//$file${.::Mission.cpp} vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv // // Model: CPF.qm // File: ${.::Mission.cpp} // // This code has been generated by QM 4.5.1 (https://www.state-machine.com/qm). // DO NOT EDIT THIS FILE MANUALLY. All your changes will be lost. // // This program is open source software: you can redistribute it and/or // modify it under the terms of the GNU General Public License as published // by the Free Software Foundation. // // This program is distributed in the hope that it will be useful, but // WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY // or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License // for more details. // //$endhead${.::Mission.cpp} ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ #include "qpcpp.h" // QP/C++ framework API #include "bsp.h" // Board Support Package interface #include #include using namespace QP; // ask QM to declare the Mission class ---------------------------------------- //$declare${AOs::Mission} vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv //${AOs::Mission} ............................................................ class Mission : public QP::QActive { private: QP::QTimeEvt m_timeEvt; public: QP::QTimeEvt StateTIMEOUT; static QP::QEQueue MissionQ; public: Mission(); protected: Q_STATE_DECL(initial); Q_STATE_DECL(InitProfile); Q_STATE_DECL(FindNeutralBuoyancy); Q_STATE_DECL(CheckDepthFNB); Q_STATE_DECL(EmergencyAscend); Q_STATE_DECL(RecoverySurfaceOps); Q_STATE_DECL(DownloadSBD_Rec); Q_STATE_DECL(BuildSBD_Rec); Q_STATE_DECL(UploadSBD_Rec); Q_STATE_DECL(GetPositionRec); Q_STATE_DECL(InitMission); Q_STATE_DECL(Descend); Q_STATE_DECL(CheckDepthAndTimeDescend); Q_STATE_DECL(InitPlatform); Q_STATE_DECL(SurfaceOps); Q_STATE_DECL(BuildSBD_SO); Q_STATE_DECL(UploadSBD_SO); Q_STATE_DECL(DownloadSBD_SO); Q_STATE_DECL(UploadFileActions); Q_STATE_DECL(Action1); Q_STATE_DECL(Action2); Q_STATE_DECL(Action3); Q_STATE_DECL(GetAirSamples); Q_STATE_DECL(GetPositionSO); Q_STATE_DECL(GetSamples); Q_STATE_DECL(LogResponses); Q_STATE_DECL(Park); Q_STATE_DECL(CheckDepthAndTimePark); Q_STATE_DECL(Anchor); Q_STATE_DECL(CheckDepthAndTimeAnchor); Q_STATE_DECL(ASCEND); Q_STATE_DECL(CheckDepthAndTimeAscend); Q_STATE_DECL(Questions); }; //$enddecl${AOs::Mission} ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ // instantiate the Mission active object -------------------------------------- static Mission l_mission; QActive * const AO_Mission = &l_mission; // ask QM to define the Mission class (including the state machine) ----------- //$skip${QP_VERSION} vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv // Check for the minimum required QP version #if (QP_VERSION < 650U) || (QP_VERSION != ((QP_RELEASE^4294967295U) % 0x3E8U)) #error qpcpp version 6.5.0 or higher required #endif //$endskip${QP_VERSION} ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ //$define${AOs::Mission} vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv //${AOs::Mission} ............................................................ QP::QEQueue Mission::MissionQ; //${AOs::Mission::Mission} ................................................... Mission::Mission() : QActive(Q_STATE_CAST(&Mission::initial)), m_timeEvt(this, TIMEOUT_SIG, 0U) {} //${AOs::Mission::SM} ........................................................ Q_STATE_DEF(Mission, initial) { //${AOs::Mission::SM::initial} // arm the private time event to expire in 1/2s // and periodically every 1/2 second m_timeEvt.armX(BSP::TICKS_PER_SEC/2, BSP::TICKS_PER_SEC/2); (void)e; // unused parameter return tran(&InitPlatform); } //${AOs::Mission::SM::InitProfile} ........................................... Q_STATE_DEF(Mission, InitProfile) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::InitProfile} case Q_ENTRY_SIG: { initProfile(); status_ = Q_RET_HANDLED; break; } //${AOs::Mission::SM::InitProfile::IPDone} case IPDone_SIG: { status_ = tran(&FindNeutralBuoyancy); break; } default: { status_ = super(&top); break; } } return status_; } //${AOs::Mission::SM::FindNeutralBuoyancy} ................................... Q_STATE_DEF(Mission, FindNeutralBuoyancy) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::FindNeutralBuoyancy} case Q_ENTRY_SIG: { startNegativeBuoyancy(); startSendFPTimer(); status_ = Q_RET_HANDLED; break; } //${AOs::Mission::SM::FindNeutralBuoyancy} case Q_EXIT_SIG: { startPVController(FPMode); status_ = Q_RET_HANDLED; break; } //${AOs::Mission::SM::FindNeutralBuoya~::TIMEOUT} case TIMEOUT_SIG: { status_ = tran(&Descend); break; } default: { status_ = super(&top); break; } } return status_; } //${AOs::Mission::SM::FindNeutralBuoya~::CheckDepthFNB} ...................... Q_STATE_DEF(Mission, CheckDepthFNB) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::FindNeutralBuoya~::CheckDepthFNB::FoundNeutral} case FoundNeutral_SIG: { status_ = tran(&Descend); break; } default: { status_ = super(&FindNeutralBuoyancy); break; } } return status_; } //${AOs::Mission::SM::EmergencyAscend} ....................................... Q_STATE_DEF(Mission, EmergencyAscend) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::EmergencyAscend::atSurfaceRecovery} case atSurfaceRecovery_SIG: { status_ = tran(&RecoverySurfaceOps); break; } default: { status_ = super(&top); break; } } return status_; } //${AOs::Mission::SM::RecoverySurfaceOps} .................................... Q_STATE_DEF(Mission, RecoverySurfaceOps) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::RecoverySurfaceOps} case Q_ENTRY_SIG: { printf("Entering RecoverySurfaceOps State"); Sleep(1000); status_ = Q_RET_HANDLED; break; } //${AOs::Mission::SM::RecoverySurfaceO~::GotGo} case GotGo_SIG: { status_ = tran(&InitProfile); break; } default: { status_ = super(&top); break; } } return status_; } //${AOs::Mission::SM::RecoverySurfaceO~::DownloadSBD_Rec} .................... Q_STATE_DEF(Mission, DownloadSBD_Rec) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::RecoverySurfaceO~::DownloadSBD_Rec::RestartMission} case RestartMission_SIG: { status_ = tran(&InitProfile); break; } //${AOs::Mission::SM::RecoverySurfaceO~::DownloadSBD_Rec::GotNewMissionCmd} case GotNewMissionCmd_SIG: { status_ = tran(&InitMission); break; } //${AOs::Mission::SM::RecoverySurfaceO~::DownloadSBD_Rec::SO_TIMEOUT_Rec} case SO_TIMEOUT_Rec_SIG: { status_ = tran(&GetPositionRec); break; } default: { status_ = super(&RecoverySurfaceOps); break; } } return status_; } //${AOs::Mission::SM::RecoverySurfaceO~::BuildSBD_Rec} ....................... Q_STATE_DEF(Mission, BuildSBD_Rec) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::RecoverySurfaceO~::BuildSBD_Rec::SBDBuiltRec} case SBDBuiltRec_SIG: { status_ = tran(&UploadSBD_Rec); break; } default: { status_ = super(&RecoverySurfaceOps); break; } } return status_; } //${AOs::Mission::SM::RecoverySurfaceO~::UploadSBD_Rec} ...................... Q_STATE_DEF(Mission, UploadSBD_Rec) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::RecoverySurfaceO~::UploadSBD_Rec} case Q_ENTRY_SIG: { sendCR(4, true); status_ = Q_RET_HANDLED; break; } //${AOs::Mission::SM::RecoverySurfaceO~::UploadSBD_Rec::SBDUploadedRec} case SBDUploadedRec_SIG: { status_ = tran(&DownloadSBD_Rec); break; } default: { status_ = super(&RecoverySurfaceOps); break; } } return status_; } //${AOs::Mission::SM::RecoverySurfaceO~::GetPositionRec} ..................... Q_STATE_DEF(Mission, GetPositionRec) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::RecoverySurfaceO~::GetPositionRec::GotPositionRec} case GotPositionRec_SIG: { status_ = tran(&BuildSBD_Rec); break; } default: { status_ = super(&RecoverySurfaceOps); break; } } return status_; } //${AOs::Mission::SM::InitMission} ........................................... Q_STATE_DEF(Mission, InitMission) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::InitMission} case Q_ENTRY_SIG: { initMission(); status_ = Q_RET_HANDLED; break; } //${AOs::Mission::SM::InitMission::IMDone} case IMDone_SIG: { status_ = tran(&RecoverySurfaceOps); break; } //${AOs::Mission::SM::InitMission::StateTIMEOUT} case StateTIMEOUT_SIG: { status_ = tran(&RecoverySurfaceOps); break; } default: { status_ = super(&top); break; } } return status_; } //${AOs::Mission::SM::Descend} ............................................... Q_STATE_DEF(Mission, Descend) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::Descend::TIMEOUT} case TIMEOUT_SIG: { status_ = tran(&ASCEND); break; } //${AOs::Mission::SM::Descend::FatalError(most states will have~} case FatalError(most states will have this)_SIG: { status_ = tran(&EmergencyAscend); break; } default: { status_ = super(&top); break; } } return status_; } //${AOs::Mission::SM::Descend::CheckDepthAndTimeDescend} ..................... Q_STATE_DEF(Mission, CheckDepthAndTimeDescend) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::Descend::CheckDepthAndTim~::AtParkPt} case AtParkPt_SIG: { status_ = tran(&Park); break; } //${AOs::Mission::SM::Descend::CheckDepthAndTim~::SampleInstr} case SampleInstr_SIG: { status_ = tran(&GetSamples); break; } //${AOs::Mission::SM::Descend::CheckDepthAndTim~::HitBottom} case HitBottom_SIG: { status_ = tran(&Anchor); break; } //${AOs::Mission::SM::Descend::CheckDepthAndTim~::DescendDone} case DescendDone_SIG: { status_ = tran(&ASCEND); break; } default: { status_ = super(&Descend); break; } } return status_; } //${AOs::Mission::SM::InitPlatform} .......................................... Q_STATE_DEF(Mission, InitPlatform) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::InitPlatform} case Q_ENTRY_SIG: { initPlatform(); status_ = Q_RET_HANDLED; break; } //${AOs::Mission::SM::InitPlatform::IPDone} case IPDone_SIG: { status_ = tran(&InitMission); break; } //${AOs::Mission::SM::InitPlatform::StateTIMEOUT} case StateTIMEOUT_SIG: { status_ = tran(&InitMission); break; } default: { status_ = super(&top); break; } } return status_; } //${AOs::Mission::SM::SurfaceOps} ............................................ Q_STATE_DEF(Mission, SurfaceOps) { QP::QState status_; switch (e->sig) { default: { status_ = super(&top); break; } } return status_; } //${AOs::Mission::SM::SurfaceOps::BuildSBD_SO} ............................... Q_STATE_DEF(Mission, BuildSBD_SO) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::SurfaceOps::BuildSBD_SO::SO_SBDBuilt} case SO_SBDBuilt_SIG: { status_ = tran(&UploadSBD_SO); break; } default: { status_ = super(&SurfaceOps); break; } } return status_; } //${AOs::Mission::SM::SurfaceOps::UploadSBD_SO} .............................. Q_STATE_DEF(Mission, UploadSBD_SO) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::SurfaceOps::UploadSBD_SO::SO_SBDUploaded} case SO_SBDUploaded_SIG: { status_ = tran(&DownloadSBD_SO); break; } default: { status_ = super(&SurfaceOps); break; } } return status_; } //${AOs::Mission::SM::SurfaceOps::DownloadSBD_SO} ............................ Q_STATE_DEF(Mission, DownloadSBD_SO) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::SurfaceOps::DownloadSBD_SO::SO_SBDUploaded} case SO_SBDUploaded_SIG: { status_ = tran(&Action1); break; } default: { status_ = super(&SurfaceOps); break; } } return status_; } //${AOs::Mission::SM::SurfaceOps::UploadFileActions} ......................... Q_STATE_DEF(Mission, UploadFileActions) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::SurfaceOps::UploadFileAction~::SOGotNewMission} case SOGotNewMission_SIG: { status_ = tran(&InitMission); break; } default: { status_ = super(&SurfaceOps); break; } } return status_; } //${AOs::Mission::SM::SurfaceOps::UploadFileAction~::Action1} ................ Q_STATE_DEF(Mission, Action1) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::SurfaceOps::UploadFileAction~::Action1::Action1Done} case Action1Done_SIG: { status_ = tran(&Action2); break; } default: { status_ = super(&UploadFileActions); break; } } return status_; } //${AOs::Mission::SM::SurfaceOps::UploadFileAction~::Action2} ................ Q_STATE_DEF(Mission, Action2) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::SurfaceOps::UploadFileAction~::Action2::Action2Done} case Action2Done_SIG: { status_ = tran(&Action3); break; } default: { status_ = super(&UploadFileActions); break; } } return status_; } //${AOs::Mission::SM::SurfaceOps::UploadFileAction~::Action3} ................ Q_STATE_DEF(Mission, Action3) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::SurfaceOps::UploadFileAction~::Action3::SODone} case SODone_SIG: { status_ = tran(&InitProfile); break; } default: { status_ = super(&UploadFileActions); break; } } return status_; } //${AOs::Mission::SM::SurfaceOps::GetAirSamples} ............................. Q_STATE_DEF(Mission, GetAirSamples) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::SurfaceOps::GetAirSamples::AirSamplesDone} case AirSamplesDone_SIG: { status_ = tran(&GetPositionSO); break; } default: { status_ = super(&SurfaceOps); break; } } return status_; } //${AOs::Mission::SM::SurfaceOps::GetPositionSO} ............................. Q_STATE_DEF(Mission, GetPositionSO) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::SurfaceOps::GetPositionSO::GotSOPosition} case GotSOPosition_SIG: { status_ = tran(&BuildSBD_SO); break; } default: { status_ = super(&SurfaceOps); break; } } return status_; } //${AOs::Mission::SM::GetSamples} ............................................ Q_STATE_DEF(Mission, GetSamples) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::GetSamples} case Q_ENTRY_SIG: { sendSampleCommands(); status_ = Q_RET_HANDLED; break; } default: { status_ = super(&top); break; } } return status_; } //${AOs::Mission::SM::GetSamples::LogResponses} .............................. Q_STATE_DEF(Mission, LogResponses) { QP::QState status_; switch (e->sig) { default: { status_ = super(&GetSamples); break; } } return status_; } //${AOs::Mission::SM::Park} .................................................. Q_STATE_DEF(Mission, Park) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::Park} case Q_ENTRY_SIG: { stopPVController(); startDepthController(); status_ = Q_RET_HANDLED; break; } default: { status_ = super(&top); break; } } return status_; } //${AOs::Mission::SM::Park::CheckDepthAndTimePark} ........................... Q_STATE_DEF(Mission, CheckDepthAndTimePark) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::Park::CheckDepthAndTim~::SampleInstr} case SampleInstr_SIG: { status_ = tran(&GetSamples); break; } default: { status_ = super(&Park); break; } } return status_; } //${AOs::Mission::SM::Anchor} ................................................ Q_STATE_DEF(Mission, Anchor) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::Anchor} case Q_ENTRY_SIG: { stopPVController(); status_ = Q_RET_HANDLED; break; } default: { status_ = super(&top); break; } } return status_; } //${AOs::Mission::SM::Anchor::CheckDepthAndTimeAnchor} ....................... Q_STATE_DEF(Mission, CheckDepthAndTimeAnchor) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::Anchor::CheckDepthAndTim~::SampleInstr} case SampleInstr_SIG: { status_ = tran(&GetSamples); break; } default: { status_ = super(&Anchor); break; } } return status_; } //${AOs::Mission::SM::ASCEND} ................................................ Q_STATE_DEF(Mission, ASCEND) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::ASCEND} case Q_ENTRY_SIG: { stopSendFPTimer(); startCPMode(); startPVController(CPMode); status_ = Q_RET_HANDLED; break; } //${AOs::Mission::SM::ASCEND::TIMEOUT} case TIMEOUT_SIG: { status_ = tran(&SurfaceOps); break; } default: { status_ = super(&top); break; } } return status_; } //${AOs::Mission::SM::ASCEND::CheckDepthAndTimeAscend} ....................... Q_STATE_DEF(Mission, CheckDepthAndTimeAscend) { QP::QState status_; switch (e->sig) { //${AOs::Mission::SM::ASCEND::CheckDepthAndTim~::AtParkPt} case AtParkPt_SIG: { status_ = tran(&Park); break; } //${AOs::Mission::SM::ASCEND::CheckDepthAndTim~::SampleInstr} case SampleInstr_SIG: { status_ = tran(&GetSamples); break; } //${AOs::Mission::SM::ASCEND::CheckDepthAndTim~::AtSurface} case AtSurface_SIG: { stopPVController(); status_ = tran(&SurfaceOps); break; } default: { status_ = super(&ASCEND); break; } } return status_; } //${AOs::Mission::SM::Questions} ............................................. Q_STATE_DEF(Mission, Questions) { QP::QState status_; switch (e->sig) { default: { status_ = super(&top); break; } } return status_; } //$enddef${AOs::Mission} ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^