/
TaskMainSM.cpp
82 lines (71 loc) · 2.41 KB
/
TaskMainSM.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
#include <assert.h>
#include "TaskMainSM.h"
/**External Event Transition Definitions**/
TaskMainSM::TaskMainSM() : StateMachine(ST_MAX_STATES)
{
}
// Trigger States waiting for a touch event
void TaskMainSM::Touch(LightData* lData)
{
// given the Touch event, transition to a new state based upon
// the current state of the state machine
BEGIN_TRANSITION_MAP // - Current State -
TRANSITION_MAP_ENTRY (ST_FIND) // ST_Start
TRANSITION_MAP_ENTRY (EVENT_IGNORED) // ST_Find
TRANSITION_MAP_ENTRY (EVENT_IGNORED) // ST_Track
TRANSITION_MAP_ENTRY (ST_TRACK) // ST_Idle
END_TRANSITION_MAP(lData)
}
//The general run call for SM
void TaskMainSM::Run(LightData* lData)
{
// given the Run event, transition to a new state based upon
// the current state of the state machine
BEGIN_TRANSITION_MAP // - Current State -
TRANSITION_MAP_ENTRY (EVENT_IGNORED) // ST_Start
TRANSITION_MAP_ENTRY (ST_FIND) // ST_Find
TRANSITION_MAP_ENTRY (ST_TRACK) // ST_Track
TRANSITION_MAP_ENTRY (EVENT_IGNORED) // ST_Idle
END_TRANSITION_MAP(lData)
}
//Go back to the Start state
void TaskMainSM::Reset(void)
{
// given the Halt event, transition to a new state based upon
// the current state of the state machine
BEGIN_TRANSITION_MAP // - Current State -
TRANSITION_MAP_ENTRY (ST_START) // ST_Start
TRANSITION_MAP_ENTRY (ST_START) // ST_Find
TRANSITION_MAP_ENTRY (ST_START) // ST_Track
TRANSITION_MAP_ENTRY (ST_START) // ST_Idle
END_TRANSITION_MAP(NULL)
}
// Goto the Next State
void TaskMainSM::Next()
{
BEGIN_TRANSITION_MAP // - Current State -
TRANSITION_MAP_ENTRY (EVENT_IGNORED) // ST_Start
TRANSITION_MAP_ENTRY (ST_TRACK) // ST_Find
TRANSITION_MAP_ENTRY (ST_IDLE) // ST_Track
TRANSITION_MAP_ENTRY (EVENT_IGNORED) // ST_Idle
END_TRANSITION_MAP(NULL)
}
/**State Definitions**/
// SM starts here, and does initilizaing thing? or nothing
void TaskMainSM::ST_Start()
{
}
// SM attempts to find the line
void TaskMainSM::ST_Find(LightData* lData)
{
FindStateSM_inst.Run(lData);
}
// Follow the line
void TaskMainSM::ST_Track(LightData* lData)
{
TrackStateSM_inst.Run(lData);
}
// Sit around and wait for touch event, at waypoint
void TaskMainSM::ST_Idle()
{
}