The Box Controll class contains the FSM for the complete Box. More...

#include <BoxCtrl.h>

Collaboration diagram for BoxCtrl:

[legend]

Classes
struct	Box
	Box class contains all relevant information about the box and its actual state. More...

Public Types
enum	Sector { Sector::SorticHandover, Sector::SorticToHandover, Sector::SorticWaitForGateway, Sector::SorticGateway, Sector::TransitWaitForGatewaySortic, Sector::TransitToSortic, Sector::TransitToTransfer, Sector::Parking, Sector::TransitWaitForGatewayTransfer, Sector::TransferGateway, Sector::TransferWaitForGateway, Sector::TransferToHandover, Sector::TransferHandover, Sector::error }
	Sector class holds all possible position on the gametable. More...

enum	Event { Event::SBReadyForTransport, Event::SBReady, Event::CalcOptVal, Event::AnswerReceived, Event::NoAnswerReceived, Event::Error, Event::Reset, Event::Resume, Event::NoEvent }
	Enum holds all possible events. More...

Public Member Functions
	BoxCtrl ()
	Construct a new Box Ctrl object. More...

void	loop ()
	Calls the do-function of the active state and hence generates Events. More...

void	loop (Event currentEvent)
	procceses the current Event and calls the do-function of the active state More...

Public Attributes
struct BoxCtrl::Box	box

Private Types
enum	State { State::readSensorVal, State::waitForVehicle, State::calculateOptVehicle, State::publishOptVehicle, State::waitForAck, State::waitForTransport, State::resetState, State::errorState }
	Enum holds all possible state's. More...

Private Member Functions
void	process (Event e)
	changes the state of the FSM based on the event More...

void	entryAction_readSensorVal ()
	entry action of the readSensorVal More...

BoxCtrl::Event	doAction_readSensorVal ()
	main action of the readSensorVal More...

void	exitAction_readSensorVal ()
	exit action of the readSensorVal More...

void	entryAction_waitForVehicle ()
	entry action of the waitForVehicle More...

BoxCtrl::Event	doAction_waitForVehicle ()
	main action of the waitForVehicle More...

void	exitAction_waitForVehicle ()
	exit action of the waitForVehicle More...

void	entryAction_calculateOptVehicle ()
	entry action of the calculateOptVehicle More...

BoxCtrl::Event	doAction_calculateOptVehicle ()
	main action of the calculateOptVehicle More...

void	exitAction_calculateOptVehicle ()
	exit action of the calculateOptVehicle More...

void	entryAction_publishOptVehicle ()
	entry action of the publishOptVehicle More...

BoxCtrl::Event	doAction_publishOptVehicle ()
	main action of the publishOptVehicle More...

void	exitAction_publishOptVehicle ()
	exit action of the publishOptVehicle More...

void	entryAction_waitForAck ()
	entry action of the waitForAck publish state to "Box/box.id/status" More...

BoxCtrl::Event	doAction_waitForAck ()
	main action of the waitForAck More...

void	exitAction_waitForAck ()
	exit action of the waitForAck More...

void	entryAction_waitForTransport ()
	entry action of the waitForTransport More...

BoxCtrl::Event	doAction_waitForTransport ()
	main action of the waitForTransport More...

void	exitAction_waitForTransport ()
	exit action of the waitForTransport More...

void	entryAction_errorState ()
	entry action of the errorState More...

BoxCtrl::Event	doAction_errorState ()
	main action of the errorState More...

void	exitAction_errorState ()
	exit action of the errorState More...

void	entryAction_resetState ()
	entry action of the resetState More...

BoxCtrl::Event	doAction_resetState ()
	main action of the resetState More...

void	exitAction_resetState ()
	exit action of the resetState More...

String	decodeState (State state)
	Decodes the State-Enum and returns a description. More...

String	decodeEvent (Event event)
	Decodes the Event-Enum and returns a description. More...

String	decodeSector (Sector sector)
	Decodes the Sector-Enum and returns a description. More...

BoxCtrl::Sector	decodeSector (String sector)
	Decodes the Sector-Enum and returns a description. More...

void	publishPosition ()
	publish actual position via communication More...

void	publishState (State state)
	Publish actual state via communication. More...

bool	checkForError ()
	Check if the last message was an error. More...

void	clearGui ()
	clear all box related gui entrys More...

Private Attributes
State	lastStateBevorError
	holds the last state of the FSM so it's possible to resume after error More...

State	currentState
	holds the current state of the FSM More...

Event	currentEvent
	holds the current event of the FSM More...

Event(BoxCtrl::*	doActionFPtr )(void) = nullptr
	Functionpointer to call the current states do-function. More...

BoxLevelCtrl	pBoxlevelctrl
	instance ot BoxLevelCtrl More...

Communication	pComm = Communication(DEFAULT_HOSTNAME)
	instance of Communication with Box.id/hostname More...

unsigned long	currentMillis = 0
	store current time More...

unsigned long	previousMillis = 0
	store last time More...

unsigned long	previousMillisPublish = 0
	store last publish time More...

Detailed Description

The Box Controll class contains the FSM for the complete Box.

Definition at line 30 of file BoxCtrl.h.

Member Enumeration Documentation

◆ Sector

enum BoxCtrl::Sector

strong

Sector class holds all possible position on the gametable.

Enumerator
SorticHandover	Sortic - Handover.
SorticToHandover	Sortic - to Handover.
SorticWaitForGateway	Sortic - Wait for Gateway.
SorticGateway	Sortic - Gateway.
TransitWaitForGatewaySortic	Transit - Wait for Gateway Sortic.
TransitToSortic	Transit - to Sortic.
TransitToTransfer	Transit - to Transfer.
Parking	Parking (not used atm)
TransitWaitForGatewayTransfer	Transit - Wait for Gateway Transfer.
TransferGateway	Transfer - Gateway.
TransferWaitForGateway	Transfer - wait for Gateway.
TransferToHandover	Transfer - to Handover.
TransferHandover	Transfer - Handover.
error	Error - Used to throw parseerror.

Definition at line 37 of file BoxCtrl.h.

◆ Event

enum BoxCtrl::Event

strong

Enum holds all possible events.

Enumerator
SBReadyForTransport	SB is ready for transport.
SBReady	SB is Ready.
CalcOptVal	Calculated Optimum Value.
AnswerReceived	Answer received.
NoAnswerReceived	No Answer received.
Error	Error occured.
Reset	Reset after Error occured.
Resume	Resume after Error occured.
NoEvent	No event generated.

Definition at line 73 of file BoxCtrl.h.

◆ State

enum BoxCtrl::State

strongprivate

Enum holds all possible state's.

https://stackoverflow.com/questions/18335861/why-is-enum-class-preferred-over-plain-enum

Enumerator
readSensorVal	read fill level
waitForVehicle	wait for available vehicle
calculateOptVehicle	Calculate desired vehicle.
publishOptVehicle	Publishe desired vehicle.
waitForAck	Wait for ack. from vehicle.
waitForTransport	Wait for Transport from vehicle.
resetState	Reset state.
errorState	Error state.

Definition at line 116 of file BoxCtrl.h.

Constructor & Destructor Documentation

◆ BoxCtrl()

BoxCtrl::BoxCtrl ( )

Construct a new Box Ctrl object.

Definition at line 15 of file BoxCtrl.cpp.

Member Function Documentation

◆ loop() [1/2]

void BoxCtrl::loop ( )

Calls the do-function of the active state and hence generates Events.

Definition at line 29 of file BoxCtrl.cpp.

◆ loop() [2/2]

void BoxCtrl::loop ( Event currentEvent )

procceses the current Event and calls the do-function of the active state

Parameters

currentEvent - Event

Definition at line 34 of file BoxCtrl.cpp.

◆ process()

void BoxCtrl::process ( Event e )

private

changes the state of the FSM based on the event

Parameters

e - Event

Definition at line 41 of file BoxCtrl.cpp.

◆ entryAction_readSensorVal()

void BoxCtrl::entryAction_readSensorVal ( )

private

entry action of the readSensorVal

publish actual state to "Box/box.id/status"

Definition at line 150 of file BoxCtrl.cpp.

◆ doAction_readSensorVal()

BoxCtrl::Event BoxCtrl::doAction_readSensorVal ( )

private

main action of the readSensorVal

call Comm.loop and check for incoming Error-Message
call BoxLevelCtrl with Event::CheckForPackage
if BoxLvl is in FullState and at HandoverSortic or in EmptyState and at HandOverTransfer
- return Event SBReadyForTransport

Returns: BoxCtrl::Event - generated Event

Definition at line 165 of file BoxCtrl.cpp.

◆ exitAction_readSensorVal()

void BoxCtrl::exitAction_readSensorVal ( )

private

exit action of the readSensorVal

Definition at line 209 of file BoxCtrl.cpp.

◆ entryAction_waitForVehicle()

void BoxCtrl::entryAction_waitForVehicle ( )

private

entry action of the waitForVehicle

publish state to "Box/box.id/status".
subscribe to "Vehicle/+/available".
unsubscribe from "Vehicle/box.req/handshake".
reset box.ack and box.req.

Definition at line 215 of file BoxCtrl.cpp.

◆ doAction_waitForVehicle()

BoxCtrl::Event BoxCtrl::doAction_waitForVehicle ( )

private

main action of the waitForVehicle

call Comm.loop and check for incoming Error-Message.
wait for SMARTBOX_WAITFOR_VEHICLES_SECONDS seconds
- if a message is received or more than NUM_OF_MAXVALUES_VEHICLES_STORE messages are recived
  - return Event::AnswerReceived.
Returns
BoxCtrl::Event - generated Event

Definition at line 235 of file BoxCtrl.cpp.

◆ exitAction_waitForVehicle()

void BoxCtrl::exitAction_waitForVehicle ( )

private

exit action of the waitForVehicle

unsubscribe from "Vehicle/+/available"

Definition at line 262 of file BoxCtrl.cpp.

◆ entryAction_calculateOptVehicle()

void BoxCtrl::entryAction_calculateOptVehicle ( )

private

entry action of the calculateOptVehicle

publish state to "Box/box.id/status"

Definition at line 268 of file BoxCtrl.cpp.

◆ doAction_calculateOptVehicle()

BoxCtrl::Event BoxCtrl::doAction_calculateOptVehicle ( )

private

main action of the calculateOptVehicle

check all saved messages.
select all vehicle in same sector and choose the nearest one.
if the nearest one is valid update box.req with id of the nearest vehicle.
- return Event::CalcOptVal.
if not valid
- return Event::NoAnswerReceived.
Returns
BoxLevelCtrl::Event - generated Event

Definition at line 275 of file BoxCtrl.cpp.

◆ exitAction_calculateOptVehicle()

void BoxCtrl::exitAction_calculateOptVehicle ( )

private

exit action of the calculateOptVehicle

Definition at line 316 of file BoxCtrl.cpp.

◆ entryAction_publishOptVehicle()

void BoxCtrl::entryAction_publishOptVehicle ( )

private

entry action of the publishOptVehicle

publish state to "Box/box.id/status"
subscribe to "Vehicle/box.req/handshake"

Definition at line 322 of file BoxCtrl.cpp.

◆ doAction_publishOptVehicle()

BoxCtrl::Event BoxCtrl::doAction_publishOptVehicle ( )

private

main action of the publishOptVehicle

call Comm.loop and check for incoming Error-Message.
publish box.id and id of req vehicle to "Box/box.id/handshake" all TIME_BETWEEN_PUBLISH seconds.
if requested vehicle also req box in time return Event::AnswerReceived.
Returns
BoxLevelCtrl::Event - generated Event

Definition at line 334 of file BoxCtrl.cpp.

◆ exitAction_publishOptVehicle()

void BoxCtrl::exitAction_publishOptVehicle ( )

private

exit action of the publishOptVehicle

Definition at line 374 of file BoxCtrl.cpp.

◆ entryAction_waitForAck()

void BoxCtrl::entryAction_waitForAck ( )

private

entry action of the waitForAck publish state to "Box/box.id/status"

Definition at line 379 of file BoxCtrl.cpp.

◆ doAction_waitForAck()

BoxCtrl::Event BoxCtrl::doAction_waitForAck ( )

private

main action of the waitForAck

call Comm.loop and check for incoming Error-Message.
publish box.id and id of ack vehicle to "Box/box.id/handshake".
wait SMARTBOX_ITERATION_VACKS_SECONDS for responde.
if acknoledge vehicle also ack box in time
- return Event::AnswerReceived.
Returns
BoxLevelCtrl::Event - generated Event

Definition at line 389 of file BoxCtrl.cpp.

◆ exitAction_waitForAck()

void BoxCtrl::exitAction_waitForAck ( )

private

exit action of the waitForAck

unsubscribe from "Vehicle/box.req/handshake"

Definition at line 423 of file BoxCtrl.cpp.

◆ entryAction_waitForTransport()

void BoxCtrl::entryAction_waitForTransport ( )

private

entry action of the waitForTransport

publish state to "Box/box.id/status".
subscribe to "Box/box.id/position".

Definition at line 430 of file BoxCtrl.cpp.

◆ doAction_waitForTransport()

BoxCtrl::Event BoxCtrl::doAction_waitForTransport ( )

private

main action of the waitForTransport

call Comm.loop and check for incoming Error-Message.
check incoming message if ack. vehicle updated box-position
Returns
BoxLevelCtrl::Event - generated Event

Definition at line 439 of file BoxCtrl.cpp.

◆ exitAction_waitForTransport()

void BoxCtrl::exitAction_waitForTransport ( )

private

exit action of the waitForTransport

unsubscribe from "Box/box.id/position"

Definition at line 462 of file BoxCtrl.cpp.

◆ entryAction_errorState()

void BoxCtrl::entryAction_errorState ( )

private

entry action of the errorState

Definition at line 469 of file BoxCtrl.cpp.

◆ doAction_errorState()

BoxCtrl::Event BoxCtrl::doAction_errorState ( )

private

main action of the errorState

Returns: BoxLevelCtrl::Event - generated Event

Definition at line 478 of file BoxCtrl.cpp.

◆ exitAction_errorState()

void BoxCtrl::exitAction_errorState ( )

private

exit action of the errorState

Definition at line 498 of file BoxCtrl.cpp.

◆ entryAction_resetState()

void BoxCtrl::entryAction_resetState ( )

private

entry action of the resetState

Definition at line 504 of file BoxCtrl.cpp.

◆ doAction_resetState()

BoxCtrl::Event BoxCtrl::doAction_resetState ( )

private

main action of the resetState

Returns: BoxCtrl::Event - generated Event

Definition at line 514 of file BoxCtrl.cpp.

◆ exitAction_resetState()

void BoxCtrl::exitAction_resetState ( )

private

exit action of the resetState

Definition at line 529 of file BoxCtrl.cpp.

◆ decodeState()

String BoxCtrl::decodeState ( State state )

private

Decodes the State-Enum and returns a description.

Parameters

state - enum State

Returns: String - State as String

Definition at line 538 of file BoxCtrl.cpp.

◆ decodeEvent()

String BoxCtrl::decodeEvent ( Event event )

private

Decodes the Event-Enum and returns a description.

Parameters

event - enum Event

Returns: String - Event as String

Definition at line 570 of file BoxCtrl.cpp.

◆ decodeSector() [1/2]

String BoxCtrl::decodeSector ( Sector sector )

private

Decodes the Sector-Enum and returns a description.

Parameters

sector - Sector to decode

Returns: String - Sector as String

Definition at line 605 of file BoxCtrl.cpp.

◆ decodeSector() [2/2]

BoxCtrl::Sector BoxCtrl::decodeSector ( String sector )

private

Decodes the Sector-Enum and returns a description.

Parameters

sector - String to decode

Returns: BoxCtrl::Sector - Sector as Sector

Definition at line 653 of file BoxCtrl.cpp.

◆ publishPosition()

void BoxCtrl::publishPosition ( )

private

publish actual position via communication

Definition at line 701 of file BoxCtrl.cpp.

◆ publishState()

void BoxCtrl::publishState ( State state )

private

Publish actual state via communication.

Parameters

state - State of type enum State

Definition at line 696 of file BoxCtrl.cpp.

◆ checkForError()

bool BoxCtrl::checkForError ( )

private

Check if the last message was an error.

Returns: true - if the last message was an error; false - if the last message wasn't an error

Definition at line 683 of file BoxCtrl.cpp.

◆ clearGui()

void BoxCtrl::clearGui ( )

private

clear all box related gui entrys

Definition at line 705 of file BoxCtrl.cpp.

Member Data Documentation

◆ box

struct BoxCtrl::Box BoxCtrl::box

◆ lastStateBevorError

State BoxCtrl::lastStateBevorError

private

holds the last state of the FSM so it's possible to resume after error

Definition at line 126 of file BoxCtrl.h.

◆ currentState

State BoxCtrl::currentState

private

holds the current state of the FSM

Definition at line 127 of file BoxCtrl.h.

◆ currentEvent

Event BoxCtrl::currentEvent

private

holds the current event of the FSM

Definition at line 128 of file BoxCtrl.h.

◆ doActionFPtr

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

private

Functionpointer to call the current states do-function.

https://stackoverflow.com/questions/1485983/calling-c-class-methods-via-a-function-pointer

Definition at line 135 of file BoxCtrl.h.

◆ pBoxlevelctrl

BoxLevelCtrl BoxCtrl::pBoxlevelctrl

private

instance ot BoxLevelCtrl

Definition at line 137 of file BoxCtrl.h.

◆ pComm

Communication BoxCtrl::pComm = Communication(DEFAULT_HOSTNAME)

private

instance of Communication with Box.id/hostname

Definition at line 138 of file BoxCtrl.h.

◆ currentMillis

unsigned long BoxCtrl::currentMillis = 0

private

store current time

Definition at line 140 of file BoxCtrl.h.

◆ previousMillis

unsigned long BoxCtrl::previousMillis = 0

private

store last time

Definition at line 141 of file BoxCtrl.h.

◆ previousMillisPublish

unsigned long BoxCtrl::previousMillisPublish = 0

private

store last publish time

Definition at line 142 of file BoxCtrl.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Public Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ Sector

◆ Event

◆ State

Constructor & Destructor Documentation

◆ BoxCtrl()

Member Function Documentation

◆ loop() [1/2]

◆ loop() [2/2]

◆ process()

◆ entryAction_readSensorVal()

◆ doAction_readSensorVal()

◆ exitAction_readSensorVal()

◆ entryAction_waitForVehicle()

◆ doAction_waitForVehicle()

◆ exitAction_waitForVehicle()

◆ entryAction_calculateOptVehicle()

◆ doAction_calculateOptVehicle()

◆ exitAction_calculateOptVehicle()

◆ entryAction_publishOptVehicle()

◆ doAction_publishOptVehicle()

◆ exitAction_publishOptVehicle()

◆ entryAction_waitForAck()

◆ doAction_waitForAck()

◆ exitAction_waitForAck()

◆ entryAction_waitForTransport()

◆ doAction_waitForTransport()

◆ exitAction_waitForTransport()

◆ entryAction_errorState()

◆ doAction_errorState()

◆ exitAction_errorState()

◆ entryAction_resetState()

◆ doAction_resetState()

◆ exitAction_resetState()

◆ decodeState()

◆ decodeEvent()

◆ decodeSector() [1/2]

◆ decodeSector() [2/2]

◆ publishPosition()

◆ publishState()

◆ checkForError()

◆ clearGui()

Member Data Documentation

◆ box

◆ lastStateBevorError

◆ currentState

◆ currentEvent

◆ doActionFPtr

◆ pBoxlevelctrl

◆ pComm

◆ currentMillis

◆ previousMillis

◆ previousMillisPublish