poll button state in statechart and raise internal events on change
This commit is contained in:
parent
675efff85c
commit
45c0844fc2
5 changed files with 738 additions and 354 deletions
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@ -1,7 +1,15 @@
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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: int32_t

	in event buttonPressed
	in event buttonReleased
	
	out event setMotorR: int32_t
	out event setMotorL: int32_t

	operation pid(sensor: int32_t, pid_vars: pid_vars_t): int32_t

internal:
	var speed: int32_t
	var pid_vars: pid_vars_t" name="Statechart" domainID="com.yakindu.domain.c">
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<sgraph:Statechart xmi:id="_jCYoMD-lEfCA8aDVRFe8Eg" specification="@EventDriven
@SuperSteps(no)

import: "./src/data_types.h"

interface:
	in event sensor: int32_t
	
	in event buttonState: bool
	
	out event setMotorR: int32_t
	out event setMotorL: int32_t

	operation pid(sensor: int32_t, pid_vars: pid_vars_t): int32_t

internal:
	event buttonPressed
	event buttonReleased

	var speed: int32_t
	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="_m3tQgEKxEfCR-J2J55rMGQ" name="everything" incomingTransitions="_4ORTsEKxEfCR-J2J55rMGQ">
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<regions xmi:id="_m3vFsEKxEfCR-J2J55rMGQ" name="r1">
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<vertices xsi:type="sgraph:State" xmi:id="_Kp4gYD-yEfCA8aDVRFe8Eg" name="off" incomingTransitions="_n4LxNz-zEfCA8aDVRFe8Eg _YGkvAD-yEfCA8aDVRFe8Eg">
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<outgoingTransitions xmi:id="_ff2psD-yEfCA8aDVRFe8Eg" specification="buttonPressed" target="_IsdxcD-yEfCA8aDVRFe8Eg"/>
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</vertices>
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<vertices xsi:type="sgraph:Entry" xmi:id="_XxLt0D-yEfCA8aDVRFe8Eg">
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<outgoingTransitions xmi:id="_YGkvAD-yEfCA8aDVRFe8Eg" specification="" target="_Kp4gYD-yEfCA8aDVRFe8Eg"/>
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</vertices>
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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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@ -31,11 +39,21 @@
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</vertices>
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</regions>
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</vertices>
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<vertices xsi:type="sgraph:State" xmi:id="_Kp4gYD-yEfCA8aDVRFe8Eg" name="off" incomingTransitions="_n4LxNz-zEfCA8aDVRFe8Eg _YGkvAD-yEfCA8aDVRFe8Eg">
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<outgoingTransitions xmi:id="_ff2psD-yEfCA8aDVRFe8Eg" specification="buttonPressed" target="_IsdxcD-yEfCA8aDVRFe8Eg"/>
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</regions>
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<regions xmi:id="_m3vFsUKxEfCR-J2J55rMGQ" name="pollButton">
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<vertices xsi:type="sgraph:State" xmi:id="_o5BoAEKxEfCR-J2J55rMGQ" name="button0" incomingTransitions="_xJ4q8EKxEfCR-J2J55rMGQ _2zxroEKxEfCR-J2J55rMGQ">
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<outgoingTransitions xmi:id="_qfvHIEKxEfCR-J2J55rMGQ" specification="buttonState [buttonState.value]
/ raise buttonPressed" target="_pEw98EKxEfCR-J2J55rMGQ"/>
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</vertices>
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<vertices xsi:type="sgraph:Entry" xmi:id="_XxLt0D-yEfCA8aDVRFe8Eg">
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<outgoingTransitions xmi:id="_YGkvAD-yEfCA8aDVRFe8Eg" specification="" target="_Kp4gYD-yEfCA8aDVRFe8Eg"/>
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<vertices xsi:type="sgraph:State" xmi:id="_pEw98EKxEfCR-J2J55rMGQ" name="button1" incomingTransitions="_qfvHIEKxEfCR-J2J55rMGQ">
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<outgoingTransitions xmi:id="_xJ4q8EKxEfCR-J2J55rMGQ" specification="buttonState[!buttonState.value]
/ raise buttonReleased" target="_o5BoAEKxEfCR-J2J55rMGQ"/>
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</vertices>
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<vertices xsi:type="sgraph:Entry" xmi:id="_2YsSIEKxEfCR-J2J55rMGQ">
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<outgoingTransitions xmi:id="_2zxroEKxEfCR-J2J55rMGQ" specification="" target="_o5BoAEKxEfCR-J2J55rMGQ"/>
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</vertices>
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</regions>
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</vertices>
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<vertices xsi:type="sgraph:Entry" xmi:id="_3ou9sEKxEfCR-J2J55rMGQ">
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<outgoingTransitions xmi:id="_4ORTsEKxEfCR-J2J55rMGQ" specification="" target="_m3tQgEKxEfCR-J2J55rMGQ"/>
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</vertices>
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</regions>
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</sgraph:Statechart>
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@ -46,6 +64,52 @@
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<layoutConstraint xsi:type="notation:Location" xmi:id="_jCeHxD-lEfCA8aDVRFe8Eg"/>
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</children>
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<children xsi:type="notation:Shape" xmi:id="_jCeHxT-lEfCA8aDVRFe8Eg" type="RegionCompartment" fontName="Verdana" lineColor="4210752">
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<children xmi:id="_m3w64EKxEfCR-J2J55rMGQ" type="State" element="_m3tQgEKxEfCR-J2J55rMGQ">
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<children xsi:type="notation:DecorationNode" xmi:id="_m3xh8EKxEfCR-J2J55rMGQ" type="StateName">
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<styles xsi:type="notation:ShapeStyle" xmi:id="_m3xh8UKxEfCR-J2J55rMGQ"/>
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<layoutConstraint xsi:type="notation:Location" xmi:id="_m3yJAEKxEfCR-J2J55rMGQ"/>
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_m3yJAUKxEfCR-J2J55rMGQ" type="StateTextCompartment">
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<children xsi:type="notation:Shape" xmi:id="_m3yJAkKxEfCR-J2J55rMGQ" type="StateTextCompartmentExpression" fontName="Verdana" lineColor="4210752">
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_m3yJA0KxEfCR-J2J55rMGQ"/>
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</children>
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_m3yJBEKxEfCR-J2J55rMGQ" type="StateFigureCompartment">
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<children xmi:id="_m31zYEKxEfCR-J2J55rMGQ" type="Region" element="_m3vFsEKxEfCR-J2J55rMGQ">
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<children xsi:type="notation:DecorationNode" xmi:id="_m32acEKxEfCR-J2J55rMGQ" type="RegionName">
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<styles xsi:type="notation:ShapeStyle" xmi:id="_m32acUKxEfCR-J2J55rMGQ"/>
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<layoutConstraint xsi:type="notation:Location" xmi:id="_m32ackKxEfCR-J2J55rMGQ"/>
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</children>
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<children xsi:type="notation:Shape" xmi:id="_m32ac0KxEfCR-J2J55rMGQ" type="RegionCompartment" fontName="Verdana" lineColor="4210752">
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<children xmi:id="_Kp5ugD-yEfCA8aDVRFe8Eg" type="State" element="_Kp4gYD-yEfCA8aDVRFe8Eg">
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<children xsi:type="notation:DecorationNode" xmi:id="_Kp68oD-yEfCA8aDVRFe8Eg" type="StateName">
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<styles xsi:type="notation:ShapeStyle" xmi:id="_Kp68oT-yEfCA8aDVRFe8Eg"/>
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<layoutConstraint xsi:type="notation:Location" xmi:id="_Kp68oj-yEfCA8aDVRFe8Eg"/>
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_Kp68oz-yEfCA8aDVRFe8Eg" type="StateTextCompartment">
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<children xsi:type="notation:Shape" xmi:id="_Kp68pD-yEfCA8aDVRFe8Eg" type="StateTextCompartmentExpression" fontName="Verdana" lineColor="4210752">
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_Kp68pT-yEfCA8aDVRFe8Eg"/>
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</children>
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_Kp7jsD-yEfCA8aDVRFe8Eg" type="StateFigureCompartment"/>
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<styles xsi:type="notation:ShapeStyle" xmi:id="_Kp5ugT-yEfCA8aDVRFe8Eg" fontName="Verdana" fillColor="15720400" lineColor="12632256"/>
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<styles xsi:type="notation:FontStyle" xmi:id="_Kp5ugj-yEfCA8aDVRFe8Eg"/>
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<styles xsi:type="notation:BooleanValueStyle" xmi:id="_Kp7jsT-yEfCA8aDVRFe8Eg" name="isHorizontal" booleanValue="true"/>
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_Kp5ugz-yEfCA8aDVRFe8Eg" x="1013" y="340" width="91" height="69"/>
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</children>
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<children xmi:id="_XxMU4D-yEfCA8aDVRFe8Eg" type="Entry" element="_XxLt0D-yEfCA8aDVRFe8Eg">
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<children xmi:id="_XxM78D-yEfCA8aDVRFe8Eg" type="BorderItemLabelContainer">
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<children xsi:type="notation:DecorationNode" xmi:id="_XxM78z-yEfCA8aDVRFe8Eg" type="BorderItemLabel">
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<styles xsi:type="notation:ShapeStyle" xmi:id="_XxM79D-yEfCA8aDVRFe8Eg"/>
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<layoutConstraint xsi:type="notation:Location" xmi:id="_XxM79T-yEfCA8aDVRFe8Eg"/>
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</children>
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<styles xsi:type="notation:ShapeStyle" xmi:id="_XxM78T-yEfCA8aDVRFe8Eg" fontName="Verdana" lineColor="4210752"/>
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_XxM78j-yEfCA8aDVRFe8Eg"/>
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</children>
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<styles xsi:type="notation:ShapeStyle" xmi:id="_XxMU4T-yEfCA8aDVRFe8Eg" fontName="Verdana" fillColor="0" lineColor="16777215"/>
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<styles xsi:type="notation:NamedStyle" xmi:id="_XxMU4j-yEfCA8aDVRFe8Eg" name="allowColors"/>
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_XxMU4z-yEfCA8aDVRFe8Eg" x="1061" y="103" width="15" height="15"/>
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</children>
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<children xmi:id="_IsgNsD-yEfCA8aDVRFe8Eg" type="State" element="_IsdxcD-yEfCA8aDVRFe8Eg">
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<children xsi:type="notation:DecorationNode" xmi:id="_Isg0wD-yEfCA8aDVRFe8Eg" type="StateName">
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<styles xsi:type="notation:ShapeStyle" xmi:id="_Isg0wT-yEfCA8aDVRFe8Eg"/>
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@ -176,41 +240,92 @@
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<styles xsi:type="notation:ShapeStyle" xmi:id="_IsgNsT-yEfCA8aDVRFe8Eg" fontName="Verdana" fillColor="15720400" lineColor="12632256"/>
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</children>
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<children xmi:id="_Kp5ugD-yEfCA8aDVRFe8Eg" type="State" element="_Kp4gYD-yEfCA8aDVRFe8Eg">
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<children xsi:type="notation:DecorationNode" xmi:id="_Kp68oD-yEfCA8aDVRFe8Eg" type="StateName">
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<layoutConstraint xsi:type="notation:Bounds" xmi:id="_m32adEKxEfCR-J2J55rMGQ"/>
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_Kp68oz-yEfCA8aDVRFe8Eg" type="StateTextCompartment">
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<children xsi:type="notation:Shape" xmi:id="_Kp68pD-yEfCA8aDVRFe8Eg" type="StateTextCompartmentExpression" fontName="Verdana" lineColor="4210752">
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<children xsi:type="notation:DecorationNode" xmi:id="_o5DdNEKxEfCR-J2J55rMGQ" type="StateName">
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<layoutConstraint xsi:type="notation:Location" xmi:id="_o5DdNkKxEfCR-J2J55rMGQ"/>
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_o5DdN0KxEfCR-J2J55rMGQ" type="StateTextCompartment">
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<children xsi:type="notation:Shape" xmi:id="_o5EEQEKxEfCR-J2J55rMGQ" type="StateTextCompartmentExpression" fontName="Verdana" lineColor="4210752">
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</children>
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<children xsi:type="notation:Compartment" xmi:id="_Kp7jsD-yEfCA8aDVRFe8Eg" type="StateFigureCompartment"/>
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|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_2YuHUkKxEfCR-J2J55rMGQ"/>
|
||||
</children>
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_2YtgQUKxEfCR-J2J55rMGQ" fontName="Verdana" fillColor="0" lineColor="16777215"/>
|
||||
<styles xsi:type="notation:NamedStyle" xmi:id="_2YtgQkKxEfCR-J2J55rMGQ" name="allowColors"/>
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_2YtgQ0KxEfCR-J2J55rMGQ" x="172" y="68"/>
|
||||
</children>
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_m32afEKxEfCR-J2J55rMGQ"/>
|
||||
</children>
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_m32adkKxEfCR-J2J55rMGQ" fontName="Verdana" fillColor="16448250" lineColor="12632256"/>
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_m32ad0KxEfCR-J2J55rMGQ"/>
|
||||
</children>
|
||||
</children>
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_m3w64UKxEfCR-J2J55rMGQ" fontName="Verdana" fillColor="15720400" lineColor="12632256"/>
|
||||
<styles xsi:type="notation:FontStyle" xmi:id="_m3w64kKxEfCR-J2J55rMGQ"/>
|
||||
<styles xsi:type="notation:BooleanValueStyle" xmi:id="_m3yJBUKxEfCR-J2J55rMGQ" name="isHorizontal" booleanValue="true"/>
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_m3w640KxEfCR-J2J55rMGQ" x="78" y="22" width="1586" height="665"/>
|
||||
</children>
|
||||
<children xmi:id="_3ovkwEKxEfCR-J2J55rMGQ" type="Entry" element="_3ou9sEKxEfCR-J2J55rMGQ">
|
||||
<children xmi:id="_3owL0EKxEfCR-J2J55rMGQ" type="BorderItemLabelContainer">
|
||||
<children xsi:type="notation:DecorationNode" xmi:id="_3owL00KxEfCR-J2J55rMGQ" type="BorderItemLabel">
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_3owL1EKxEfCR-J2J55rMGQ"/>
|
||||
<layoutConstraint xsi:type="notation:Location" xmi:id="_3owL1UKxEfCR-J2J55rMGQ"/>
|
||||
</children>
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_3owL0UKxEfCR-J2J55rMGQ" fontName="Verdana" lineColor="4210752"/>
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_3owL0kKxEfCR-J2J55rMGQ"/>
|
||||
</children>
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_3ovkwUKxEfCR-J2J55rMGQ" fontName="Verdana" fillColor="0" lineColor="16777215"/>
|
||||
<styles xsi:type="notation:NamedStyle" xmi:id="_3ovkwkKxEfCR-J2J55rMGQ" name="allowColors"/>
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_3ovkw0KxEfCR-J2J55rMGQ" x="32" y="46" width="15" height="15"/>
|
||||
</children>
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jCeH6D-lEfCA8aDVRFe8Eg"/>
|
||||
</children>
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_jCeH6T-lEfCA8aDVRFe8Eg" fontName="Verdana" fillColor="16448250" lineColor="12632256"/>
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jCeH6j-lEfCA8aDVRFe8Eg" x="56" y="87" width="1437" height="632"/>
|
||||
<layoutConstraint xsi:type="notation:Bounds" xmi:id="_jCeH6j-lEfCA8aDVRFe8Eg" x="56" y="87" width="2330" height="752"/>
|
||||
</children>
|
||||
<children xsi:type="notation:Shape" xmi:id="_jCeH6z-lEfCA8aDVRFe8Eg" type="StatechartText" fontName="Verdana" lineColor="4210752">
|
||||
<children xsi:type="notation:DecorationNode" xmi:id="_jCeH7D-lEfCA8aDVRFe8Eg" type="StatechartName">
|
||||
|
|
@ -250,7 +365,7 @@
|
|||
</children>
|
||||
<styles xsi:type="notation:ConnectorStyle" xmi:id="_n4LxMz-zEfCA8aDVRFe8Eg" routing="Rectilinear" lineColor="4210752"/>
|
||||
<styles xsi:type="notation:FontStyle" xmi:id="_n4LxMj-zEfCA8aDVRFe8Eg" fontName="Verdana"/>
|
||||
<bendpoints xsi:type="notation:RelativeBendpoints" xmi:id="_n4LxMT-zEfCA8aDVRFe8Eg" points="[5, -3, -240, -24]$[200, -3, -45, -24]"/>
|
||||
<bendpoints xsi:type="notation:RelativeBendpoints" xmi:id="_n4LxMT-zEfCA8aDVRFe8Eg" points="[5, -4, -240, -25]$[200, -4, -45, -25]"/>
|
||||
<sourceAnchor xsi:type="notation:IdentityAnchor" xmi:id="_n4LxMD-zEfCA8aDVRFe8Eg" id="(0.9166666666666666,0.4528301886792453)"/>
|
||||
</edges>
|
||||
<edges xmi:id="_n4MYSD-zEfCA8aDVRFe8Eg" type="Transition" element="_n4MYNT-zEfCA8aDVRFe8Eg" source="_n4LxID-zEfCA8aDVRFe8Eg" target="_n4MYPD-zEfCA8aDVRFe8Eg">
|
||||
|
|
@ -335,5 +450,48 @@
|
|||
<bendpoints xsi:type="notation:RelativeBendpoints" xmi:id="_OVc9wj-zEfCA8aDVRFe8Eg" points="[-2, 41, 133, 49]$[-61, 41, 74, 49]$[-61, -8, 74, 0]$[-119, -8, 16, 0]"/>
|
||||
<sourceAnchor xsi:type="notation:IdentityAnchor" xmi:id="_OVfaAD-zEfCA8aDVRFe8Eg" id="(0.013245033112582781,0.4628099173553719)"/>
|
||||
</edges>
|
||||
<edges xmi:id="_qfw8UEKxEfCR-J2J55rMGQ" type="Transition" element="_qfvHIEKxEfCR-J2J55rMGQ" source="_o5DdMEKxEfCR-J2J55rMGQ" target="_pExlAEKxEfCR-J2J55rMGQ">
|
||||
<children xsi:type="notation:DecorationNode" xmi:id="_qfxjY0KxEfCR-J2J55rMGQ" type="TransitionExpression">
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_qfxjZEKxEfCR-J2J55rMGQ"/>
|
||||
<layoutConstraint xsi:type="notation:Location" xmi:id="_qfxjZUKxEfCR-J2J55rMGQ" x="-5" y="-89"/>
|
||||
</children>
|
||||
<styles xsi:type="notation:ConnectorStyle" xmi:id="_qfxjYEKxEfCR-J2J55rMGQ" routing="Rectilinear" lineColor="4210752"/>
|
||||
<styles xsi:type="notation:FontStyle" xmi:id="_qfxjYkKxEfCR-J2J55rMGQ" fontName="Verdana"/>
|
||||
<bendpoints xsi:type="notation:RelativeBendpoints" xmi:id="_qfxjYUKxEfCR-J2J55rMGQ" points="[18, 3, 17, -166]$[18, 154, 17, -15]"/>
|
||||
<sourceAnchor xsi:type="notation:IdentityAnchor" xmi:id="_qfz_oEKxEfCR-J2J55rMGQ" id="(0.7377049180327869,0.9433962264150944)"/>
|
||||
<targetAnchor xsi:type="notation:IdentityAnchor" xmi:id="_qfz_oUKxEfCR-J2J55rMGQ" id="(0.7540983606557377,0.2830188679245283)"/>
|
||||
</edges>
|
||||
<edges xmi:id="_xJ6gIEKxEfCR-J2J55rMGQ" type="Transition" element="_xJ4q8EKxEfCR-J2J55rMGQ" source="_pExlAEKxEfCR-J2J55rMGQ" target="_o5DdMEKxEfCR-J2J55rMGQ">
|
||||
<children xsi:type="notation:DecorationNode" xmi:id="_xJ6gJEKxEfCR-J2J55rMGQ" type="TransitionExpression">
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_xJ6gJUKxEfCR-J2J55rMGQ"/>
|
||||
<layoutConstraint xsi:type="notation:Location" xmi:id="_xJ6gJkKxEfCR-J2J55rMGQ" x="3"/>
|
||||
</children>
|
||||
<styles xsi:type="notation:ConnectorStyle" xmi:id="_xJ6gIUKxEfCR-J2J55rMGQ" routing="Rectilinear" lineColor="4210752"/>
|
||||
<styles xsi:type="notation:FontStyle" xmi:id="_xJ6gI0KxEfCR-J2J55rMGQ" fontName="Verdana"/>
|
||||
<bendpoints xsi:type="notation:RelativeBendpoints" xmi:id="_xJ6gIkKxEfCR-J2J55rMGQ" points="[3, -2, -13, 181]$[3, -153, -13, 30]"/>
|
||||
<sourceAnchor xsi:type="notation:IdentityAnchor" xmi:id="_xJ8VUEKxEfCR-J2J55rMGQ" id="(0.08196721311475409,0.03773584905660377)"/>
|
||||
<targetAnchor xsi:type="notation:IdentityAnchor" xmi:id="_xJ8VUUKxEfCR-J2J55rMGQ" id="(0.19672131147540983,0.4339622641509434)"/>
|
||||
</edges>
|
||||
<edges xmi:id="_2zzg0EKxEfCR-J2J55rMGQ" type="Transition" element="_2zxroEKxEfCR-J2J55rMGQ" source="_2YtgQEKxEfCR-J2J55rMGQ" target="_o5DdMEKxEfCR-J2J55rMGQ">
|
||||
<children xsi:type="notation:DecorationNode" xmi:id="_2zzg1EKxEfCR-J2J55rMGQ" type="TransitionExpression">
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_2zzg1UKxEfCR-J2J55rMGQ"/>
|
||||
<layoutConstraint xsi:type="notation:Location" xmi:id="_2zzg1kKxEfCR-J2J55rMGQ" y="10"/>
|
||||
</children>
|
||||
<styles xsi:type="notation:ConnectorStyle" xmi:id="_2zzg0UKxEfCR-J2J55rMGQ" routing="Rectilinear" lineColor="4210752"/>
|
||||
<styles xsi:type="notation:FontStyle" xmi:id="_2zzg00KxEfCR-J2J55rMGQ" fontName="Verdana"/>
|
||||
<bendpoints xsi:type="notation:RelativeBendpoints" xmi:id="_2zzg0kKxEfCR-J2J55rMGQ" points="[4, 4, 1, -33]$[4, 30, 1, -7]"/>
|
||||
<targetAnchor xsi:type="notation:IdentityAnchor" xmi:id="_2z19EEKxEfCR-J2J55rMGQ" id="(0.7535211267605634,0.16981132075471697)"/>
|
||||
</edges>
|
||||
<edges xmi:id="_4OSh0EKxEfCR-J2J55rMGQ" type="Transition" element="_4ORTsEKxEfCR-J2J55rMGQ" source="_3ovkwEKxEfCR-J2J55rMGQ" target="_m3w64EKxEfCR-J2J55rMGQ">
|
||||
<children xsi:type="notation:DecorationNode" xmi:id="_4OTI4EKxEfCR-J2J55rMGQ" type="TransitionExpression">
|
||||
<styles xsi:type="notation:ShapeStyle" xmi:id="_4OTI4UKxEfCR-J2J55rMGQ"/>
|
||||
<layoutConstraint xsi:type="notation:Location" xmi:id="_4OTI4kKxEfCR-J2J55rMGQ" y="10"/>
|
||||
</children>
|
||||
<styles xsi:type="notation:ConnectorStyle" xmi:id="_4OSh0UKxEfCR-J2J55rMGQ" routing="Rectilinear" lineColor="4210752"/>
|
||||
<styles xsi:type="notation:FontStyle" xmi:id="_4OSh00KxEfCR-J2J55rMGQ" fontName="Verdana"/>
|
||||
<bendpoints xsi:type="notation:RelativeBendpoints" xmi:id="_4OSh0kKxEfCR-J2J55rMGQ" points="[8, 7, -90, 22]$[40, 7, -58, 22]"/>
|
||||
<sourceAnchor xsi:type="notation:IdentityAnchor" xmi:id="_4OU-EEKxEfCR-J2J55rMGQ" id="(0.4,0.0)"/>
|
||||
<targetAnchor xsi:type="notation:IdentityAnchor" xmi:id="_4OU-EUKxEfCR-J2J55rMGQ" id="(0.03656998738965952,0.013533834586466165)"/>
|
||||
</edges>
|
||||
</notation:Diagram>
|
||||
</xmi:XMI>
|
||||
|
|
|
|||
|
|
@ -15,51 +15,68 @@ Implementation of the state machine 'Statechart'
|
|||
#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 enact_main_region_everything_r1_on_r1_responding(Statechart* handle);
|
||||
static void enact_main_region_everything_r1_on_r1_sensor_error(Statechart* handle);
|
||||
static void enact_main_region_everything_r1_on_r2_pressed(Statechart* handle);
|
||||
static void exact_main_region_everything_r1_on_r2_pressed(Statechart* handle);
|
||||
static void enseq_main_region_everything_default(Statechart* handle);
|
||||
static void enseq_main_region_everything_r1_off_default(Statechart* handle);
|
||||
static void enseq_main_region_everything_r1_on_default(Statechart* handle);
|
||||
static void enseq_main_region_everything_r1_on_r1_responding_default(Statechart* handle);
|
||||
static void enseq_main_region_everything_r1_on_r1_sensor_error_default(Statechart* handle);
|
||||
static void enseq_main_region_everything_r1_on_r2_not_pressed_default(Statechart* handle);
|
||||
static void enseq_main_region_everything_r1_on_r2_pressed_default(Statechart* handle);
|
||||
static void enseq_main_region_everything_pollButton_button0_default(Statechart* handle);
|
||||
static void enseq_main_region_everything_pollButton_button1_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 enseq_main_region_everything_r1_default(Statechart* handle);
|
||||
static void enseq_main_region_everything_r1_on_r1_default(Statechart* handle);
|
||||
static void enseq_main_region_everything_r1_on_r2_default(Statechart* handle);
|
||||
static void enseq_main_region_everything_pollButton_default(Statechart* handle);
|
||||
static void exseq_main_region_everything_r1_off(Statechart* handle);
|
||||
static void exseq_main_region_everything_r1_on(Statechart* handle);
|
||||
static void exseq_main_region_everything_r1_on_r1_responding(Statechart* handle);
|
||||
static void exseq_main_region_everything_r1_on_r1_sensor_error(Statechart* handle);
|
||||
static void exseq_main_region_everything_r1_on_r2_not_pressed(Statechart* handle);
|
||||
static void exseq_main_region_everything_r1_on_r2_pressed(Statechart* handle);
|
||||
static void exseq_main_region_everything_pollButton_button0(Statechart* handle);
|
||||
static void exseq_main_region_everything_pollButton_button1(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 exseq_main_region_everything_r1_on_r1(Statechart* handle);
|
||||
static void exseq_main_region_everything_r1_on_r2(Statechart* handle);
|
||||
static void react_main_region_everything_r1_on_r1__choice_0(Statechart* handle);
|
||||
static void react_main_region_everything_r1__entry_Default(Statechart* handle);
|
||||
static void react_main_region_everything_r1_on_r1__entry_Default(Statechart* handle);
|
||||
static void react_main_region_everything_r1_on_r2__entry_Default(Statechart* handle);
|
||||
static void react_main_region_everything_pollButton__entry_Default(Statechart* handle);
|
||||
static void react_main_region__entry_Default(Statechart* handle);
|
||||
|
||||
/*! The reactions of state off. */
|
||||
static sc_integer main_region_everything_r1_off_react(Statechart* handle, const sc_integer transitioned_before);
|
||||
|
||||
/*! The reactions of state responding. */
|
||||
static sc_integer main_region_on_r1_responding_react(Statechart* handle, const sc_integer transitioned_before);
|
||||
static sc_integer main_region_everything_r1_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);
|
||||
static sc_integer main_region_everything_r1_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);
|
||||
static sc_integer main_region_everything_r1_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);
|
||||
static sc_integer main_region_everything_r1_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);
|
||||
/*! The reactions of state button0. */
|
||||
static sc_integer main_region_everything_pollButton_button0_react(Statechart* handle, const sc_integer transitioned_before);
|
||||
|
||||
/*! The reactions of state button1. */
|
||||
static sc_integer main_region_everything_pollButton_button1_react(Statechart* handle, const sc_integer transitioned_before);
|
||||
|
||||
|
||||
static void clear_in_events(Statechart* handle);
|
||||
|
||||
static void clear_internal_events(Statechart* handle);
|
||||
|
||||
static void micro_step(Statechart* handle);
|
||||
|
||||
/*! Performs a 'run to completion' step. */
|
||||
|
|
@ -99,6 +116,7 @@ void statechart_init(Statechart* handle)
|
|||
|
||||
|
||||
clear_in_events(handle);
|
||||
clear_internal_events(handle);
|
||||
|
||||
sc_observable_int32_t_init(&handle->iface.setMotorR);
|
||||
sc_observable_int32_t_init(&handle->iface.setMotorL);
|
||||
|
|
@ -107,6 +125,7 @@ void statechart_init(Statechart* handle)
|
|||
statechart_internal_set_speed(handle, 0);
|
||||
|
||||
handle->isExecuting = bool_false;
|
||||
statechart_eventqueue_init(&handle->internal_event_queue, handle->internal_buffer, STATECHART_INTERNAL_EVENTQUEUE_BUFFERSIZE);
|
||||
statechart_eventqueue_init(&handle->in_event_queue, handle->in_buffer, STATECHART_IN_EVENTQUEUE_BUFFERSIZE);
|
||||
}
|
||||
|
||||
|
|
@ -135,7 +154,8 @@ void statechart_exit(Statechart* handle)
|
|||
exseq_main_region(handle);
|
||||
handle->stateConfVector[0] = Statechart_last_state;
|
||||
handle->stateConfVector[1] = Statechart_last_state;
|
||||
handle->stateConfVectorPosition = 1;
|
||||
handle->stateConfVector[2] = Statechart_last_state;
|
||||
handle->stateConfVectorPosition = 2;
|
||||
handle->isExecuting = bool_false;
|
||||
}
|
||||
|
||||
|
|
@ -184,28 +204,40 @@ sc_boolean statechart_is_state_active(const Statechart* handle, StatechartStates
|
|||
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);
|
||||
case Statechart_main_region_everything :
|
||||
result = (sc_boolean) (handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_EVERYTHING] >= Statechart_main_region_everything
|
||||
&& handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_EVERYTHING] <= Statechart_main_region_everything_pollButton_button1);
|
||||
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
|
||||
case Statechart_main_region_everything_r1_off :
|
||||
result = (sc_boolean) (handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_EVERYTHING_R1_OFF] == Statechart_main_region_everything_r1_off
|
||||
);
|
||||
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
|
||||
case Statechart_main_region_everything_r1_on :
|
||||
result = (sc_boolean) (handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_EVERYTHING_R1_ON] >= Statechart_main_region_everything_r1_on
|
||||
&& handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_EVERYTHING_R1_ON] <= Statechart_main_region_everything_r1_on_r2_pressed);
|
||||
break;
|
||||
case Statechart_main_region_everything_r1_on_r1_responding :
|
||||
result = (sc_boolean) (handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_EVERYTHING_R1_ON_R1_RESPONDING] == Statechart_main_region_everything_r1_on_r1_responding
|
||||
);
|
||||
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
|
||||
case Statechart_main_region_everything_r1_on_r1_sensor_error :
|
||||
result = (sc_boolean) (handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_EVERYTHING_R1_ON_R1_SENSOR_ERROR] == Statechart_main_region_everything_r1_on_r1_sensor_error
|
||||
);
|
||||
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
|
||||
case Statechart_main_region_everything_r1_on_r2_not_pressed :
|
||||
result = (sc_boolean) (handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_EVERYTHING_R1_ON_R2_NOT_PRESSED] == Statechart_main_region_everything_r1_on_r2_not_pressed
|
||||
);
|
||||
break;
|
||||
case Statechart_main_region_off :
|
||||
result = (sc_boolean) (handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_OFF] == Statechart_main_region_off
|
||||
case Statechart_main_region_everything_r1_on_r2_pressed :
|
||||
result = (sc_boolean) (handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_EVERYTHING_R1_ON_R2_PRESSED] == Statechart_main_region_everything_r1_on_r2_pressed
|
||||
);
|
||||
break;
|
||||
case Statechart_main_region_everything_pollButton_button0 :
|
||||
result = (sc_boolean) (handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_EVERYTHING_POLLBUTTON_BUTTON0] == Statechart_main_region_everything_pollButton_button0
|
||||
);
|
||||
break;
|
||||
case Statechart_main_region_everything_pollButton_button1 :
|
||||
result = (sc_boolean) (handle->stateConfVector[SCVI_STATECHART_MAIN_REGION_EVERYTHING_POLLBUTTON_BUTTON1] == Statechart_main_region_everything_pollButton_button1
|
||||
);
|
||||
break;
|
||||
default:
|
||||
|
|
@ -218,9 +250,14 @@ sc_boolean statechart_is_state_active(const Statechart* handle, StatechartStates
|
|||
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;
|
||||
handle->iface.buttonState_raised = bool_false;
|
||||
handle->timeEvents.statechart_main_region_everything_r1_on_r2_pressed_tev0_raised = bool_false;
|
||||
}
|
||||
|
||||
static void clear_internal_events(Statechart* handle)
|
||||
{
|
||||
handle->internal.buttonPressed_raised = bool_false;
|
||||
handle->internal.buttonReleased_raised = bool_false;
|
||||
}
|
||||
|
||||
static void micro_step(Statechart* handle)
|
||||
|
|
@ -229,19 +266,19 @@ static void micro_step(Statechart* handle)
|
|||
handle->stateConfVectorPosition = 0;
|
||||
switch(handle->stateConfVector[ 0 ])
|
||||
{
|
||||
case Statechart_main_region_on_r1_responding :
|
||||
case Statechart_main_region_everything_r1_off :
|
||||
{
|
||||
transitioned = main_region_on_r1_responding_react(handle,transitioned);
|
||||
transitioned = main_region_everything_r1_off_react(handle,transitioned);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_on_r1_sensor_error :
|
||||
case Statechart_main_region_everything_r1_on_r1_responding :
|
||||
{
|
||||
transitioned = main_region_on_r1_sensor_error_react(handle,transitioned);
|
||||
transitioned = main_region_everything_r1_on_r1_responding_react(handle,transitioned);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_off :
|
||||
case Statechart_main_region_everything_r1_on_r1_sensor_error :
|
||||
{
|
||||
transitioned = main_region_off_react(handle,transitioned);
|
||||
transitioned = main_region_everything_r1_on_r1_sensor_error_react(handle,transitioned);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
|
|
@ -252,14 +289,32 @@ static void micro_step(Statechart* handle)
|
|||
{
|
||||
switch(handle->stateConfVector[ 1 ])
|
||||
{
|
||||
case Statechart_main_region_on_r2_not_pressed :
|
||||
case Statechart_main_region_everything_r1_on_r2_not_pressed :
|
||||
{
|
||||
main_region_on_r2_not_pressed_react(handle,transitioned);
|
||||
transitioned = main_region_everything_r1_on_r2_not_pressed_react(handle,transitioned);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_on_r2_pressed :
|
||||
case Statechart_main_region_everything_r1_on_r2_pressed :
|
||||
{
|
||||
main_region_on_r2_pressed_react(handle,transitioned);
|
||||
transitioned = main_region_everything_r1_on_r2_pressed_react(handle,transitioned);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
/* do nothing */
|
||||
break;
|
||||
}
|
||||
} if ((handle->stateConfVectorPosition) < (2))
|
||||
{
|
||||
switch(handle->stateConfVector[ 2 ])
|
||||
{
|
||||
case Statechart_main_region_everything_pollButton_button0 :
|
||||
{
|
||||
main_region_everything_pollButton_button0_react(handle,transitioned);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_everything_pollButton_button1 :
|
||||
{
|
||||
main_region_everything_pollButton_button1_react(handle,transitioned);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
|
|
@ -282,6 +337,7 @@ static void run_cycle(Statechart* handle)
|
|||
{
|
||||
micro_step(handle);
|
||||
clear_in_events(handle);
|
||||
clear_internal_events(handle);
|
||||
} while (statechart_dispatch_next_event(handle) == bool_true);
|
||||
handle->isExecuting = bool_false;
|
||||
}
|
||||
|
|
@ -293,15 +349,9 @@ void statechart_raise_sensor(Statechart* handle, int32_t value)
|
|||
run_cycle(handle);
|
||||
}
|
||||
|
||||
void statechart_raise_buttonPressed(Statechart* handle)
|
||||
void statechart_raise_buttonState(Statechart* handle, sc_boolean value)
|
||||
{
|
||||
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);
|
||||
statechart_add_value_event_to_queue(&(handle->in_event_queue), Statechart_buttonState, &value);
|
||||
run_cycle(handle);
|
||||
}
|
||||
|
||||
|
|
@ -329,7 +379,7 @@ static void statechart_internal_set_pid_vars(Statechart* handle, pid_vars_t valu
|
|||
/* implementations of all internal functions */
|
||||
|
||||
/* Entry action for state 'responding'. */
|
||||
static void enact_main_region_on_r1_responding(Statechart* handle)
|
||||
static void enact_main_region_everything_r1_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));
|
||||
|
|
@ -344,7 +394,7 @@ static void enact_main_region_on_r1_responding(Statechart* handle)
|
|||
}
|
||||
|
||||
/* Entry action for state 'sensor_error'. */
|
||||
static void enact_main_region_on_r1_sensor_error(Statechart* handle)
|
||||
static void enact_main_region_everything_r1_on_r1_sensor_error(Statechart* handle)
|
||||
{
|
||||
/* Entry action for state 'sensor_error'. */
|
||||
{
|
||||
|
|
@ -358,68 +408,92 @@ static void enact_main_region_on_r1_sensor_error(Statechart* handle)
|
|||
}
|
||||
|
||||
/* Entry action for state 'pressed'. */
|
||||
static void enact_main_region_on_r2_pressed(Statechart* handle)
|
||||
static void enact_main_region_everything_r1_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);
|
||||
statechart_set_timer(handle, (sc_eventid) &(handle->timeEvents.statechart_main_region_everything_r1_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)
|
||||
static void exact_main_region_everything_r1_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) );
|
||||
statechart_unset_timer(handle, (sc_eventid) &(handle->timeEvents.statechart_main_region_everything_r1_on_r2_pressed_tev0_raised) );
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for state everything */
|
||||
static void enseq_main_region_everything_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for state everything */
|
||||
enseq_main_region_everything_r1_default(handle);
|
||||
enseq_main_region_everything_pollButton_default(handle);
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for state off */
|
||||
static void enseq_main_region_everything_r1_off_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for state off */
|
||||
handle->stateConfVector[0] = Statechart_main_region_everything_r1_off;
|
||||
handle->stateConfVectorPosition = 0;
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for state on */
|
||||
static void enseq_main_region_on_default(Statechart* handle)
|
||||
static void enseq_main_region_everything_r1_on_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for state on */
|
||||
enseq_main_region_on_r1_default(handle);
|
||||
enseq_main_region_on_r2_default(handle);
|
||||
enseq_main_region_everything_r1_on_r1_default(handle);
|
||||
enseq_main_region_everything_r1_on_r2_default(handle);
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for state responding */
|
||||
static void enseq_main_region_on_r1_responding_default(Statechart* handle)
|
||||
static void enseq_main_region_everything_r1_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;
|
||||
enact_main_region_everything_r1_on_r1_responding(handle);
|
||||
handle->stateConfVector[0] = Statechart_main_region_everything_r1_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)
|
||||
static void enseq_main_region_everything_r1_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;
|
||||
enact_main_region_everything_r1_on_r1_sensor_error(handle);
|
||||
handle->stateConfVector[0] = Statechart_main_region_everything_r1_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)
|
||||
static void enseq_main_region_everything_r1_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->stateConfVector[1] = Statechart_main_region_everything_r1_on_r2_not_pressed;
|
||||
handle->stateConfVectorPosition = 1;
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for state pressed */
|
||||
static void enseq_main_region_on_r2_pressed_default(Statechart* handle)
|
||||
static void enseq_main_region_everything_r1_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;
|
||||
enact_main_region_everything_r1_on_r2_pressed(handle);
|
||||
handle->stateConfVector[1] = Statechart_main_region_everything_r1_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 button0 */
|
||||
static void enseq_main_region_everything_pollButton_button0_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for state off */
|
||||
handle->stateConfVector[0] = Statechart_main_region_off;
|
||||
handle->stateConfVectorPosition = 0;
|
||||
/* 'default' enter sequence for state button0 */
|
||||
handle->stateConfVector[2] = Statechart_main_region_everything_pollButton_button0;
|
||||
handle->stateConfVectorPosition = 2;
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for state button1 */
|
||||
static void enseq_main_region_everything_pollButton_button1_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for state button1 */
|
||||
handle->stateConfVector[2] = Statechart_main_region_everything_pollButton_button1;
|
||||
handle->stateConfVectorPosition = 2;
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for region main region */
|
||||
|
|
@ -430,69 +504,99 @@ static void enseq_main_region_default(Statechart* handle)
|
|||
}
|
||||
|
||||
/* 'default' enter sequence for region r1 */
|
||||
static void enseq_main_region_on_r1_default(Statechart* handle)
|
||||
static void enseq_main_region_everything_r1_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for region r1 */
|
||||
react_main_region_on_r1__entry_Default(handle);
|
||||
react_main_region_everything_r1__entry_Default(handle);
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for region r1 */
|
||||
static void enseq_main_region_everything_r1_on_r1_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for region r1 */
|
||||
react_main_region_everything_r1_on_r1__entry_Default(handle);
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for region r2 */
|
||||
static void enseq_main_region_on_r2_default(Statechart* handle)
|
||||
static void enseq_main_region_everything_r1_on_r2_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for region r2 */
|
||||
react_main_region_on_r2__entry_Default(handle);
|
||||
react_main_region_everything_r1_on_r2__entry_Default(handle);
|
||||
}
|
||||
|
||||
/* 'default' enter sequence for region pollButton */
|
||||
static void enseq_main_region_everything_pollButton_default(Statechart* handle)
|
||||
{
|
||||
/* 'default' enter sequence for region pollButton */
|
||||
react_main_region_everything_pollButton__entry_Default(handle);
|
||||
}
|
||||
|
||||
/* Default exit sequence for state off */
|
||||
static void exseq_main_region_everything_r1_off(Statechart* handle)
|
||||
{
|
||||
/* Default exit sequence for state off */
|
||||
handle->stateConfVector[0] = Statechart_main_region_everything;
|
||||
handle->stateConfVectorPosition = 0;
|
||||
}
|
||||
|
||||
/* Default exit sequence for state on */
|
||||
static void exseq_main_region_on(Statechart* handle)
|
||||
static void exseq_main_region_everything_r1_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;
|
||||
exseq_main_region_everything_r1_on_r1(handle);
|
||||
exseq_main_region_everything_r1_on_r2(handle);
|
||||
handle->stateConfVector[0] = Statechart_main_region_everything;
|
||||
handle->stateConfVector[1] = Statechart_main_region_everything;
|
||||
handle->stateConfVectorPosition = 1;
|
||||
}
|
||||
|
||||
/* Default exit sequence for state responding */
|
||||
static void exseq_main_region_on_r1_responding(Statechart* handle)
|
||||
static void exseq_main_region_everything_r1_on_r1_responding(Statechart* handle)
|
||||
{
|
||||
/* Default exit sequence for state responding */
|
||||
handle->stateConfVector[0] = Statechart_main_region_on;
|
||||
handle->stateConfVector[0] = Statechart_main_region_everything_r1_on;
|
||||
handle->stateConfVectorPosition = 0;
|
||||
}
|
||||
|
||||
/* Default exit sequence for state sensor_error */
|
||||
static void exseq_main_region_on_r1_sensor_error(Statechart* handle)
|
||||
static void exseq_main_region_everything_r1_on_r1_sensor_error(Statechart* handle)
|
||||
{
|
||||
/* Default exit sequence for state sensor_error */
|
||||
handle->stateConfVector[0] = Statechart_main_region_on;
|
||||
handle->stateConfVector[0] = Statechart_main_region_everything_r1_on;
|
||||
handle->stateConfVectorPosition = 0;
|
||||
}
|
||||
|
||||
/* Default exit sequence for state not_pressed */
|
||||
static void exseq_main_region_on_r2_not_pressed(Statechart* handle)
|
||||
static void exseq_main_region_everything_r1_on_r2_not_pressed(Statechart* handle)
|
||||
{
|
||||
/* Default exit sequence for state not_pressed */
|
||||
handle->stateConfVector[1] = Statechart_main_region_on;
|
||||
handle->stateConfVector[1] = Statechart_main_region_everything_r1_on;
|
||||
handle->stateConfVectorPosition = 1;
|
||||
}
|
||||
|
||||
/* Default exit sequence for state pressed */
|
||||
static void exseq_main_region_on_r2_pressed(Statechart* handle)
|
||||
static void exseq_main_region_everything_r1_on_r2_pressed(Statechart* handle)
|
||||
{
|
||||
/* Default exit sequence for state pressed */
|
||||
handle->stateConfVector[1] = Statechart_main_region_on;
|
||||
handle->stateConfVector[1] = Statechart_main_region_everything_r1_on;
|
||||
handle->stateConfVectorPosition = 1;
|
||||
exact_main_region_on_r2_pressed(handle);
|
||||
exact_main_region_everything_r1_on_r2_pressed(handle);
|
||||
}
|
||||
|
||||
/* Default exit sequence for state off */
|
||||
static void exseq_main_region_off(Statechart* handle)
|
||||
/* Default exit sequence for state button0 */
|
||||
static void exseq_main_region_everything_pollButton_button0(Statechart* handle)
|
||||
{
|
||||
/* Default exit sequence for state off */
|
||||
handle->stateConfVector[0] = Statechart_last_state;
|
||||
handle->stateConfVectorPosition = 0;
|
||||
/* Default exit sequence for state button0 */
|
||||
handle->stateConfVector[2] = Statechart_main_region_everything;
|
||||
handle->stateConfVectorPosition = 2;
|
||||
}
|
||||
|
||||
/* Default exit sequence for state button1 */
|
||||
static void exseq_main_region_everything_pollButton_button1(Statechart* handle)
|
||||
{
|
||||
/* Default exit sequence for state button1 */
|
||||
handle->stateConfVector[2] = Statechart_main_region_everything;
|
||||
handle->stateConfVectorPosition = 2;
|
||||
}
|
||||
|
||||
/* Default exit sequence for region main region */
|
||||
|
|
@ -502,19 +606,19 @@ static void exseq_main_region(Statechart* handle)
|
|||
/* Handle exit of all possible states (of Statechart.main_region) at position 0... */
|
||||
switch(handle->stateConfVector[ 0 ])
|
||||
{
|
||||
case Statechart_main_region_on_r1_responding :
|
||||
case Statechart_main_region_everything_r1_off :
|
||||
{
|
||||
exseq_main_region_on_r1_responding(handle);
|
||||
exseq_main_region_everything_r1_off(handle);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_on_r1_sensor_error :
|
||||
case Statechart_main_region_everything_r1_on_r1_responding :
|
||||
{
|
||||
exseq_main_region_on_r1_sensor_error(handle);
|
||||
exseq_main_region_everything_r1_on_r1_responding(handle);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_off :
|
||||
case Statechart_main_region_everything_r1_on_r1_sensor_error :
|
||||
{
|
||||
exseq_main_region_off(handle);
|
||||
exseq_main_region_everything_r1_on_r1_sensor_error(handle);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
|
|
@ -524,14 +628,31 @@ static void exseq_main_region(Statechart* handle)
|
|||
/* 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 :
|
||||
case Statechart_main_region_everything_r1_on_r2_not_pressed :
|
||||
{
|
||||
exseq_main_region_on_r2_not_pressed(handle);
|
||||
exseq_main_region_everything_r1_on_r2_not_pressed(handle);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_on_r2_pressed :
|
||||
case Statechart_main_region_everything_r1_on_r2_pressed :
|
||||
{
|
||||
exseq_main_region_on_r2_pressed(handle);
|
||||
exseq_main_region_everything_r1_on_r2_pressed(handle);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
/* do nothing */
|
||||
break;
|
||||
}
|
||||
/* Handle exit of all possible states (of Statechart.main_region) at position 2... */
|
||||
switch(handle->stateConfVector[ 2 ])
|
||||
{
|
||||
case Statechart_main_region_everything_pollButton_button0 :
|
||||
{
|
||||
exseq_main_region_everything_pollButton_button0(handle);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_everything_pollButton_button1 :
|
||||
{
|
||||
exseq_main_region_everything_pollButton_button1(handle);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
|
|
@ -541,20 +662,20 @@ static void exseq_main_region(Statechart* handle)
|
|||
}
|
||||
|
||||
/* Default exit sequence for region r1 */
|
||||
static void exseq_main_region_on_r1(Statechart* handle)
|
||||
static void exseq_main_region_everything_r1_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... */
|
||||
/* Handle exit of all possible states (of Statechart.main_region.everything.r1.on.r1) at position 0... */
|
||||
switch(handle->stateConfVector[ 0 ])
|
||||
{
|
||||
case Statechart_main_region_on_r1_responding :
|
||||
case Statechart_main_region_everything_r1_on_r1_responding :
|
||||
{
|
||||
exseq_main_region_on_r1_responding(handle);
|
||||
exseq_main_region_everything_r1_on_r1_responding(handle);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_on_r1_sensor_error :
|
||||
case Statechart_main_region_everything_r1_on_r1_sensor_error :
|
||||
{
|
||||
exseq_main_region_on_r1_sensor_error(handle);
|
||||
exseq_main_region_everything_r1_on_r1_sensor_error(handle);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
|
|
@ -564,20 +685,20 @@ static void exseq_main_region_on_r1(Statechart* handle)
|
|||
}
|
||||
|
||||
/* Default exit sequence for region r2 */
|
||||
static void exseq_main_region_on_r2(Statechart* handle)
|
||||
static void exseq_main_region_everything_r1_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... */
|
||||
/* Handle exit of all possible states (of Statechart.main_region.everything.r1.on.r2) at position 1... */
|
||||
switch(handle->stateConfVector[ 1 ])
|
||||
{
|
||||
case Statechart_main_region_on_r2_not_pressed :
|
||||
case Statechart_main_region_everything_r1_on_r2_not_pressed :
|
||||
{
|
||||
exseq_main_region_on_r2_not_pressed(handle);
|
||||
exseq_main_region_everything_r1_on_r2_not_pressed(handle);
|
||||
break;
|
||||
}
|
||||
case Statechart_main_region_on_r2_pressed :
|
||||
case Statechart_main_region_everything_r1_on_r2_pressed :
|
||||
{
|
||||
exseq_main_region_on_r2_pressed(handle);
|
||||
exseq_main_region_everything_r1_on_r2_pressed(handle);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
|
|
@ -587,41 +708,71 @@ static void exseq_main_region_on_r2(Statechart* handle)
|
|||
}
|
||||
|
||||
/* The reactions of state null. */
|
||||
static void react_main_region_on_r1__choice_0(Statechart* handle)
|
||||
static void react_main_region_everything_r1_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);
|
||||
enseq_main_region_everything_r1_on_r1_sensor_error_default(handle);
|
||||
} else
|
||||
{
|
||||
enseq_main_region_on_r1_responding_default(handle);
|
||||
enseq_main_region_everything_r1_on_r1_responding_default(handle);
|
||||
}
|
||||
}
|
||||
|
||||
/* Default react sequence for initial entry */
|
||||
static void react_main_region_on_r1__entry_Default(Statechart* handle)
|
||||
static void react_main_region_everything_r1__entry_Default(Statechart* handle)
|
||||
{
|
||||
/* Default react sequence for initial entry */
|
||||
enseq_main_region_on_r1_responding_default(handle);
|
||||
enseq_main_region_everything_r1_off_default(handle);
|
||||
}
|
||||
|
||||
/* Default react sequence for initial entry */
|
||||
static void react_main_region_on_r2__entry_Default(Statechart* handle)
|
||||
static void react_main_region_everything_r1_on_r1__entry_Default(Statechart* handle)
|
||||
{
|
||||
/* Default react sequence for initial entry */
|
||||
enseq_main_region_on_r2_not_pressed_default(handle);
|
||||
enseq_main_region_everything_r1_on_r1_responding_default(handle);
|
||||
}
|
||||
|
||||
/* Default react sequence for initial entry */
|
||||
static void react_main_region_everything_r1_on_r2__entry_Default(Statechart* handle)
|
||||
{
|
||||
/* Default react sequence for initial entry */
|
||||
enseq_main_region_everything_r1_on_r2_not_pressed_default(handle);
|
||||
}
|
||||
|
||||
/* Default react sequence for initial entry */
|
||||
static void react_main_region_everything_pollButton__entry_Default(Statechart* handle)
|
||||
{
|
||||
/* Default react sequence for initial entry */
|
||||
enseq_main_region_everything_pollButton_button0_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);
|
||||
enseq_main_region_everything_default(handle);
|
||||
}
|
||||
|
||||
|
||||
static sc_integer main_region_on_r1_responding_react(Statechart* handle, const sc_integer transitioned_before)
|
||||
static sc_integer main_region_everything_r1_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->internal.buttonPressed_raised == bool_true)
|
||||
{
|
||||
exseq_main_region_everything_r1_off(handle);
|
||||
enseq_main_region_everything_r1_on_default(handle);
|
||||
transitioned_after = 0;
|
||||
}
|
||||
}
|
||||
return transitioned_after;
|
||||
}
|
||||
|
||||
static sc_integer main_region_everything_r1_on_r1_responding_react(Statechart* handle, const sc_integer transitioned_before)
|
||||
{
|
||||
/* The reactions of state responding. */
|
||||
sc_integer transitioned_after = transitioned_before;
|
||||
|
|
@ -629,15 +780,15 @@ static sc_integer main_region_on_r1_responding_react(Statechart* handle, const s
|
|||
{
|
||||
if (handle->iface.sensor_raised == bool_true)
|
||||
{
|
||||
exseq_main_region_on_r1_responding(handle);
|
||||
react_main_region_on_r1__choice_0(handle);
|
||||
exseq_main_region_everything_r1_on_r1_responding(handle);
|
||||
react_main_region_everything_r1_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)
|
||||
static sc_integer main_region_everything_r1_on_r1_sensor_error_react(Statechart* handle, const sc_integer transitioned_before)
|
||||
{
|
||||
/* The reactions of state sensor_error. */
|
||||
sc_integer transitioned_after = transitioned_before;
|
||||
|
|
@ -645,24 +796,24 @@ static sc_integer main_region_on_r1_sensor_error_react(Statechart* handle, const
|
|||
{
|
||||
if (handle->iface.sensor_raised == bool_true)
|
||||
{
|
||||
exseq_main_region_on_r1_sensor_error(handle);
|
||||
react_main_region_on_r1__choice_0(handle);
|
||||
exseq_main_region_everything_r1_on_r1_sensor_error(handle);
|
||||
react_main_region_everything_r1_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)
|
||||
static sc_integer main_region_everything_r1_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)
|
||||
if (handle->internal.buttonPressed_raised == bool_true)
|
||||
{
|
||||
exseq_main_region_on_r2_not_pressed(handle);
|
||||
enseq_main_region_on_r2_pressed_default(handle);
|
||||
exseq_main_region_everything_r1_on_r2_not_pressed(handle);
|
||||
enseq_main_region_everything_r1_on_r2_pressed_default(handle);
|
||||
transitioned_after = 1;
|
||||
}
|
||||
}
|
||||
|
|
@ -675,24 +826,24 @@ static sc_integer main_region_on_r2_not_pressed_react(Statechart* handle, const
|
|||
return transitioned_after;
|
||||
}
|
||||
|
||||
static sc_integer main_region_on_r2_pressed_react(Statechart* handle, const sc_integer transitioned_before)
|
||||
static sc_integer main_region_everything_r1_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)
|
||||
if (handle->timeEvents.statechart_main_region_everything_r1_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);
|
||||
exseq_main_region_everything_r1_on(handle);
|
||||
handle->timeEvents.statechart_main_region_everything_r1_on_r2_pressed_tev0_raised = bool_false;
|
||||
enseq_main_region_everything_r1_off_default(handle);
|
||||
transitioned_after = 1;
|
||||
} else
|
||||
{
|
||||
if (handle->iface.buttonReleased_raised == bool_true)
|
||||
if (handle->internal.buttonReleased_raised == bool_true)
|
||||
{
|
||||
exseq_main_region_on_r2_pressed(handle);
|
||||
enseq_main_region_on_r2_not_pressed_default(handle);
|
||||
exseq_main_region_everything_r1_on_r2_pressed(handle);
|
||||
enseq_main_region_everything_r1_on_r2_not_pressed_default(handle);
|
||||
transitioned_after = 1;
|
||||
}
|
||||
}
|
||||
|
|
@ -706,17 +857,41 @@ static sc_integer main_region_on_r2_pressed_react(Statechart* handle, const sc_i
|
|||
return transitioned_after;
|
||||
}
|
||||
|
||||
static sc_integer main_region_off_react(Statechart* handle, const sc_integer transitioned_before)
|
||||
static sc_integer main_region_everything_pollButton_button0_react(Statechart* handle, const sc_integer transitioned_before)
|
||||
{
|
||||
/* The reactions of state off. */
|
||||
/* The reactions of state button0. */
|
||||
sc_integer transitioned_after = transitioned_before;
|
||||
if ((transitioned_after) < (0))
|
||||
if ((transitioned_after) < (2))
|
||||
{
|
||||
if (handle->iface.buttonPressed_raised == bool_true)
|
||||
if (((handle->iface.buttonState_raised) == bool_true) && ((handle->iface.buttonState_value) == bool_true))
|
||||
{
|
||||
exseq_main_region_off(handle);
|
||||
enseq_main_region_on_default(handle);
|
||||
transitioned_after = 0;
|
||||
exseq_main_region_everything_pollButton_button0(handle);
|
||||
statechart_add_event_to_queue(&(handle->internal_event_queue), Statechart_internal_buttonPressed);
|
||||
enseq_main_region_everything_pollButton_button1_default(handle);
|
||||
transitioned_after = 2;
|
||||
}
|
||||
}
|
||||
/* 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_everything_pollButton_button1_react(Statechart* handle, const sc_integer transitioned_before)
|
||||
{
|
||||
/* The reactions of state button1. */
|
||||
sc_integer transitioned_after = transitioned_before;
|
||||
if ((transitioned_after) < (2))
|
||||
{
|
||||
if (((handle->iface.buttonState_raised) == bool_true) && ((!(handle->iface.buttonState_value)) == bool_true))
|
||||
{
|
||||
exseq_main_region_everything_pollButton_button1(handle);
|
||||
statechart_add_event_to_queue(&(handle->internal_event_queue), Statechart_internal_buttonReleased);
|
||||
enseq_main_region_everything_pollButton_button0_default(handle);
|
||||
transitioned_after = 2;
|
||||
}
|
||||
}
|
||||
/* If no transition was taken */
|
||||
|
|
@ -804,19 +979,25 @@ static sc_boolean statechart_dispatch_event(Statechart* handle, const statechart
|
|||
handle->iface.sensor_value = event->value.Statechart_sensor_value;
|
||||
return bool_true;
|
||||
}
|
||||
case Statechart_buttonPressed:
|
||||
case Statechart_buttonState:
|
||||
{
|
||||
handle->iface.buttonPressed_raised = bool_true;
|
||||
handle->iface.buttonState_raised = bool_true;
|
||||
handle->iface.buttonState_value = event->value.Statechart_buttonState_value;
|
||||
return bool_true;
|
||||
}
|
||||
case Statechart_buttonReleased:
|
||||
case Statechart_internal_buttonPressed:
|
||||
{
|
||||
handle->iface.buttonReleased_raised = bool_true;
|
||||
handle->internal.buttonPressed_raised = bool_true;
|
||||
return bool_true;
|
||||
}
|
||||
case Statechart_Statechart_main_region_on_r2_pressed_time_event_0:
|
||||
case Statechart_internal_buttonReleased:
|
||||
{
|
||||
handle->timeEvents.statechart_main_region_on_r2_pressed_tev0_raised = bool_true;
|
||||
handle->internal.buttonReleased_raised = bool_true;
|
||||
return bool_true;
|
||||
}
|
||||
case Statechart_Statechart_main_region_everything_r1_on_r2_pressed_time_event_0:
|
||||
{
|
||||
handle->timeEvents.statechart_main_region_everything_r1_on_r2_pressed_tev0_raised = bool_true;
|
||||
return bool_true;
|
||||
}
|
||||
default:
|
||||
|
|
@ -828,7 +1009,10 @@ 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) {
|
||||
if(statechart_eventqueue_size(&(handle->internal_event_queue)) > 0) {
|
||||
next_event = statechart_eventqueue_pop(&(handle->internal_event_queue));
|
||||
}
|
||||
else if(statechart_eventqueue_size(&(handle->in_event_queue)) > 0) {
|
||||
next_event = statechart_eventqueue_pop(&(handle->in_event_queue));
|
||||
}
|
||||
return next_event;
|
||||
|
|
@ -843,8 +1027,8 @@ static sc_boolean statechart_dispatch_next_event(Statechart* handle)
|
|||
|
||||
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;
|
||||
if(evid == &handle->timeEvents.statechart_main_region_everything_r1_on_r2_pressed_tev0_raised) {
|
||||
return Statechart_Statechart_main_region_everything_r1_on_r2_pressed_time_event_0;
|
||||
}
|
||||
return Statechart_invalid_event;
|
||||
}
|
||||
|
|
@ -860,6 +1044,9 @@ static void statechart_event_value_init(statechart_event * ev, StatechartEventID
|
|||
case Statechart_sensor:
|
||||
ev->value.Statechart_sensor_value = *((int32_t*)value);
|
||||
break;
|
||||
case Statechart_buttonState:
|
||||
ev->value.Statechart_buttonState_value = *((sc_boolean*)value);
|
||||
break;
|
||||
default:
|
||||
/* do nothing */
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -35,6 +35,7 @@ typedef struct StatechartTimeEvents StatechartTimeEvents;
|
|||
#include "../src/sc_types.h"
|
||||
#include "../src/sc_rxc.h"
|
||||
#include "../src/sc_rxc_int32_t.h"
|
||||
#include "../src/sc_rxc_bool.h"
|
||||
#include "../src/sc_rxc_int32_t.h"
|
||||
#include "../src/sc_rxc_int32_t.h"
|
||||
|
||||
|
|
@ -52,30 +53,37 @@ Header of the state machine 'Statechart'.
|
|||
#ifndef STATECHART_IN_EVENTQUEUE_BUFFERSIZE
|
||||
#define STATECHART_IN_EVENTQUEUE_BUFFERSIZE STATECHART_EVENTQUEUE_BUFFERSIZE
|
||||
#endif
|
||||
#ifndef STATECHART_INTERNAL_EVENTQUEUE_BUFFERSIZE
|
||||
#define STATECHART_INTERNAL_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 STATECHART_STATE_COUNT 9
|
||||
|
||||
/*! Define dimension of the state configuration vector for orthogonal states. */
|
||||
#define STATECHART_MAX_ORTHOGONAL_STATES 2
|
||||
#define STATECHART_MAX_ORTHOGONAL_STATES 3
|
||||
/*! 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
|
||||
#define SCVI_STATECHART_MAIN_REGION_EVERYTHING 0
|
||||
#define SCVI_STATECHART_MAIN_REGION_EVERYTHING_R1_OFF 0
|
||||
#define SCVI_STATECHART_MAIN_REGION_EVERYTHING_R1_ON 0
|
||||
#define SCVI_STATECHART_MAIN_REGION_EVERYTHING_R1_ON_R1_RESPONDING 0
|
||||
#define SCVI_STATECHART_MAIN_REGION_EVERYTHING_R1_ON_R1_SENSOR_ERROR 0
|
||||
#define SCVI_STATECHART_MAIN_REGION_EVERYTHING_R1_ON_R2_NOT_PRESSED 1
|
||||
#define SCVI_STATECHART_MAIN_REGION_EVERYTHING_R1_ON_R2_PRESSED 1
|
||||
#define SCVI_STATECHART_MAIN_REGION_EVERYTHING_POLLBUTTON_BUTTON0 2
|
||||
#define SCVI_STATECHART_MAIN_REGION_EVERYTHING_POLLBUTTON_BUTTON1 2
|
||||
|
||||
/*
|
||||
* Union of all possible event value types.
|
||||
*/
|
||||
typedef union {
|
||||
int32_t Statechart_sensor_value;
|
||||
sc_boolean Statechart_buttonState_value;
|
||||
} statechart_event_value;
|
||||
|
||||
/*
|
||||
|
|
@ -84,9 +92,10 @@ typedef union {
|
|||
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
|
||||
Statechart_buttonState,
|
||||
Statechart_internal_buttonPressed,
|
||||
Statechart_internal_buttonReleased,
|
||||
Statechart_Statechart_main_region_everything_r1_on_r2_pressed_time_event_0
|
||||
} StatechartEventID;
|
||||
|
||||
/*
|
||||
|
|
@ -113,12 +122,15 @@ typedef struct statechart_eventqueue_s {
|
|||
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
|
||||
Statechart_main_region_everything,
|
||||
Statechart_main_region_everything_r1_off,
|
||||
Statechart_main_region_everything_r1_on,
|
||||
Statechart_main_region_everything_r1_on_r1_responding,
|
||||
Statechart_main_region_everything_r1_on_r1_sensor_error,
|
||||
Statechart_main_region_everything_r1_on_r2_not_pressed,
|
||||
Statechart_main_region_everything_r1_on_r2_pressed,
|
||||
Statechart_main_region_everything_pollButton_button0,
|
||||
Statechart_main_region_everything_pollButton_button1
|
||||
} StatechartStates;
|
||||
|
||||
|
||||
|
|
@ -129,8 +141,8 @@ struct StatechartIface
|
|||
{
|
||||
sc_boolean sensor_raised;
|
||||
int32_t sensor_value;
|
||||
sc_boolean buttonPressed_raised;
|
||||
sc_boolean buttonReleased_raised;
|
||||
sc_boolean buttonState_raised;
|
||||
sc_boolean buttonState_value;
|
||||
sc_observable_int32_t setMotorR;
|
||||
sc_observable_int32_t setMotorL;
|
||||
};
|
||||
|
|
@ -140,6 +152,8 @@ struct StatechartIface
|
|||
/*! Type declaration of the data structure for the StatechartInternal interface scope. */
|
||||
struct StatechartInternal
|
||||
{
|
||||
sc_boolean buttonPressed_raised;
|
||||
sc_boolean buttonReleased_raised;
|
||||
int32_t speed;
|
||||
pid_vars_t pid_vars;
|
||||
};
|
||||
|
|
@ -149,7 +163,7 @@ struct StatechartInternal
|
|||
/*! Type declaration of the data structure for the StatechartTimeEvents interface scope. */
|
||||
struct StatechartTimeEvents
|
||||
{
|
||||
sc_boolean statechart_main_region_on_r2_pressed_tev0_raised;
|
||||
sc_boolean statechart_main_region_everything_r1_on_r2_pressed_tev0_raised;
|
||||
};
|
||||
|
||||
|
||||
|
|
@ -169,6 +183,8 @@ struct Statechart
|
|||
StatechartTimeEvents timeEvents;
|
||||
sc_boolean isExecuting;
|
||||
sc_integer stateConfVectorPosition;
|
||||
statechart_eventqueue internal_event_queue;
|
||||
statechart_event internal_buffer[STATECHART_INTERNAL_EVENTQUEUE_BUFFERSIZE];
|
||||
statechart_eventqueue in_event_queue;
|
||||
statechart_event in_buffer[STATECHART_IN_EVENTQUEUE_BUFFERSIZE];
|
||||
};
|
||||
|
|
@ -196,10 +212,8 @@ 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, int32_t 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);
|
||||
/*! Raises the in event 'buttonState' that is defined in the default interface scope. */
|
||||
extern void statechart_raise_buttonState(Statechart* handle, sc_boolean value);
|
||||
/*! Returns the observable for the out event 'setMotorR' that is defined in the default interface scope. */
|
||||
extern sc_observable_int32_t* statechart_get_setMotorR(Statechart* handle);
|
||||
|
||||
|
|
|
|||
6
robot_cdt/src/sc_rxc_bool.c
Normal file
6
robot_cdt/src/sc_rxc_bool.c
Normal file
|
|
@ -0,0 +1,6 @@
|
|||
/* Generated by itemis CREATE code generator. */
|
||||
|
||||
#include "sc_rxc_bool.h"
|
||||
|
||||
define_sc_reactive_extensions(bool)
|
||||
|
||||
19
robot_cdt/src/sc_rxc_bool.h
Normal file
19
robot_cdt/src/sc_rxc_bool.h
Normal file
|
|
@ -0,0 +1,19 @@
|
|||
/* Generated by itemis CREATE code generator. */
|
||||
|
||||
#ifndef SC_RXC_BOOL_H_
|
||||
#define SC_RXC_BOOL_H_
|
||||
|
||||
#include "sc_rxc.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
declare_sc_reactive_extensions(bool)
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
#endif /* SC_RXC_BOOL_H_ */
|
||||
Loading…
Add table
Add a link
Reference in a new issue