initial solution
This commit is contained in:
commit
37d1d83b47
19 changed files with 2775 additions and 0 deletions
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_ */
|
||||
Loading…
Add table
Add a link
Reference in a new issue