Contains the FSM for the Hoist. More...

#include <HoistCtrl.h>

Collaboration diagram for HoistCtrl:

Public Types
enum	Event { Event::Raise, Event::Lower, Event::PosReached, Event::Error, Event::Resume, Event::Reset, Event::NoEvent }
	Enum holds all possible events. More...

enum	State { State::low, State::raising, State::high, State::lowering, State::resetState, State::errorState }
	Enum holds all possible states for the Hoist. More...

Public Member Functions
	HoistCtrl ()
	Construct a new Hoist Ctrl object and initailize the currentState with low state. 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...

const State	getcurrentState ()
	Get the current State. More...

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

void	entryAction_low ()
	executes the entry action of the low state. More...

HoistCtrl::Event	doAction_low ()
	executes the main action of the low state. More...

void	exitAction_low ()
	executes the exit action of the low state. More...

void	entryAction_raising ()
	executes the entry action of the raising state. More...

HoistCtrl::Event	doAction_raising ()
	executes the main action of the raising state. More...

void	exitAction_raising ()
	executes the exit action of the raising state. More...

void	entryAction_high ()
	executes the entry action of the high state. More...

HoistCtrl::Event	doAction_high ()
	executes the main action of the high state. More...

void	exitAction_high ()
	executes the exit action of the high state. More...

void	entryAction_lowering ()
	executes the entry action of the lowering state. More...

HoistCtrl::Event	doAction_lowering ()
	executes the main action of the lowering state. More...

void	exitAction_lowering ()
	executes the exit action of the lowering state. More...

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

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

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

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

HoistCtrl::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...

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

Hoist	pHoist = Hoist(HOIST_SERVO_PIN, HOIST_SERVO_DELAY, HOIST_POISITION_MAX, HOIST_POSITION_MIN)
	Hoist Object. More...

Detailed Description

Contains the FSM for the Hoist.

Definition at line 27 of file HoistCtrl.h.

Member Enumeration Documentation

◆ Event

enum HoistCtrl::Event

strong

Enum holds all possible events.

Enumerator
Raise	Ext: Start Raise.
Lower	Ext: Start Lower.
PosReached	Signal: Position reached.
Error	Error occured.
Resume	Ext.: Resume after Error occured.
Reset	Ext.: Reset after Error occured.
NoEvent	No event generated.

Definition at line 34 of file HoistCtrl.h.

◆ State

enum HoistCtrl::State

strong

Enum holds all possible states for the Hoist.

Enumerator
low	low State
raising	raising State
high	high State
lowering	lowering State
resetState	reset state
errorState	error State

Definition at line 47 of file HoistCtrl.h.

Constructor & Destructor Documentation

◆ HoistCtrl()

HoistCtrl::HoistCtrl ( )

Construct a new Hoist Ctrl object and initailize the currentState with low state.

Definition at line 16 of file HoistCtrl.cpp.

Member Function Documentation

◆ loop() [1/2]

void HoistCtrl::loop ( )

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

Definition at line 19 of file HoistCtrl.cpp.

◆ loop() [2/2]

void HoistCtrl::loop ( Event currentEvent )

Procceses the current Event and calls the do-function of the active state.

Parameters

currentEvent - Event

Definition at line 24 of file HoistCtrl.cpp.

◆ getcurrentState()

const HoistCtrl::State HoistCtrl::getcurrentState ( )

Get the current State.

Returns: State - current State

Definition at line 30 of file HoistCtrl.cpp.

◆ process()

void HoistCtrl::process ( Event e )

private

changes the state of the FSM based on the event

This Functions switchs the state based on the occuring events

Parameters

e - Event

Definition at line 34 of file HoistCtrl.cpp.

◆ entryAction_low()

void HoistCtrl::entryAction_low ( )

private

executes the entry action of the low state.

Definition at line 110 of file HoistCtrl.cpp.

◆ doAction_low()

HoistCtrl::Event HoistCtrl::doAction_low ( )

private

executes the main action of the low state.

This is an idle-state. Return NoEvent.

Returns: HoistCtrl::Event - generated Event

Definition at line 117 of file HoistCtrl.cpp.

◆ exitAction_low()

void HoistCtrl::exitAction_low ( )

private

executes the exit action of the low state.

Definition at line 123 of file HoistCtrl.cpp.

◆ entryAction_raising()

void HoistCtrl::entryAction_raising ( )

private

executes the entry action of the raising state.

Attach Servo.

Definition at line 128 of file HoistCtrl.cpp.

◆ doAction_raising()

HoistCtrl::Event HoistCtrl::doAction_raising ( )

private

executes the main action of the raising state.

Raise the Hoist till the Endposition is reached and generate an PosReached Event. Else return NoEvent.

Returns: HoistCtrl::Event - generated Event

Definition at line 136 of file HoistCtrl.cpp.

◆ exitAction_raising()

void HoistCtrl::exitAction_raising ( )

private

executes the exit action of the raising state.

Detach Servo.

Definition at line 145 of file HoistCtrl.cpp.

◆ entryAction_high()

void HoistCtrl::entryAction_high ( )

private

executes the entry action of the high state.

Definition at line 151 of file HoistCtrl.cpp.

◆ doAction_high()

HoistCtrl::Event HoistCtrl::doAction_high ( )

private

executes the main action of the high state.

This is an idle-state. Return NoEvent.

Returns: HoistCtrl::Event - generated Event

Definition at line 158 of file HoistCtrl.cpp.

◆ exitAction_high()

void HoistCtrl::exitAction_high ( )

private

executes the exit action of the high state.

Definition at line 164 of file HoistCtrl.cpp.

◆ entryAction_lowering()

void HoistCtrl::entryAction_lowering ( )

private

executes the entry action of the lowering state.

Attach Servo.

Definition at line 169 of file HoistCtrl.cpp.

◆ doAction_lowering()

HoistCtrl::Event HoistCtrl::doAction_lowering ( )

private

executes the main action of the lowering state.

Lower the hoist till the lowposition is reached and then generate the event PosReached. else return NoEvent.

Returns: HoistCtrl::Event - generated Event

Definition at line 177 of file HoistCtrl.cpp.

◆ exitAction_lowering()

void HoistCtrl::exitAction_lowering ( )

private

executes the exit action of the lowering state.

Detache the Servo.

Definition at line 186 of file HoistCtrl.cpp.

◆ entryAction_errorState()

void HoistCtrl::entryAction_errorState ( )

private

entry action of the errorState state.

Definition at line 192 of file HoistCtrl.cpp.

◆ doAction_errorState()

HoistCtrl::Event HoistCtrl::doAction_errorState ( )

private

main action of the errorState state.

Returns: HoistCtrl::Event - generated Event

Definition at line 200 of file HoistCtrl.cpp.

◆ exitAction_errorState()

void HoistCtrl::exitAction_errorState ( )

private

exit action of the errorState state.

Definition at line 206 of file HoistCtrl.cpp.

◆ entryAction_resetState()

void HoistCtrl::entryAction_resetState ( )

private

entry action of the resetState

attach servo

Definition at line 211 of file HoistCtrl.cpp.

◆ doAction_resetState()

HoistCtrl::Event HoistCtrl::doAction_resetState ( )

private

main action of the resetState

lower the hoist and then detach the servo

Returns: DriveCtrl::Event - generated Event

Definition at line 218 of file HoistCtrl.cpp.

◆ exitAction_resetState()

void HoistCtrl::exitAction_resetState ( )

private

exit action of the resetState

Definition at line 227 of file HoistCtrl.cpp.

◆ decodeState()

String HoistCtrl::decodeState ( State state )

private

Decodes the State-Enum and returns a description.

Parameters

state - enum State

Returns: String - State as String

Definition at line 233 of file HoistCtrl.cpp.

◆ decodeEvent()

String HoistCtrl::decodeEvent ( Event event )

private

Decodes the Event-Enum and returns a description.

Parameters

event - enum Event

Returns: String - Event as String

Definition at line 258 of file HoistCtrl.cpp.

Member Data Documentation

◆ lastStateBevorError

State HoistCtrl::lastStateBevorError

private

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

Definition at line 84 of file HoistCtrl.h.

◆ currentState

State HoistCtrl::currentState

private

holds the current state of the FSM

Definition at line 85 of file HoistCtrl.h.

◆ currentEvent

Event HoistCtrl::currentEvent

private

holds the current event of the FSM

Definition at line 86 of file HoistCtrl.h.

◆ doActionFPtr

Event(HoistCtrl::* HoistCtrl::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 93 of file HoistCtrl.h.

◆ pHoist

Hoist HoistCtrl::pHoist = Hoist(HOIST_SERVO_PIN, HOIST_SERVO_DELAY, HOIST_POISITION_MAX, HOIST_POSITION_MIN)

private

Hoist Object.

Definition at line 95 of file HoistCtrl.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ Event

◆ State

Constructor & Destructor Documentation

◆ HoistCtrl()

Member Function Documentation

◆ loop() [1/2]

◆ loop() [2/2]

◆ getcurrentState()

◆ process()

◆ entryAction_low()

◆ doAction_low()

◆ exitAction_low()

◆ entryAction_raising()

◆ doAction_raising()

◆ exitAction_raising()

◆ entryAction_high()

◆ doAction_high()

◆ exitAction_high()

◆ entryAction_lowering()

◆ doAction_lowering()

◆ exitAction_lowering()

◆ entryAction_errorState()

◆ doAction_errorState()

◆ exitAction_errorState()

◆ entryAction_resetState()

◆ doAction_resetState()

◆ exitAction_resetState()

◆ decodeState()

◆ decodeEvent()

Member Data Documentation

◆ lastStateBevorError

◆ currentState

◆ currentEvent

◆ doActionFPtr

◆ pHoist