##_unsubscribe(sc_observable_##T *self, sc_subscription_##T *s) {\
|
||||
return sc_observable_unsubscribe((sc_observable*) self, (sc_subscription *) s); \
|
||||
} \
|
||||
\
|
||||
void sc_observable_##T##_next(sc_observable_##T *self, T value) \
|
||||
{ \
|
||||
sc_subscription_##T *sub = self->subscriptions; \
|
||||
while (sub != sc_null) \
|
||||
{ \
|
||||
if (sub->observer != sc_null) \
|
||||
{ \
|
||||
sc_observer_##T##_next(sub->observer, value); \
|
||||
} \
|
||||
sub = (sub->next != sub) ? sub->next : sc_null; \
|
||||
} \
|
||||
}\
|
||||
|
||||
|
||||
|
||||
/* -----------------------------------------------------------
|
||||
* single subscription observer
|
||||
*/
|
||||
|
||||
struct sc_single_subscription_observer {
|
||||
sc_observer observer;
|
||||
sc_subscription subscription;
|
||||
};
|
||||
|
||||
extern void sc_single_subscription_observer_init(sc_single_subscription_observer *self, sc_object_ref o, sc_observer_next_fp nf);
|
||||
extern sc_boolean sc_single_subscription_observer_subscribe(sc_single_subscription_observer *self, sc_observable *o);
|
||||
extern sc_boolean sc_single_subscription_observer_unsubscribe(sc_single_subscription_observer *self, sc_observable *o);
|
||||
|
||||
|
||||
#define declare_sc_single_subscription_observer(T) \
|
||||
typedef struct sc_single_subscription_observer_##T sc_single_subscription_observer_##T; \
|
||||
struct sc_single_subscription_observer_##T { \
|
||||
sc_observer_##T observer; \
|
||||
sc_subscription_##T subscription; \
|
||||
}; \
|
||||
extern void sc_single_subscription_observer_##T##_init(sc_single_subscription_observer_##T *self, sc_object_ref o, sc_observer_next_##T##_fp nf); \
|
||||
extern sc_boolean sc_single_subscription_observer_##T##_subscribe(sc_single_subscription_observer_##T *self, sc_observable_##T *o); \
|
||||
extern sc_boolean sc_single_subscription_observer_##T##_unsubscribe(sc_single_subscription_observer_##T *self, sc_observable_##T *o); \
|
||||
|
||||
|
||||
#define define_sc_single_subscription_observer(T) \
|
||||
void sc_single_subscription_observer_##T##_init(sc_single_subscription_observer_##T *self, sc_object_ref o, sc_observer_next_##T##_fp nf) \
|
||||
{ \
|
||||
sc_observer_##T##_init(&(self->observer), o, nf); \
|
||||
sc_subscription_##T##_init(&(self->subscription), &(self->observer)); \
|
||||
} \
|
||||
\
|
||||
sc_boolean sc_single_subscription_observer_##T##_subscribe(sc_single_subscription_observer_##T *self, sc_observable_##T *o) { \
|
||||
return sc_observable_subscribe((sc_observable *) o, (sc_subscription *) &(self->subscription)); \
|
||||
} \
|
||||
\
|
||||
sc_boolean sc_single_subscription_observer_##T##_unsubscribe(sc_single_subscription_observer_##T *self, sc_observable_##T *o) { \
|
||||
return sc_observable_unsubscribe((sc_observable *)o, (sc_subscription *) &(self->subscription)); \
|
||||
} \
|
||||
|
||||
|
||||
|
||||
/* -----------------------------------------------------------
|
||||
* macros to define reactive extensions for a specific type
|
||||
*/
|
||||
#define EMPTY
|
||||
|
||||
#define declare_sc_reactive_extensions(T) \
|
||||
declare_sc_observer(T) \
|
||||
declare_sc_subscription(T) \
|
||||
declare_sc_observable(T) \
|
||||
declare_sc_single_subscription_observer(T)
|
||||
|
||||
|
||||
#define define_sc_reactive_extensions(T) \
|
||||
define_sc_observer(T) \
|
||||
define_sc_subscription(T) \
|
||||
define_sc_observable(T) \
|
||||
define_sc_single_subscription_observer(T)
|
||||
|
||||
|
||||
/* -----------------------------------------------------------
|
||||
* declaration of reactive extensions for all Y-SCT default types
|
||||
*/
|
||||
|
||||
declare_sc_reactive_extensions(sc_boolean)
|
||||
declare_sc_reactive_extensions(sc_integer)
|
||||
declare_sc_reactive_extensions(sc_real)
|
||||
|
||||
/* declaration of declare_sc_reactive_extensions(sc_string */
|
||||
typedef void (*sc_observer_next_sc_string_fp)(sc_object_ref, sc_string);
|
||||
typedef struct sc_observer_sc_string sc_observer_sc_string;
|
||||
struct sc_observer_sc_string {
|
||||
sc_object_ref object;
|
||||
sc_observer_next_sc_string_fp next;
|
||||
};
|
||||
extern void sc_observer_sc_string_init(sc_observer_sc_string *self, sc_object_ref o, sc_observer_next_sc_string_fp nf);
|
||||
extern void sc_observer_sc_string_next(sc_observer_sc_string *self, sc_string value);
|
||||
|
||||
typedef struct sc_subscription_sc_string sc_subscription_sc_string;
|
||||
struct sc_subscription_sc_string {
|
||||
sc_observer_sc_string *observer;
|
||||
sc_subscription_sc_string *next;
|
||||
};
|
||||
extern void sc_subscription_sc_string_init(sc_subscription_sc_string *self, sc_observer_sc_string *o);
|
||||
|
||||
typedef struct sc_observable_sc_string sc_observable_sc_string;
|
||||
struct sc_observable_sc_string {
|
||||
sc_uinteger observer_count;
|
||||
sc_subscription_sc_string *subscriptions;
|
||||
};
|
||||
extern void sc_observable_sc_string_init(sc_observable_sc_string *self);
|
||||
extern sc_boolean sc_observable_sc_string_subscribe(sc_observable_sc_string *self, sc_subscription_sc_string *s);
|
||||
extern sc_boolean sc_observable_sc_string_unsubscribe(sc_observable_sc_string *self, sc_subscription_sc_string *s);
|
||||
extern void sc_observable_sc_string_next(sc_observable_sc_string *self, sc_string value);
|
||||
|
||||
typedef struct sc_single_subscription_observer_sc_string sc_single_subscription_observer_sc_string;
|
||||
struct sc_single_subscription_observer_sc_string {
|
||||
sc_observer_sc_string observer;
|
||||
sc_subscription_sc_string subscription;
|
||||
};
|
||||
extern void sc_single_subscription_observer_sc_string_init(sc_single_subscription_observer_sc_string *self, sc_object_ref o, sc_observer_next_sc_string_fp nf);
|
||||
extern sc_boolean sc_single_subscription_observer_sc_string_subscribe(sc_single_subscription_observer_sc_string *self, sc_observable_sc_string *o);
|
||||
extern sc_boolean sc_single_subscription_observer_sc_string_unsubscribe(sc_single_subscription_observer_sc_string *self, sc_observable_sc_string *o);
|
||||
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
#endif /* SC_RXC_H_ */
|
||||
404
robot_cdt/src/sc_timer_service.c
Normal file
404
robot_cdt/src/sc_timer_service.c
Normal file
|
|
@ -0,0 +1,404 @@
|
|||
/* Generated by itemis CREATE code generator. */
|
||||
|
||||
#include "sc_timer_service.h"
|
||||
#include <stddef.h>
|
||||
|
||||
void reset_task_data(task_data *data)
|
||||
{
|
||||
switch (data->type) {
|
||||
case TIME_EVENT_TASK:
|
||||
data->get.time_ms = 0;
|
||||
data->get.time_event.raise_event = sc_null;
|
||||
data->get.time_event.pt_evid = 0;
|
||||
data->get.time_event.periodic = bool_false;
|
||||
break;
|
||||
case RUNCYCLE_TASK:
|
||||
data->get.time_ms = 0;
|
||||
data->get.run_cycle = sc_null;
|
||||
break;
|
||||
default:
|
||||
return;
|
||||
}
|
||||
data->type = EMPTY_TASK;
|
||||
data->get.statemachine = NULL;
|
||||
}
|
||||
|
||||
void execute(task_data *data)
|
||||
{
|
||||
switch (data->type) {
|
||||
case TIME_EVENT_TASK: {
|
||||
/* Fire the event. */
|
||||
sc_raise_time_event_fp raise_event = data->get.time_event.raise_event;
|
||||
void *statemachine = data->get.statemachine;
|
||||
if (raise_event != NULL && statemachine != NULL) {
|
||||
raise_event(statemachine, data->get.time_event.pt_evid);
|
||||
}
|
||||
return;
|
||||
}
|
||||
case RUNCYCLE_TASK: {
|
||||
sc_run_cycle_fp run_cycle = data->get.run_cycle;
|
||||
void *statemachine = data->get.statemachine;
|
||||
if (run_cycle != NULL) {
|
||||
run_cycle(statemachine);
|
||||
}
|
||||
return;
|
||||
}
|
||||
default:
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
void update_elapsed_time_ms(sc_timer_t *task, sc_time elapsed_time_ms_)
|
||||
{
|
||||
task->elapsed_time_ms += elapsed_time_ms_;
|
||||
}
|
||||
|
||||
sc_boolean is_periodic(sc_timer_t *task)
|
||||
{
|
||||
task_type type;
|
||||
type = task->data.type;
|
||||
switch (type) {
|
||||
case TIME_EVENT_TASK:
|
||||
return task->data.get.time_event.periodic;
|
||||
case RUNCYCLE_TASK:
|
||||
return bool_true;
|
||||
default:
|
||||
return bool_false;
|
||||
}
|
||||
}
|
||||
|
||||
sc_boolean is_runcycle_event(sc_timer_t *task)
|
||||
{
|
||||
return task->data.type == RUNCYCLE_TASK;
|
||||
}
|
||||
|
||||
void reset_timer_task(sc_timer_t *task)
|
||||
{
|
||||
reset_task_data(&task->data);
|
||||
task->elapsed_time_ms = 0;
|
||||
}
|
||||
|
||||
/*
|
||||
Compare tasks based on their execution order.
|
||||
Return true if this task is always to be executed strictly before the other task if both are scheduled to run at the same time.
|
||||
Default behavior:
|
||||
- This task is to be scheduled strictly before the other task if its is_runcycle_event() method does not return true and the other task's is_runcycle_event() method returns true.
|
||||
*/
|
||||
sc_boolean less_than(sc_timer_t *task, sc_timer_t *other)
|
||||
{
|
||||
return !is_runcycle_event(task) && is_runcycle_event(other);
|
||||
}
|
||||
|
||||
sc_boolean time_event_matcher(match_time_event *matcher, const sc_timer_t *other)
|
||||
{
|
||||
return (matcher->statemachine == NULL || matcher->statemachine == other->data.get.statemachine) && matcher->pt_evid == other->data.get.time_event.pt_evid;
|
||||
}
|
||||
|
||||
sc_boolean run_cycle_matcher(match_run_cycle_of *matcher, const sc_timer_t *other)
|
||||
{
|
||||
return matcher->statemachine == other->data.get.statemachine;
|
||||
}
|
||||
|
||||
void set_generic_timer(sc_timer_service_t *timer_service, const task_data data)
|
||||
{
|
||||
sc_integer inserted_task_idx;
|
||||
sc_timer_t *inserted_task;
|
||||
|
||||
/* Do nothing if there are no free slots. */
|
||||
if (timer_service->next_free_task >= timer_service->length) {
|
||||
return;
|
||||
}
|
||||
|
||||
/* Insert task at the front. */
|
||||
inserted_task_idx = timer_service->next_free_task;
|
||||
inserted_task = &(timer_service->tasks[inserted_task_idx]);
|
||||
inserted_task->data = data;
|
||||
inserted_task->elapsed_time_ms = 0;
|
||||
timer_service->next_free_task = inserted_task->next_task_idx;
|
||||
inserted_task->next_task_idx = timer_service->next_active_task;
|
||||
timer_service->next_active_task = inserted_task_idx;
|
||||
}
|
||||
|
||||
void unset_generic_timer(sc_timer_service_t *timer_service, timer_task_matcher *matcher)
|
||||
{
|
||||
sc_integer last_position;
|
||||
sc_integer next_position;
|
||||
sc_timer_t *current_task;
|
||||
sc_boolean match_result;
|
||||
sc_integer current_position;
|
||||
|
||||
last_position = timer_service->length;
|
||||
next_position = timer_service->next_active_task;
|
||||
|
||||
while (next_position < timer_service->length) {
|
||||
|
||||
current_task = &timer_service->tasks[next_position];
|
||||
match_result = bool_false;
|
||||
|
||||
if (matcher->is_match_time_event) {
|
||||
match_result = time_event_matcher(&matcher->data.match_time_event_, current_task);
|
||||
} else {
|
||||
match_result = run_cycle_matcher(&matcher->data.match_run_cycle_of_, current_task);
|
||||
}
|
||||
|
||||
if (match_result) {
|
||||
reset_timer_task(current_task);
|
||||
if (last_position < timer_service->length) {
|
||||
timer_service->tasks[last_position].next_task_idx = current_task->next_task_idx;
|
||||
} else {
|
||||
timer_service->next_active_task = current_task->next_task_idx;
|
||||
}
|
||||
|
||||
current_position = next_position;
|
||||
next_position = current_task->next_task_idx;
|
||||
current_task->next_task_idx = timer_service->next_free_task;
|
||||
timer_service->next_free_task = current_position;
|
||||
} else {
|
||||
last_position = next_position;
|
||||
next_position = current_task->next_task_idx;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void sc_timer_service_init(sc_timer_service_t *timer_service,
|
||||
sc_timer_t *tasks_,
|
||||
sc_integer length_,
|
||||
sc_raise_time_event_fp raise_event)
|
||||
{
|
||||
sc_integer i;
|
||||
|
||||
timer_service->length = length_;
|
||||
timer_service->tasks = tasks_;
|
||||
timer_service->next_active_task = length_;
|
||||
timer_service->next_free_task = 0;
|
||||
|
||||
for (i = 0; i < timer_service->length; i++) {
|
||||
timer_service->tasks[i].next_task_idx = i + 1;
|
||||
timer_service->tasks[i].elapsed_time_ms = 0;
|
||||
timer_service->tasks[i].data.type = EMPTY_TASK;
|
||||
}
|
||||
|
||||
timer_service->raise_event = raise_event;
|
||||
}
|
||||
|
||||
/*! Start the timing for a time event.*/
|
||||
void sc_timer_set(sc_timer_service_t *timer_service,
|
||||
void *handle,
|
||||
const sc_eventid evid,
|
||||
const sc_time time_ms,
|
||||
const sc_boolean periodic)
|
||||
{
|
||||
sc_raise_time_event_fp raise_event = timer_service->raise_event;
|
||||
|
||||
sc_timer_set_for_raise_event(timer_service, raise_event, handle, evid, time_ms, periodic);
|
||||
}
|
||||
|
||||
|
||||
void sc_timer_set_for_raise_event(sc_timer_service_t *timer_service,
|
||||
sc_raise_time_event_fp raise_event,
|
||||
void *statemachine,
|
||||
const sc_eventid evid,
|
||||
const sc_time time_ms,
|
||||
const sc_boolean periodic)
|
||||
{
|
||||
task_data data;
|
||||
data.type = TIME_EVENT_TASK;
|
||||
data.get.time_ms = time_ms;
|
||||
data.get.statemachine = statemachine;
|
||||
data.get.run_cycle = NULL;
|
||||
data.get.time_event.raise_event = raise_event;
|
||||
data.get.time_event.pt_evid = evid;
|
||||
data.get.time_event.periodic = periodic;
|
||||
|
||||
set_generic_timer(timer_service, data);
|
||||
}
|
||||
|
||||
/*! Unset the given time event.*/
|
||||
void sc_timer_unset(sc_timer_service_t *timer_service, sc_eventid evid)
|
||||
{
|
||||
void *statemachine;
|
||||
statemachine = NULL;
|
||||
sc_timer_unset_for_machine(timer_service, evid, statemachine);
|
||||
}
|
||||
|
||||
void sc_timer_unset_for_machine(sc_timer_service_t *timer_service,
|
||||
sc_eventid evid,
|
||||
void *statemachine)
|
||||
{
|
||||
timer_task_matcher matcher;
|
||||
matcher.is_match_time_event = bool_true;
|
||||
matcher.data.match_time_event_.statemachine = statemachine;
|
||||
matcher.data.match_time_event_.pt_evid = evid;
|
||||
|
||||
unset_generic_timer(timer_service, &matcher);
|
||||
}
|
||||
|
||||
/*! Set a timer for running cycles of the given statemachine.*/
|
||||
void set_runcycle_timer_for(sc_timer_service_t *timer_service,
|
||||
sc_run_cycle_fp run_cycle,
|
||||
void *statemachine,
|
||||
sc_time cycle_period)
|
||||
{
|
||||
task_data data;
|
||||
data.type = RUNCYCLE_TASK;
|
||||
data.get.time_event.raise_event = NULL;
|
||||
data.get.time_event.periodic = bool_false;
|
||||
data.get.time_event.pt_evid = 0;
|
||||
data.get.time_ms = cycle_period;
|
||||
data.get.run_cycle = run_cycle;
|
||||
data.get.statemachine = statemachine;
|
||||
|
||||
set_generic_timer(timer_service, data);
|
||||
}
|
||||
|
||||
/*! Unset timers for running cycles of the given statemachine.*/
|
||||
void unset_runcycle_timer(sc_timer_service_t *timer_service, void *statemachine)
|
||||
{
|
||||
timer_task_matcher matcher;
|
||||
matcher.is_match_time_event = bool_false;
|
||||
matcher.data.match_run_cycle_of_.statemachine = statemachine;
|
||||
|
||||
unset_generic_timer(timer_service, &matcher);
|
||||
}
|
||||
|
||||
/*!
|
||||
* This function must be called by the user. The elapsed time must be calculated every time,
|
||||
* the function gets called.
|
||||
*/
|
||||
void sc_timer_service_proceed(sc_timer_service_t *timer_service, sc_time elapsed_ms)
|
||||
{
|
||||
sc_time time_to_proceed;
|
||||
sc_time proceeded_time;
|
||||
sc_integer idx;
|
||||
sc_boolean task_fired;
|
||||
sc_integer before_best;
|
||||
sc_integer best;
|
||||
sc_time best_remaining_time;
|
||||
sc_integer last_task;
|
||||
sc_integer next_task;
|
||||
sc_time remaining_time;
|
||||
sc_time time_till_next_task_;
|
||||
|
||||
if (timer_service->next_active_task >= timer_service->length) {
|
||||
return;
|
||||
}
|
||||
|
||||
time_till_next_task_ = time_till_next_task(timer_service);
|
||||
|
||||
time_to_proceed = time_till_next_task_ < elapsed_ms
|
||||
? time_till_next_task_
|
||||
: elapsed_ms;
|
||||
proceeded_time = 0;
|
||||
|
||||
while (time_to_proceed > 0) {
|
||||
|
||||
idx = timer_service->next_active_task;
|
||||
|
||||
while (idx < timer_service->length) {
|
||||
sc_timer_t *current_task;
|
||||
current_task = &timer_service->tasks[idx];
|
||||
update_elapsed_time_ms(current_task, time_to_proceed);
|
||||
idx = current_task->next_task_idx;
|
||||
}
|
||||
|
||||
do {
|
||||
task_fired = bool_false;
|
||||
|
||||
|
||||
before_best = timer_service->length;
|
||||
best = timer_service->next_active_task;
|
||||
best_remaining_time = timer_service->tasks[best].data.get.time_ms
|
||||
- timer_service->tasks[best].elapsed_time_ms;
|
||||
last_task = best;
|
||||
next_task = timer_service->tasks[best].next_task_idx;
|
||||
while (next_task < timer_service->length) {
|
||||
sc_timer_t current_task;
|
||||
|
||||
|
||||
current_task = timer_service->tasks[next_task];
|
||||
remaining_time = current_task.data.get.time_ms
|
||||
- current_task.elapsed_time_ms;
|
||||
if (remaining_time < best_remaining_time
|
||||
|| (remaining_time == best_remaining_time
|
||||
&& !(less_than(&timer_service->tasks[best], ¤t_task)))) {
|
||||
best = next_task;
|
||||
before_best = last_task;
|
||||
best_remaining_time = remaining_time;
|
||||
}
|
||||
last_task = next_task;
|
||||
next_task = current_task.next_task_idx;
|
||||
}
|
||||
if (best_remaining_time <= 0) {
|
||||
sc_timer_t *best_task;
|
||||
task_data data;
|
||||
|
||||
best_task = &timer_service->tasks[best];
|
||||
data = best_task->data;
|
||||
if (is_periodic(best_task)) {
|
||||
best_task->elapsed_time_ms = 0;
|
||||
} else {
|
||||
reset_timer_task(best_task);
|
||||
if (before_best < timer_service->length) {
|
||||
timer_service->tasks[before_best].next_task_idx = best_task->next_task_idx;
|
||||
} else {
|
||||
timer_service->next_active_task = best_task->next_task_idx;
|
||||
}
|
||||
best_task->next_task_idx = timer_service->next_free_task;
|
||||
timer_service->next_free_task = best;
|
||||
}
|
||||
execute(&data);
|
||||
task_fired = bool_true;
|
||||
}
|
||||
} while (task_fired && timer_service->next_active_task < timer_service->length);
|
||||
proceeded_time += time_to_proceed;
|
||||
time_till_next_task_ = time_till_next_task(timer_service);
|
||||
time_to_proceed = (time_till_next_task_ < elapsed_ms - proceeded_time)
|
||||
? time_till_next_task_
|
||||
: (elapsed_ms - proceeded_time);
|
||||
}
|
||||
}
|
||||
|
||||
/*! Cancel timer service. Use this to end possible timing threads and free
|
||||
memory resources.
|
||||
*/
|
||||
void cancel(sc_timer_service_t *timer_service)
|
||||
{
|
||||
sc_integer idx;
|
||||
for (idx = 0; idx < timer_service->length; idx++) {
|
||||
reset_timer_task(&timer_service->tasks[idx]);
|
||||
timer_service->tasks[idx].next_task_idx = idx + 1;
|
||||
}
|
||||
timer_service->next_active_task = timer_service->length;
|
||||
timer_service->next_free_task = 0;
|
||||
}
|
||||
|
||||
/*! Obtain the time (in ms) required to proceed to the next task.
|
||||
*/
|
||||
sc_time time_till_next_task(sc_timer_service_t *timer_service)
|
||||
{
|
||||
sc_time time;
|
||||
sc_integer task;
|
||||
sc_time remaining_time;
|
||||
|
||||
if (timer_service->next_active_task == timer_service->length) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
time = timer_service->tasks[timer_service->next_active_task].data.get.time_ms
|
||||
- timer_service->tasks[timer_service->next_active_task].elapsed_time_ms;
|
||||
task = timer_service->tasks[timer_service->next_active_task].next_task_idx;
|
||||
while (task < timer_service->length) {
|
||||
sc_timer_t *current_task;
|
||||
|
||||
current_task = &timer_service->tasks[task];
|
||||
remaining_time = current_task->data.get.time_ms - current_task->elapsed_time_ms;
|
||||
|
||||
if (remaining_time < time) {
|
||||
time = remaining_time;
|
||||
}
|
||||
task = current_task->next_task_idx;
|
||||
}
|
||||
return time;
|
||||
}
|
||||
|
||||
|
||||
143
robot_cdt/src/sc_timer_service.h
Normal file
143
robot_cdt/src/sc_timer_service.h
Normal file
|
|
@ -0,0 +1,143 @@
|
|||
/* Generated by itemis CREATE code generator. */
|
||||
|
||||
#ifndef SC_TIMER_SERVICE_H_
|
||||
#define SC_TIMER_SERVICE_H_
|
||||
|
||||
#include "sc_types.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*! Interface definition of a timer service for itemis CREATE state machines. */
|
||||
|
||||
typedef void (*sc_raise_time_event_fp)(void *handle, sc_eventid evid);
|
||||
typedef void (*sc_run_cycle_fp)(void *handle);
|
||||
|
||||
typedef struct
|
||||
{
|
||||
sc_raise_time_event_fp raise_event;
|
||||
sc_eventid pt_evid;
|
||||
sc_boolean periodic;
|
||||
} time_based;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
sc_time time_ms;
|
||||
sc_run_cycle_fp run_cycle;
|
||||
time_based time_event;
|
||||
void *statemachine;
|
||||
} non_empty;
|
||||
|
||||
typedef enum { EMPTY_TASK, TIME_EVENT_TASK, RUNCYCLE_TASK } task_type;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
task_type type;
|
||||
non_empty get;
|
||||
} task_data;
|
||||
|
||||
/* A timer task. */
|
||||
typedef struct
|
||||
{
|
||||
task_data data;
|
||||
sc_time elapsed_time_ms;
|
||||
sc_integer next_task_idx;
|
||||
} sc_timer_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
void *statemachine;
|
||||
sc_eventid pt_evid;
|
||||
} match_time_event;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
void *statemachine;
|
||||
} match_run_cycle_of;
|
||||
|
||||
typedef union {
|
||||
match_time_event match_time_event_;
|
||||
match_run_cycle_of match_run_cycle_of_;
|
||||
} timer_task_matcher_data;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
timer_task_matcher_data data;
|
||||
sc_boolean is_match_time_event;
|
||||
} timer_task_matcher;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
sc_integer length;
|
||||
sc_timer_t *tasks;
|
||||
sc_integer next_active_task;
|
||||
sc_integer next_free_task;
|
||||
sc_raise_time_event_fp raise_event;
|
||||
} sc_timer_service_t;
|
||||
|
||||
void reset_task_data(task_data *data);
|
||||
|
||||
void execute(task_data *data);
|
||||
|
||||
void update_elapsed_time_ms(sc_timer_t *task, sc_time elapsed_time_ms_);
|
||||
|
||||
sc_boolean is_periodic(sc_timer_t *task);
|
||||
|
||||
sc_boolean is_runcycle_event(sc_timer_t *task);
|
||||
|
||||
void reset_timer_task(sc_timer_t *task);
|
||||
|
||||
sc_boolean less_than(sc_timer_t *task, sc_timer_t *other);
|
||||
|
||||
sc_boolean time_event_matcher(match_time_event *matcher, const sc_timer_t *other);
|
||||
|
||||
sc_boolean run_cycle_matcher(match_run_cycle_of *matcher, const sc_timer_t *other);
|
||||
|
||||
void set_generic_timer(sc_timer_service_t *timer_service, const task_data data);
|
||||
|
||||
void unset_generic_timer(sc_timer_service_t *timer_service, timer_task_matcher *matcher);
|
||||
|
||||
void sc_timer_service_init(sc_timer_service_t *timer_service,
|
||||
sc_timer_t *tasks_,
|
||||
sc_integer length_,
|
||||
sc_raise_time_event_fp raise_event);
|
||||
|
||||
void sc_timer_set(sc_timer_service_t *timer_service,
|
||||
void *handle,
|
||||
const sc_eventid evid,
|
||||
const sc_time time_ms,
|
||||
const sc_boolean periodic);
|
||||
|
||||
void sc_timer_set_for_raise_event(sc_timer_service_t *timer_service,
|
||||
sc_raise_time_event_fp raise_event,
|
||||
void *statemachine,
|
||||
const sc_eventid evid,
|
||||
const sc_time time_ms,
|
||||
const sc_boolean periodic);
|
||||
|
||||
void sc_timer_unset(sc_timer_service_t *timer_service, sc_eventid evid);
|
||||
|
||||
void sc_timer_unset_for_machine(sc_timer_service_t *timer_service,
|
||||
sc_eventid evid,
|
||||
void *statemachine);
|
||||
|
||||
void set_runcycle_timer_for(sc_timer_service_t *timer_service,
|
||||
sc_run_cycle_fp run_cycle,
|
||||
void *statemachine,
|
||||
sc_time cycle_period);
|
||||
|
||||
void unset_runcycle_timer(sc_timer_service_t *timer_service, void *statemachine);
|
||||
|
||||
void sc_timer_service_proceed(sc_timer_service_t *timer_service, sc_time elapsed_ms);
|
||||
|
||||
void cancel(sc_timer_service_t *timer_service);
|
||||
|
||||
sc_time time_till_next_task(sc_timer_service_t *timer_service);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* SC_TIMER_SERVICE_H_ */
|
||||
|
||||
71
robot_cdt/src/sc_types.h
Normal file
71
robot_cdt/src/sc_types.h
Normal file
|
|
@ -0,0 +1,71 @@
|
|||
/** Generated by itemis CREATE code generator. */
|
||||
|
||||
#ifndef SC_TYPES_H_
|
||||
#define SC_TYPES_H_
|
||||
|
||||
#ifdef __STDC_VERSION__
|
||||
#if __STDC_VERSION__ >= 199901L
|
||||
#define HAS_C99_BOOLS
|
||||
#endif
|
||||
#else
|
||||
#ifdef __cplusplus
|
||||
#define HAS_C99_BOOLS
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
#include <stdint.h>
|
||||
#ifdef HAS_C99_BOOLS
|
||||
#include <stdbool.h>
|
||||
#endif
|
||||
|
||||
#define sc_string char*
|
||||
|
||||
#ifdef HAS_C99_BOOLS
|
||||
typedef bool sc_boolean;
|
||||
#else
|
||||
typedef uint8_t sc_boolean;
|
||||
#endif
|
||||
|
||||
typedef int_fast16_t sc_short;
|
||||
typedef uint_fast16_t sc_ushort;
|
||||
typedef int32_t sc_integer;
|
||||
typedef uint32_t sc_uinteger;
|
||||
|
||||
typedef int32_t sc_time;
|
||||
|
||||
typedef double sc_real;
|
||||
|
||||
typedef void* sc_eventid;
|
||||
|
||||
typedef intptr_t sc_intptr_t;
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifndef sc_null
|
||||
#ifdef __cplusplus
|
||||
#if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1900)
|
||||
#define sc_null nullptr
|
||||
#else
|
||||
#define sc_null 0
|
||||
#endif
|
||||
#else
|
||||
#define sc_null ((void *)0)
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef HAS_C99_BOOLS
|
||||
#define bool_true true
|
||||
#define bool_false false
|
||||
#else
|
||||
#define bool_true 1
|
||||
#define bool_false 0
|
||||
#endif
|
||||
|
||||
#endif /* SC_TYPES_H_ */
|
||||
Loading…
Add table
Add a link
Reference in a new issue