/**
*
* @brief Initialize the main state machine.
*/
void TestMgr::InitStateMachine(void) {
// Set total number of states
state_machine_init(&m_StateMachine, RUN_STATE_TOTAL);
// Add state machine handlers
state_machine_add_handler(&m_StateMachine, RUN_STATE_IDLE, TestMgr::RunStateIdle);
state_machine_add_handler(&m_StateMachine, RUN_STATE_START, TestMgr::RunStateStart);
state_machine_add_handler(&m_StateMachine, RUN_STATE_RAMP_TEMP, TestMgr::RunStateRampTemp);
state_machine_add_handler(&m_StateMachine, RUN_STATE_WAIT_FOR_TEMP, TestMgr::RunStateWaitForTemp);
state_machine_add_handler(&m_StateMachine, RUN_STATE_DONE, TestMgr::RunStateDone);
// Set initial state
state_machine_set_state(&m_StateMachine, RUN_STATE_START);
// Call state machine to run the first state (IDLE)
state_machine_run(&m_StateMachine, (uint32_t *)this, (uint32_t *)NULL);
}
void* FSM(void *data){
state_t* state = (state_t*) data;
state_machine_run(state);
return NULL;
}
void TestMgr::RunWithPid(void) {
bool doExit = false;
float pwmDutyCycle = 0.0;
// Initialize the state machine that runs the worker bees
InitStateMachine();
// Initialize the PID Loop
// PidConstants_t pidConstants;
// m_PidRange.ChangeRangeId(0);
// m_PidRange.GetRangeConstants(pidConstants);
// m_PidLoop.InitLoopUsingConstants(pidConstants, m_PidRange.GetRangeEndTemp());
// p->m_PidLoop.SetLoopOnOff(PID_LOOP_ON);
while (!doExit) {
if (m_AbortFlag) {
doExit = true;
break;
}
// Get the elapsed time since the PID loop was run last
m_PidLoopElapsedTime = m_PidLoopRunTimer.GetElapsedMillisec();
// Run the PID loop at the specified interval
if (m_PidLoopElapsedTime >= (m_PidLoopUpdateTimeInMs - 10)) {
// Restart PID loop timer
m_PidLoopRunTimer.ResetStartTimestamp();
// Safety check
if (m_PlateTempDegreesC > 100.0) {
m_Sub20.HeaterPwmUpdate(0.0);
m_Sub20.TurnOffHeater();
std::cout << "Temperature exceeds max allowed. Turning off heater and exiting." << std::endl;
doExit = true;
}
// Read the plate temperature
if (ReadTemp()) {
// Run the state machine
state_machine_run(&m_StateMachine, (uint32_t *)this, (uint32_t *)NULL);
// Re-read the elapsed time since loop was run
// uint64_t elapsedTimeInMs = m_PidLoopRunTimer.GetElapsedMillisec();
// Run the PID loop
pwmDutyCycle = m_PidLoop.Compute(m_PlateTempDegreesC, (m_PidLoopElapsedTime / ((float)1000.0)));
if (m_PidLoop.IsLoopOn()) {
// Update either the heater or the cooler PWM
PidDirection_t pidDirection = m_PidLoop.GetDirection();
assert (pidDirection == PID_DIR_DIRECT || pidDirection == PID_DIR_REVERSE);
if (pidDirection == PID_DIR_DIRECT) {
m_Sub20.HeaterPwmUpdate(pwmDutyCycle);
} else {
m_Sub20.CoolerPwmUpdate(pwmDutyCycle);
}
}
}
}
// Get the elapsed time since the last voltage was logged
m_LogVoltageElapsedTime = m_LogVoltageTimer.GetElapsedMillisec();
// Log voltage at the specified interval.
if (m_LogVoltageElapsedTime >= (m_VoltageLogUpdateTimeInMs - 10)) {
// Restart Log Voltage timer
m_LogVoltageTimer.ResetStartTimestamp();
if (0 && m_FlukeSerial.ReadAcVoltage(m_AcVoltage)) {
std::cout << "[" << std::dec << std::setfill('0') << std::setw(6) << m_LogVoltageElapsedTime << "] ";
std::cout << "DC Voltage: ";
std::cout << std::fixed << std::setw(11) << std::setprecision(6) << m_AcVoltage << std::endl;
VoltageLogWriteData(m_RunTimer.GetElapsedMillisec());
}
}
// Run the main loop at a 10ms rate
QThread::msleep(10);
}
}
