BoxCtrl.h

Go to the documentation of this file.

#ifndef BOXCTRL_H__
#define BOXCTRL_H__

#include <Arduino.h>

// own files:
#include "MainConfiguration.h"

#include "BoxLevelCtrl.h"
#include "MQTTCommunication.h"

class BoxCtrl {
    //=====PUBLIC====================================================================================
   public:
    enum class Sector {
        SorticHandover,                 
        SorticToHandover,               
        SorticWaitForGateway,           
        SorticGateway,                  
        TransitWaitForGatewaySortic,    
        TransitToSortic,                
        TransitToTransfer,              
        Parking,                        
        TransitWaitForGatewayTransfer,  
        TransferGateway,                
        TransferWaitForGateway,         
        TransferToHandover,             
        TransferHandover,               
        error                           
    };

    struct Box {
        String id = DEFAULT_HOSTNAME;                    
        // Sector actualSector = Sector::TransferHandover;  ///< actual sector initialise with Sortic handover
      Sector actualSector = Sector::SorticHandover;  
        int actualLine = DEFAUL_HOSTNAME_NUMBER;         
        String cargo = "";                               
        String status = "null";                          
        String ack = "null";                             
        String req = "null";                             
    } box;

    enum class Event { SBReadyForTransport,  
                       SBReady,              
                       CalcOptVal,           
                       AnswerReceived,       
                       NoAnswerReceived,     
                       Error,                
                       Reset,                
                       Resume,               
                       NoEvent               
    };

    BoxCtrl();
    void loop();

    void loop(Event currentEvent);

    //=====PRIVATE====================================================================================
   private:
    void process(Event e);

    enum class State { readSensorVal,        
                       waitForVehicle,       
                       calculateOptVehicle,  
                       publishOptVehicle,    
                       waitForAck,           
                       waitForTransport,     
                       resetState,           
                       errorState            
    };

    State lastStateBevorError;  
    State currentState;         
    Event currentEvent;         

    Event (BoxCtrl::*doActionFPtr)(void) = nullptr;

    BoxLevelCtrl pBoxlevelctrl;                             
    Communication pComm = Communication(DEFAULT_HOSTNAME);  

    unsigned long currentMillis = 0;          
    unsigned long previousMillis = 0;         
    unsigned long previousMillisPublish = 0;  

    //=====StateFunctions===============================================================
    //==readSensorVal==========================================================
    void
    entryAction_readSensorVal();

    BoxCtrl::Event doAction_readSensorVal();

    void exitAction_readSensorVal();

    //==waitForVehicle==========================================================
    void entryAction_waitForVehicle();

    BoxCtrl::Event doAction_waitForVehicle();

    void exitAction_waitForVehicle();

    //==calculateOptVehicle==========================================================
    void entryAction_calculateOptVehicle();

    BoxCtrl::Event doAction_calculateOptVehicle();

    void exitAction_calculateOptVehicle();

    //==publishOptVehicle==========================================================
    void entryAction_publishOptVehicle();

    BoxCtrl::Event doAction_publishOptVehicle();

    void exitAction_publishOptVehicle();

    //==waitForAck==========================================================
    void entryAction_waitForAck();

    BoxCtrl::Event doAction_waitForAck();

    void exitAction_waitForAck();

    //==waitForTransport==========================================================
    void entryAction_waitForTransport();

    BoxCtrl::Event doAction_waitForTransport();

    void exitAction_waitForTransport();

    //==errorState==========================================================
    void entryAction_errorState();

    BoxCtrl::Event doAction_errorState();

    void exitAction_errorState();

    //==resetState==========================================================
    void entryAction_resetState();

    BoxCtrl::Event doAction_resetState();

    void exitAction_resetState();
    //============================================================================
    //==Aux-Function==============================================================
    String decodeState(State state);

    String decodeEvent(Event event);

    String decodeSector(Sector sector);

    BoxCtrl::Sector decodeSector(String sector);

    void publishPosition();

    void publishState(State state);

    bool checkForError();

    void clearGui();
};
#endif