ped.c

a super good method for designing finite state machine

/*****************************************************************************
* PELICAN crossing example
* Last Updated for Version: 1.5.00
* Date of the Last Update:  Sep 17, 2006
*
* Copyright (C) 2002-2006 Quantum Leaps, LLC. All rights reserved.
*
* This software may be distributed and modified under the terms of the GNU
* General Public License version 2 (GPL) as published by the Free Software
* Foundation and appearing in the file GPL.TXT included in the packaging of
* this file. Please note that GPL Section 2[b] requires that all works based
* on this software must also be made publicly available under the terms of
* the GPL ("Copyleft").
*
* Alternatively, this software may be distributed and modified under the
* terms of Quantum Leaps commercial licenses, which expressly allow the
* licensees to retain the proprietary status of their code. The licensees
* who use this software under one of Quantum Leaps commercial licenses do
* not use this software under the GPL and therefore are not subject to any
* of its terms.
*
* Contact information:
* Quantum Leaps Web site:  http://www.quantum-leaps.com
* Quantum Leaps licensing: http://www.quantum-leaps.com/licensing
* Quantum Leaps products:  http://www.quantum-leaps.com/products
* e-mail:                  [e-mail]
*****************************************************************************/
#include "qpn_port.h"
#include "qassert.h"
#include "bsp.h"
#include "pelican.h"

/*--------------------------------------------------------------------------*/
static QSTATE Ped_initial(Ped *me);
static QSTATE Ped_on(Ped *me);
static QSTATE Ped_wait(Ped *me);
static QSTATE Ped_off(Ped *me);

/*--------------------------------------------------------------------------*/
enum PedTimeouts {                             /* various timeouts in ticks */
    ON_TOUT   = BSP_TICKS_PER_SEC * 4,    /* wait time after posting ON_SIG */
    WAIT_TOUT = BSP_TICKS_PER_SEC * 3,  /* wait between posting PED_WAITING */
    OFF_TOUT  = BSP_TICKS_PER_SEC * 8    /* wait time after posting OFF_SIG */
};

/*..........................................................................*/
void Ped_ctor(Ped *me, uint8_t retry) {
    QActive_ctor(me, &Ped_initial);
    me->retry__ = retry;                           /* the number of retries */
}

/* HSM definition ----------------------------------------------------------*/
QSTATE Ped_initial(Ped *me) {
    switch (Q_SIG(me)) {
        case Q_TOP_INIT_SIG: {
            Q_TRAN(&Ped_on);
            return (QSTATE)0;
        }
    }
    return (QSTATE)&QHsm_top;
}
/*..........................................................................*/
QSTATE Ped_on(Ped *me) {
    switch (Q_SIG(me)) {
        case Q_ENTRY_SIG: {
            BSP_showState(PED_PRIO, "on");
            QActive_arm((QActive *)me, ON_TOUT);
            return (QSTATE)0;
        }
        case Q_TIMEOUT_SIG: {
            me->retryCtr__ = me->retry__;
            Q_TRAN(&Ped_wait);
            return (QSTATE)0;
        }
    }
    return (QSTATE)&QHsm_top;
}
/*..........................................................................*/
QSTATE Ped_wait(Ped *me) {
    switch (Q_SIG(me)) {
        case Q_ENTRY_SIG: {
            BSP_showState(PED_PRIO, "wait");
            QActive_arm((QActive *)me, WAIT_TOUT);
            QF_post(PELICAN_PRIO, PEDS_WAITING_SIG, 0);
            return (QSTATE)0;
        }
        case Q_TIMEOUT_SIG: {
            if ((me->retryCtr__--) != 0) {
                Q_TRAN(&Ped_wait);                    /* transition-to-self */
            }
            else {
                Q_TRAN(&Ped_off);
            }
            return (QSTATE)0;
        }
    }
    return (QSTATE)&QHsm_top;
}
/*..........................................................................*/
QSTATE Ped_off(Ped *me) {
    switch (Q_SIG(me)) {
        case Q_ENTRY_SIG: {
            BSP_showState(PED_PRIO, "off");
            QActive_arm((QActive *)me, OFF_TOUT);
            QF_post(PELICAN_PRIO, OFF_SIG, 0);
            return (QSTATE)0;
        }
        case Q_EXIT_SIG: {
            QF_post(PELICAN_PRIO, ON_SIG, 0);
            return (QSTATE)0;
        }
        case Q_TIMEOUT_SIG: {
            Q_TRAN(&Ped_on);
            return (QSTATE)0;
        }
    }
    return (QSTATE)&QHsm_top;
}