teaching/montenegro
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

fix everything

Browse source
This commit is contained in:
Joeri Exelmans 2025-06-04 17:43:29 +02:00
parent e8f246cfa5
commit 675efff85c
8 changed files with 71 additions and 41 deletions
Download patch file Download diff file Expand all files Collapse all files

34
robot_cdt/src-gen/Statechart.c
View file

@ -68,7 +68,7 @@ static void run_cycle(Statechart* handle);
static void statechart_internal_set_speed(Statechart* handle, sc_real value)
static void statechart_internal_set_speed(Statechart* handle, int32_t value)
;
static void statechart_internal_set_pid_vars(Statechart* handle, pid_vars_t value)
;
@ -100,11 +100,11 @@ void statechart_init(Statechart* handle)
clear_in_events(handle);
sc_observable_sc_real_init(&handle->iface.setMotorR);
sc_observable_sc_real_init(&handle->iface.setMotorL);
sc_observable_int32_t_init(&handle->iface.setMotorR);
sc_observable_int32_t_init(&handle->iface.setMotorL);
/* Default init sequence for statechart Statechart */
statechart_internal_set_speed(handle, 0.0);
statechart_internal_set_speed(handle, 0);
handle->isExecuting = bool_false;
statechart_eventqueue_init(&handle->in_event_queue, handle->in_buffer, STATECHART_IN_EVENTQUEUE_BUFFERSIZE);
@ -287,7 +287,7 @@ static void run_cycle(Statechart* handle)
}
void statechart_raise_sensor(Statechart* handle, sc_real value)
void statechart_raise_sensor(Statechart* handle, int32_t value)
{
statechart_add_value_event_to_queue(&(handle->in_event_queue), Statechart_sensor, &value);
run_cycle(handle);
@ -306,17 +306,17 @@ void statechart_raise_buttonReleased(Statechart* handle)
}
sc_observable_sc_real* statechart_get_setMotorR(Statechart* handle)
sc_observable_int32_t* statechart_get_setMotorR(Statechart* handle)
{
return &handle->iface.setMotorR;
}
sc_observable_sc_real* statechart_get_setMotorL(Statechart* handle)
sc_observable_int32_t* statechart_get_setMotorL(Statechart* handle)
{
return &handle->iface.setMotorL;
}
static void statechart_internal_set_speed(Statechart* handle, sc_real value)
static void statechart_internal_set_speed(Statechart* handle, int32_t value)
{
handle->internal.speed = value;
}
@ -334,12 +334,12 @@ 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);
int32_t iface_setMotorL_value = handle->internal.speed;
sc_observable_int32_t_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);
int32_t iface_setMotorR_value = handle->internal.speed;
sc_observable_int32_t_next(&handle->iface.setMotorR, iface_setMotorR_value);
};
}
@ -348,12 +348,12 @@ 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);
int32_t iface_setMotorL_value = 1;
sc_observable_int32_t_next(&handle->iface.setMotorL, iface_setMotorL_value);
};
{
sc_real iface_setMotorR_value = -(1);
sc_observable_sc_real_next(&handle->iface.setMotorR, iface_setMotorR_value);
int32_t iface_setMotorR_value = -(1);
sc_observable_int32_t_next(&handle->iface.setMotorR, iface_setMotorR_value);
};
}
@ -858,7 +858,7 @@ static void statechart_event_value_init(statechart_event * ev, StatechartEventID
switch(name)
{
case Statechart_sensor:
ev->value.Statechart_sensor_value = *((sc_real*)value);
ev->value.Statechart_sensor_value = *((int32_t*)value);
break;
default:
/* do nothing */

19
robot_cdt/src-gen/Statechart.h
View file

@ -34,6 +34,9 @@ typedef struct StatechartTimeEvents StatechartTimeEvents;
#include "../src/data_types.h"
#include "../src/sc_types.h"
#include "../src/sc_rxc.h"
#include "../src/sc_rxc_int32_t.h"
#include "../src/sc_rxc_int32_t.h"
#include "../src/sc_rxc_int32_t.h"
#ifdef __cplusplus
extern "C" {
@ -72,7 +75,7 @@ Header of the state machine 'Statechart'.
* Union of all possible event value types.
*/
typedef union {
sc_real Statechart_sensor_value;
int32_t Statechart_sensor_value;
} statechart_event_value;
/*
@ -125,11 +128,11 @@ typedef enum
struct StatechartIface
{
sc_boolean sensor_raised;
sc_real sensor_value;
int32_t sensor_value;
sc_boolean buttonPressed_raised;
sc_boolean buttonReleased_raised;
sc_observable_sc_real setMotorR;
sc_observable_sc_real setMotorL;
sc_observable_int32_t setMotorR;
sc_observable_int32_t setMotorL;
};
@ -137,7 +140,7 @@ struct StatechartIface
/*! Type declaration of the data structure for the StatechartInternal interface scope. */
struct StatechartInternal
{
sc_real speed;
int32_t speed;
pid_vars_t pid_vars;
};
@ -192,16 +195,16 @@ extern void statechart_trigger_without_event(Statechart* handle);
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);
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);
/*! 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);
extern sc_observable_int32_t* 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);
extern sc_observable_int32_t* statechart_get_setMotorL(Statechart* handle);
/*!

2
robot_cdt/src-gen/Statechart_required.h
View file

@ -27,7 +27,7 @@ There are some constraints that have to be considered for the implementation of
- 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);
extern int32_t statechart_pid( Statechart* handle, const int32_t sensor, const pid_vars_t pid_vars);