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initial solution

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This commit is contained in:
Joeri Exelmans 2025-06-04 16:43:27 +02:00
commit 37d1d83b47
19 changed files with 2775 additions and 0 deletions
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2
.gitignore vendored Normal file
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robot_cdt/build/
.metadata/

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robot_cdt/.cproject Normal file
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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
<storageModule moduleId="org.eclipse.cdt.core.settings">
<cconfiguration id="org.eclipse.cdt.core.default.config.1294983493">
<storageModule buildSystemId="org.eclipse.cdt.core.defaultConfigDataProvider" id="org.eclipse.cdt.core.default.config.1294983493" moduleId="org.eclipse.cdt.core.settings" name="Configuration">
<externalSettings/>
<extensions/>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
</cconfiguration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.pathentry">
<pathentry kind="out" path=""/>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
</cproject>

26
robot_cdt/.project Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>robot_cdt</name>
<comment></comment>
<projects>
</projects>
<buildSpec>
<buildCommand>
<name>org.eclipse.xtext.ui.shared.xtextBuilder</name>
<arguments>
</arguments>
</buildCommand>
<buildCommand>
<name>org.eclipse.cdt.core.cBuilder</name>
<triggers>clean,full,incremental,</triggers>
<arguments>
</arguments>
</buildCommand>
</buildSpec>
<natures>
<nature>org.eclipse.cdt.core.cnature</nature>
<nature>org.eclipse.cdt.core.ccnature</nature>
<nature>org.eclipse.cdt.make.core.makeNature</nature>
<nature>org.eclipse.xtext.ui.shared.xtextNature</nature>
</natures>
</projectDescription>

2
robot_cdt/.settings/org.eclipse.core.resources.prefs Normal file
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eclipse.preferences.version=1
encoding/<project>=UTF-8

31
robot_cdt/Makefile Normal file
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SRCS = \
src/controller.c \
src/pid.c \
src/sc_rxc.c \
src/sc_timer_service.c \
src-gen/Statechart.c \
TARGET = main
CC = gcc
CFLAGS = -Wall -Wextra
OBJS = $(addprefix build/,$(SRCS:.c=.o))
build/%.o: %.c create_build_dirs
$(CC) $(CFLAGS) -c $< -o $@
$(TARGET): $(OBJS)
$(CC) $(CFLAGS) -o build/$@ $^
# all: $(TARGET)
all: $(OBJS)
create_build_dirs:
mkdir -p build/src
mkdir -p build/src-gen
clean:
rm -rf build
.PHONY: all create_build_dirs clean

23
robot_cdt/Statechart.sgen Normal file
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GeneratorModel for create::c {
const PROJECT : string = "robot_cdt"
const FOLDER : string = "src-gen"
statechart Statechart {
feature Outlet {
targetProject = PROJECT
targetFolder = FOLDER
libraryTargetFolder = "src"
}
feature GeneratorOptions {
userAllocatedQueue = false
}
feature GeneralFeatures {
timerService = true
timerServiceTimeType = ""
}
}
}

339
robot_cdt/Statechart.ysc Normal file
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<?xml version="1.0" encoding="UTF-8"?>
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874
robot_cdt/src-gen/Statechart.c Normal file
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@ -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);
}

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/* 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_ */

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/* 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_ */

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#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);
}

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#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

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#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;
}

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#ifndef PID_H
#define PID_H
#include "data_types.h"
double pid(pid_vars_t vars, double current_err);
#endif

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/** 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;
}

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/** 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_ */

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/* 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], &current_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;
}

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/* 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_ */

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/** 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_ */