pelican.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 "bsp.h"
#include "pelican.h"

/* Pelican class -----------------------------------------------------------*/
static QSTATE Pelican_initial(Pelican *me);
static QSTATE Pelican_offline(Pelican *me);
static QSTATE Pelican_offFlash(Pelican *me);
static QSTATE Pelican_offPause(Pelican *me);
static QSTATE Pelican_operational(Pelican *me);
static QSTATE Pelican_carsEnabled(Pelican *me);
static QSTATE Pelican_carsGreen(Pelican *me);
static QSTATE Pelican_carsGreenNoPed(Pelican *me);
static QSTATE Pelican_carsGreenPedWait(Pelican *me);
static QSTATE Pelican_carsGreenInt(Pelican *me);
static QSTATE Pelican_carsYellow(Pelican *me);
static QSTATE Pelican_pedsEnabled(Pelican *me);
static QSTATE Pelican_pedsWalk(Pelican *me);
static QSTATE Pelican_pedsFlash(Pelican *me);

/*--------------------------------------------------------------------------*/
enum PelicanTimeouts {                         /* various timeouts in ticks */
    CARS_GREEN_MIN_TOUT = BSP_TICKS_PER_SEC * 8,      /* min green for cars */
    CARS_YELLOW_TOUT = BSP_TICKS_PER_SEC * 3,            /* yellow for cars */
    PEDS_WALK_TOUT   = BSP_TICKS_PER_SEC * 3,      /* walking time for peds */
    PEDS_FLASH_TOUT  = BSP_TICKS_PER_SEC / 5,  /* flashing timeout for peds */
    PEDS_FLASH_NUM   = 5*2,                   /* number of flashes for peds */
    OFF_FLASH_TOUT   = BSP_TICKS_PER_SEC / 2   /* flashing timeout when off */
};

/*..........................................................................*/
void Pelican_ctor(Pelican *me) {
    QActive_ctor(me, &Pelican_initial);
}

/* HSM definition ----------------------------------------------------------*/
QSTATE Pelican_initial(Pelican *me) {
    switch (Q_SIG(me)) {
        case Q_TOP_INIT_SIG: {
            Q_TRAN(&Pelican_operational);
            return (QSTATE)0;
        }
    }
    return (QSTATE)&QHsm_top;
}
/*..........................................................................*/
QSTATE Pelican_operational(Pelican *me) {
    switch (Q_SIG(me)) {
        case Q_ENTRY_SIG: {
            BSP_signalCars(CARS_RED);
            BSP_signalPeds(PEDS_DONT_WALK);
            return (QSTATE)0;
        }
        case Q_INIT_SIG: {
            Q_INIT(&Pelican_carsEnabled);
            return (QSTATE)0;
        }
        case OFF_SIG: {
            Q_TRAN(&Pelican_offline);
            return (QSTATE)0;
        }
    }
    return (QSTATE)&QHsm_top;
}
/*..........................................................................*/
QSTATE Pelican_carsEnabled(Pelican *me) {
    switch (Q_SIG(me)) {
        case Q_EXIT_SIG: {
            BSP_signalCars(CARS_RED);
            return (QSTATE)0;
        }
        case Q_INIT_SIG: {
            Q_INIT(&Pelican_carsGreen);
            return (QSTATE)0;
        }
    }
    return (QSTATE)&Pelican_operational;
}
/*..........................................................................*/
QSTATE Pelican_carsGreen(Pelican *me) {
    switch (Q_SIG(me)) {
        case Q_ENTRY_SIG: {
            QActive_arm((QActive *)me, CARS_GREEN_MIN_TOUT);
            BSP_signalCars(CARS_GREEN);
            return (QSTATE)0;
        }
        case Q_INIT_SIG: {
            Q_INIT(&Pelican_carsGreenNoPed);
            return (QSTATE)0;
        }
        case Q_TIMEOUT_SIG: {
            Q_TRAN(&Pelican_carsGreenInt);
            return (QSTATE)0;
        }
    }
    return (QSTATE)&Pelican_carsEnabled;
}
/*..........................................................................*/
QSTATE Pelican_carsGreenNoPed(Pelican *me) {
    switch (Q_SIG(me)) {
        case Q_ENTRY_SIG: {
            BSP_showState(PELICAN_PRIO, "carsGreenNoPed");
            return (QSTATE)0;
        }
        case PEDS_WAITING_SIG: {
            Q_TRAN(&Pelican_carsGreenPedWait);
            return (QSTATE)0;
        }
    }
    return (QSTATE)&Pelican_carsGreen;
}
/*..........................................................................*/
QSTATE Pelican_carsGreenPedWait(Pelican *me) {
    switch (Q_SIG(me)) {
        case Q_ENTRY_SIG: {
            BSP_showState(PELICAN_PRIO, "carsGreenPedWait");
            return (QSTATE)0;
        }
        case Q_TIMEOUT_SIG: {
            Q_TRAN(&Pelican_carsYellow);
            return (QSTATE)0;
        }
    }
    return (QSTATE)&Pelican_carsGreen;
}
/*..........................................................................*/
QSTATE Pelican_carsGreenInt(Pelican *me) {
    switch (Q_SIG(me)) {
        case Q_ENTRY_SIG: {
            BSP_showState(PELICAN_PRIO, "carsGreenInt");
            return (QSTATE)0;
        }
        case PEDS_WAITING_SIG: {
            Q_TRAN(&Pelican_carsYellow);
            return (QSTATE)0;
        }
    }
    return (QSTATE)&Pelican_carsEnabled;
}
/*..........................................................................*/
QSTATE Pelican_carsYellow(Pelican *me) {
    switch (Q_SIG(me)) {
        case Q_ENTRY_SIG: {
            BSP_showState(PELICAN_PRIO, "carsYellow");
            QActive_arm((QActive *)me, CARS_YELLOW_TOUT);
            BSP_signalCars(CARS_YELLOW);
            return (QSTATE)0;
        }
        case Q_TIMEOUT_SIG: {
            Q_TRAN(&Pelican_pedsEnabled);
            return (QSTATE)0;
        }
    }
    return (QSTATE)&Pelican_carsEnabled;
}
/*..........................................................................*/
QSTATE Pelican_pedsEnabled(Pelican *me) {
    switch (Q_SIG(me)) {
        case Q_EXIT_SIG: {
            BSP_signalPeds(PEDS_DONT_WALK);
            return (QSTATE)0;
        }
        case Q_INIT_SIG: {
            Q_INIT(&Pelican_pedsWalk);
            return (QSTATE)0;
        }
    }
    return (QSTATE)&Pelican_operational;
}
/*..........................................................................*/
QSTATE Pelican_pedsWalk(Pelican *me) {
    switch (Q_SIG(me)) {
        case Q_ENTRY_SIG: {
            BSP_showState(PELICAN_PRIO, "pedsWalk");
            QActive_arm((QActive *)me, PEDS_WALK_TOUT);
            BSP_signalPeds(PEDS_WALK);
            return (QSTATE)0;
        }
        case Q_TIMEOUT_SIG: {
            Q_TRAN(&Pelican_pedsFlash);
            return (QSTATE)0;
        }
    }
    return (QSTATE)&Pelican_pedsEnabled;
}
/*..........................................................................*/
QSTATE Pelican_pedsFlash(Pelican *me) {
    switch (Q_SIG(me)) {
        case Q_ENTRY_SIG: {
            BSP_showState(PELICAN_PRIO, "pedsWalk");
            QActive_arm((QActive *)me, PEDS_FLASH_TOUT);
            me->pedFlashCtr__ = PEDS_FLASH_NUM*2 + 1;
            return (QSTATE)0;
        }
        case Q_TIMEOUT_SIG: {
            if (me->pedFlashCtr__ != 0) {                /* still flashing? */
                if ((me->pedFlashCtr__ & 1) == 0) {        /* even counter? */
                    BSP_signalPeds(PEDS_DONT_WALK);
                }
                else {                               /* must be odd counter */
                    BSP_signalPeds(PEDS_BLANK);
                }
                --me->pedFlashCtr__;
                QActive_arm((QActive *)me, PEDS_FLASH_TOUT);
            }
            else {                                         /* done flashing */
                Q_TRAN(&Pelican_carsEnabled);
            }
            return (QSTATE)0;
        }
    }
    return (QSTATE)&Pelican_pedsEnabled;
}
/*..........................................................................*/
QSTATE Pelican_offline(Pelican *me) {
    switch (Q_SIG(me)) {
        case Q_INIT_SIG: {
            Q_INIT(&Pelican_offFlash);
            return (QSTATE)0;
        }
        case ON_SIG: {
            Q_TRAN(&Pelican_operational);
            return (QSTATE)0;
        }
    }
    return (QSTATE)&QHsm_top;
}
/*..........................................................................*/
QSTATE Pelican_offFlash(Pelican *me) {
    switch (Q_SIG(me)) {
        case Q_ENTRY_SIG: {
            BSP_showState(PELICAN_PRIO, "offFlash");
            QActive_arm((QActive *)me, OFF_FLASH_TOUT);
            BSP_signalCars(CARS_YELLOW);
            BSP_signalPeds(PEDS_DONT_WALK);
            return (QSTATE)0;
        }
        case Q_TIMEOUT_SIG: {
            Q_TRAN(&Pelican_offPause);
            return (QSTATE)0;
        }
    }
    return (QSTATE)&Pelican_offline;
}
/*..........................................................................*/
QSTATE Pelican_offPause(Pelican *me) {
    switch (Q_SIG(me)) {
        case Q_ENTRY_SIG: {
            BSP_showState(PELICAN_PRIO, "offPause");
            QActive_arm((QActive *)me, OFF_FLASH_TOUT);
            BSP_signalCars(CARS_OFF);
            BSP_signalPeds(PEDS_BLANK);
            return (QSTATE)0;
        }
        case Q_TIMEOUT_SIG: {
            Q_TRAN(&Pelican_offFlash);
            return (QSTATE)0;
        }
    }
    return (QSTATE)&Pelican_offline;
}