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Mastermachine C

This C code defines a top level state machine called MasterMachine for a robot project. It includes header files for lower level state machines. The InitMaster function initializes hardware and lower level state machines. RunMaster is the run function that processes events by calling the lower level DuringMaster function. StartMaster initializes for this state machine. DuringMaster processes ES_ENTRY, ES_EXIT events and starts lower level state machines.

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226 views

Mastermachine C

This C code defines a top level state machine called MasterMachine for a robot project. It includes header files for lower level state machines. The InitMaster function initializes hardware and lower level state machines. RunMaster is the run function that processes events by calling the lower level DuringMaster function. StartMaster initializes for this state machine. DuringMaster processes ES_ENTRY, ES_EXIT events and starts lower level state machines.

Uploaded by

api-272643960
Copyright
© © All Rights Reserved
Available Formats
Download as RTF, PDF, TXT or read online on Scribd
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/****************************************************************************

Module
MasterMachine.c
Description
Top level state machine for robot project
****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
/* include header files for this state machine as well as any machines at the
next lower level in the hierarchy that are sub-machines to this machine
*/
#include "ES_Configure.h"
#include "ES_Framework.h"
#include "DRS.h"
#include "MasterMachine.h"
#include "ActionMachine.h"
#include "DriveMotorService.h"
#include "InputCapture.h"
#include "TargetTracking.h"
#include "BallShooting.h"
#include "IRSensor.h"
#include "SendCommand.h"
#include "LED.h"
#include
#include
#include
#include
#include
#include
#include
#include

"inc/hw_memmap.h"
"inc/hw_gpio.h"
"inc/hw_ssi.h"
"inc/hw_sysctl.h"
"inc/hw_types.h"
"inc/hw_nvic.h"
"bitdefs.h"
"ADMulti.h"

/*----------------------------- Module Defines ----------------------------*/


#define BitsPerNibble 4
/*---------------------------- Module Functions ---------------------------*/
/*---------------------------- Module Variables ---------------------------*/
// with the introduction of Gen2, we need a module level Priority var as well
static uint8_t MyPriority;
/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function
InitMasterSM
Parameters
uint8_t : the priorty of this service
Returns
boolean, False if error in initialization, True otherwise
Description
****************************************************************************/
bool InitMaster( uint8_t Priority )
{
ES_Event ThisEvent;
MyPriority = Priority;

// save our priority

ThisEvent.EventType = ES_ENTRY;
MyPriority = Priority;
//Initialize hardware
InitDriveMotorService();
InitTargetTrackingControl();
InitDRS();
InitBallShooting();
InitLED();
ADC_MultiInit(2);
//Read value from potentiometer
uint32_t PotReading[2];
ADC_MultiRead(PotReading);
uint8_t n = 0;
//Kart 1
if(PotReading[1] > 2400) {
n = 1;
}
//kart 2
else if(PotReading[1] > 1300) {
n = 2;
}
//kart 3
else {
n = 3;
}
printf("Kart number is: %d\r\n",n);
//write kart number
SetKartNumber(n);
// start state machine
StartMaster( ThisEvent );
printf("InitMaster Complete\r\n");
return true;
}
/****************************************************************************
Function
PostMasterSM
Parameters
ES_Event ThisEvent , the event to post to the queue
Returns
boolean False if the post operation failed, True otherwise
Description
Posts an event to this state machine's queue
****************************************************************************/
bool PostMaster( ES_Event ThisEvent )
{
return ES_PostToService( MyPriority, ThisEvent);
}
/****************************************************************************
Function
RunMasterSM
Parameters

ES_Event: the event to process


Returns
ES_Event: an event to return
Description
the run function for the top level state machine
****************************************************************************/
ES_Event RunMaster( ES_Event CurrentEvent )
{
ES_Event ReturnEvent = { ES_NO_EVENT, 0 }; // assume no error
//
//
//
//

If current state is state one


Execute During function for state one. ES_ENTRY & ES_EXIT are
processed here allow the lowere level state machines to re-map
or consume the event

CurrentEvent = DuringMaster(CurrentEvent);
// No events to process
// in the absence of an error the top level state machine should
// always return ES_NO_EVENT, which we initialized at the top of func
return(ReturnEvent);
}
/****************************************************************************
Function
StartMasterSM
Parameters
ES_Event CurrentEvent
Returns
nothing
Description
Does any required initialization for this state machine
Notes
Author
J. Edward Carryer, 02/06/12, 22:15
****************************************************************************/
void StartMaster( ES_Event CurrentEvent )
{
//call run master
RunMaster(CurrentEvent);
return;
}
/***************************************************************************
private functions
***************************************************************************/
static ES_Event DuringMaster( ES_Event Event)
{
ES_Event ReturnEvent = Event; // assme no re-mapping or comsumption
// process ES_ENTRY, ES_ENTRY_HISTORY & ES_EXIT events
if ( (Event.EventType == ES_ENTRY) ||
(Event.EventType == ES_ENTRY_HISTORY) )
{
// implement any entry actions required for this state machine

printf("HIGHEST SM STATE: Master\r\n");


// after that start any lower level machines that run in this state
// repeat the StartxxxSM() functions for concurrent state machines
// on the lower level
StartAction(Event);
StartDRS(Event);
}
else if ( Event.EventType == ES_EXIT )
{
// on exit, give the lower levels a chance to clean up first
RunAction(Event);
RunDRS(Event);
// repeat for any concurrently running state machines
// now do any local exit functionality

}else
// do the 'during' function for this state
{
// run any lower level state machine
ReturnEvent = RunAction(Event);
ReturnEvent = RunDRS(Event);
}
// return either Event, if you don't want to allow the lower level machine
// to remap the current event, or ReturnEvent if you do want to allow it.
return(ReturnEvent);

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