NavigationCtrl Class Reference

Contains the FSM for the Navigation. More...

#include <NavigationCtrl.h>

Collaboration diagram for NavigationCtrl:

Classes
struct	ActualPos
	Holds the actual information about the vehicleposition. More...
struct	TargetPos
	Holds the information about the vehicle target. More...

Public Types
enum	Event {   Event::MoveToTargetPosition, Event::PosEndPointReached, Event::PosTransitReached, Event::PosReached,   Event::Error, Event::Resume, Event::Reset, Event::NoEvent }
	Enum holds all possible events. More...
enum	State {   State::endPoint, State::toGateway, State::gateway, State::crossTransit,   State::toEndPoint, State::resetState, State::errorState }
	Enum holds all possible states for the Navigation. More...
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 }
	Enum holds all possible sectors. More...

Public Member Functions
	NavigationCtrl ()
	Construct a new Navigation Ctrl object and initailize the currentState with endPoint 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...
const Sector	getcurrentSector ()
	Get the current Sector. More...
const int	getcurrentLine ()
	Get the current Line. More...
void	setTargetPosition (Sector sector, const int line)
	Set the Target Position object. More...
void	setActualPosition (Sector sector, const int line)
	Set the actual Position object. More...
void	giveToken ()
	give Token to access the Gateway More...
String	decodeSector (Sector sector)
	Decodes the Sector-Enum and returns a description. More...
NavigationCtrl::Sector	decodeSector (String sector)
	Decodes a sectro String and returns the sector. More...

Private Member Functions
void	process (Event e)
	changes the state of the FSM based on the event More...
void	entryAction_endPoint ()
	executes the entry action of the endPoint state. More...
NavigationCtrl::Event	doAction_endPoint ()
	executes the main action of the endPoint state. This is an Idel-state ->NoEvent generated More...
void	exitAction_endPoint ()
	executes the exit action of the endPoint state. More...
void	entryAction_toGateway ()
	executes the entry action of the toGateway state. More...
NavigationCtrl::Event	doAction_toGateway ()
	executes the main action of the toGateway state. More...
void	exitAction_toGateway ()
	executes the exit action of the toGateway state. More...
void	entryAction_gateway ()
	executes the entry action of the gateway state. More...
NavigationCtrl::Event	doAction_gateway ()
	executes the main action of the gateway state. More...
void	exitAction_gateway ()
	executes the exit action of the gateway state. More...
void	entryAction_crossTransit ()
	executes the entry action of the crossTransit state. More...
NavigationCtrl::Event	doAction_crossTransit ()
	executes the main action of the crossTransit state. More...
void	exitAction_crossTransit ()
	executes the exit action of the crossTransit state. More...
void	entryAction_toEndPoint ()
	executes the entry action of the toEndPoint state. More...
NavigationCtrl::Event	doAction_toEndPoint ()
	executes the main action of the toEndPoint state. More...
void	exitAction_toEndPoint ()
	executes the exit action of the toEndPoint state. More...
void	entryAction_errorState ()
	entry action of the errorState state. More...
NavigationCtrl::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...
NavigationCtrl::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...
int	pCurrentSubState = 0
	Counter for the Current Substate. More...
int	pLastSubStateBevorError = 0
	Holds the last Substate befor an Error occured. More...
int	pSubStateLoopInc = 0
	Counter so you can call the same substatefunction multiple times. More...
struct NavigationCtrl::ActualPos	pActual
struct NavigationCtrl::TargetPos	pTarget
bool	tranistonce = true
	prevents an loop between transit and gateway More...
DriveCtrl::Event	pLastGatewayTurn
	Variable which holds the last made turn in gateway. More...
Event(NavigationCtrl::*	doActionFPtr )(void) = nullptr
	Functionpointer to call the current states do-function. More...
DriveCtrl	pDriveCtrl
	Navigation Object. More...

Detailed Description

Contains the FSM for the Navigation.

Definition at line 27 of file NavigationCtrl.h.

Member Enumeration Documentation

Event

enum NavigationCtrl::Event

strong

Enum holds all possible events.

Enumerator
MoveToTargetPosition	Ext: Start MoveToTargetPosition.
PosEndPointReached	Signal: PosEndPointReached.
PosTransitReached	Signal: PosTransitReached.
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 NavigationCtrl.h.

State

enum NavigationCtrl::State

strong

Enum holds all possible states for the Navigation.

Enumerator
endPoint	endPoint State
toGateway	toGateway State
gateway	gateway State
crossTransit	crossTransit State
toEndPoint	toEndPoint State
resetState	reset state
errorState	error State

Definition at line 48 of file NavigationCtrl.h.

Sector

enum NavigationCtrl::Sector

strong

Enum holds all possible sectors.

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 for unknown sector

Definition at line 61 of file NavigationCtrl.h.

Constructor & Destructor Documentation

NavigationCtrl()

NavigationCtrl::NavigationCtrl

(

)

Construct a new Navigation Ctrl object and initailize the currentState with endPoint state.

Definition at line 18 of file NavigationCtrl.cpp.

Member Function Documentation

loop() [1/2]

void NavigationCtrl::loop

(

)

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

Definition at line 21 of file NavigationCtrl.cpp.

loop() [2/2]

void NavigationCtrl::loop

(

Event

currentEvent

)

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

Parameters

currentEvent

- Event

Definition at line 26 of file NavigationCtrl.cpp.

getcurrentState()

const NavigationCtrl::State NavigationCtrl::getcurrentState

(

)

Get the current State.

Returns

State - current State

Definition at line 32 of file NavigationCtrl.cpp.

getcurrentSector()

const NavigationCtrl::Sector NavigationCtrl::getcurrentSector

(

)

Get the current Sector.

Returns

const Sector - current Sector

Definition at line 38 of file NavigationCtrl.cpp.

getcurrentLine()

const int NavigationCtrl::getcurrentLine

(

)

Get the current Line.

Returns

const int - current line

Definition at line 43 of file NavigationCtrl.cpp.

setTargetPosition()

void NavigationCtrl::setTargetPosition	(	Sector	sector,
		const int	line
	)

Set the Target Position object.

Parameters

sector	- TargetSector ( HandoverSortic or HandoverTransfer)
line	- TargetLine

Definition at line 48 of file NavigationCtrl.cpp.

setActualPosition()

void NavigationCtrl::setActualPosition	(	Sector	sector,
		const int	line
	)

Set the actual Position object.

Parameters

sector	- actualSector ( HandoverSortic or HandoverTransfer)
line	- actualLine

Definition at line 54 of file NavigationCtrl.cpp.

giveToken()

void NavigationCtrl::giveToken

(

)

give Token to access the Gateway

Definition at line 60 of file NavigationCtrl.cpp.

decodeSector() [1/2]

String NavigationCtrl::decodeSector

(

Sector

sector

)

Decodes the Sector-Enum and returns a description.

Parameters

sector

- enum Sector

Returns

String - Sector as String

Definition at line 65 of file NavigationCtrl.cpp.

decodeSector() [2/2]

NavigationCtrl::Sector NavigationCtrl::decodeSector

(

String

sector

)

Decodes a sectro String and returns the sector.

Parameters

sector

- Sector as String

Returns

NavigationCtrl::Sector - enum Sector

Definition at line 113 of file NavigationCtrl.cpp.

process()

void NavigationCtrl::process ( Event  e )

private

changes the state of the FSM based on the event

Parameters

e

- Event

Definition at line 144 of file NavigationCtrl.cpp.

entryAction_endPoint()

void NavigationCtrl::entryAction_endPoint ( )

private

executes the entry action of the endPoint state.

Update actual sector and startsector with taregt sector.

Definition at line 240 of file NavigationCtrl.cpp.

doAction_endPoint()

NavigationCtrl::Event NavigationCtrl::doAction_endPoint ( )

private

executes the main action of the endPoint state. This is an Idel-state ->NoEvent generated

Returns

NavigationCtrl::Event - generated Event

Definition at line 256 of file NavigationCtrl.cpp.

exitAction_endPoint()

void NavigationCtrl::exitAction_endPoint ( )

private

executes the exit action of the endPoint state.

Definition at line 262 of file NavigationCtrl.cpp.

entryAction_toGateway()

void NavigationCtrl::entryAction_toGateway ( )

private

executes the entry action of the toGateway state.

Definition at line 268 of file NavigationCtrl.cpp.

doAction_toGateway()

NavigationCtrl::Event NavigationCtrl::doAction_toGateway ( )

private

executes the main action of the toGateway state.

• 0 Drive backwards
• 10 turn around
• 20 drive forward once and return Event::PosReached

Returns

NavigationCtrl::Event - generated Event

Definition at line 282 of file NavigationCtrl.cpp.

exitAction_toGateway()

void NavigationCtrl::exitAction_toGateway ( )

private

executes the exit action of the toGateway state.

Definition at line 312 of file NavigationCtrl.cpp.

entryAction_gateway()

void NavigationCtrl::entryAction_gateway ( )

private

executes the entry action of the gateway state.

Definition at line 318 of file NavigationCtrl.cpp.

doAction_gateway()

NavigationCtrl::Event NavigationCtrl::doAction_gateway ( )

private

executes the main action of the gateway state.

• 0 Wait for Token
• 10 Drive forward once
• 20 turn left/right depending on target and current orientation or go straight to (50)
• 30 drive forward n times depending on actual line and targetline
• 40 turn left/right depending on target and current orientation
• 50 drive forward twice.
• if startsector = target.sector
  • return Event::PosEndPointReached
• else
  • return Event::PosTransitReached

Returns

NavigationCtrl::Event - generated Event

Todo:

Refactoring so it only checks the neares sector and does not relay on startsector

Definition at line 334 of file NavigationCtrl.cpp.

exitAction_gateway()

void NavigationCtrl::exitAction_gateway ( )

private

executes the exit action of the gateway state.

Definition at line 450 of file NavigationCtrl.cpp.

entryAction_crossTransit()

void NavigationCtrl::entryAction_crossTransit ( )

private

executes the entry action of the crossTransit state.

Definition at line 472 of file NavigationCtrl.cpp.

doAction_crossTransit()

NavigationCtrl::Event NavigationCtrl::doAction_crossTransit ( )

private

executes the main action of the crossTransit state.

drive forward three times and return Event::PosReached

Returns

NavigationCtrl::Event - generated Event

Definition at line 487 of file NavigationCtrl.cpp.

exitAction_crossTransit()

void NavigationCtrl::exitAction_crossTransit ( )

private

executes the exit action of the crossTransit state.

Definition at line 503 of file NavigationCtrl.cpp.

entryAction_toEndPoint()

void NavigationCtrl::entryAction_toEndPoint ( )

private

executes the entry action of the toEndPoint state.

Definition at line 509 of file NavigationCtrl.cpp.

doAction_toEndPoint()

NavigationCtrl::Event NavigationCtrl::doAction_toEndPoint ( )

private

executes the main action of the toEndPoint state.

drive forward once and return Event::PosEndPointReached

Returns

NavigationCtrl::Event - generated Event

Definition at line 524 of file NavigationCtrl.cpp.

exitAction_toEndPoint()

void NavigationCtrl::exitAction_toEndPoint ( )

private

executes the exit action of the toEndPoint state.

Definition at line 539 of file NavigationCtrl.cpp.

entryAction_errorState()

void NavigationCtrl::entryAction_errorState ( )

private

entry action of the errorState state.

Definition at line 545 of file NavigationCtrl.cpp.

doAction_errorState()

NavigationCtrl::Event NavigationCtrl::doAction_errorState ( )

private

main action of the errorState state.

Returns

NavigationCtrl::Event - generated Event

Definition at line 555 of file NavigationCtrl.cpp.

exitAction_errorState()

void NavigationCtrl::exitAction_errorState ( )

private

exit action of the errorState state.

Definition at line 561 of file NavigationCtrl.cpp.

entryAction_resetState()

void NavigationCtrl::entryAction_resetState ( )

private

entry action of the resetState

Definition at line 566 of file NavigationCtrl.cpp.

doAction_resetState()

NavigationCtrl::Event NavigationCtrl::doAction_resetState ( )

private

main action of the resetState

Returns

NavigationCtrl::Event - generated Event

Definition at line 572 of file NavigationCtrl.cpp.

exitAction_resetState()

void NavigationCtrl::exitAction_resetState ( )

private

exit action of the resetState

Definition at line 578 of file NavigationCtrl.cpp.

decodeState()

String NavigationCtrl::decodeState ( State  state )

private

Decodes the State-Enum and returns a description.

Parameters

state

- enum State

Returns

String - State as String

Definition at line 590 of file NavigationCtrl.cpp.

decodeEvent()

String NavigationCtrl::decodeEvent ( Event  event )

private

Decodes the Event-Enum and returns a description.

Parameters

event

- enum Event

Returns

String - Event as String

Definition at line 618 of file NavigationCtrl.cpp.

Member Data Documentation

lastStateBevorError

State NavigationCtrl::lastStateBevorError

private

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

Definition at line 159 of file NavigationCtrl.h.

currentState

State NavigationCtrl::currentState

private

holds the current state of the FSM

Definition at line 160 of file NavigationCtrl.h.

currentEvent

Event NavigationCtrl::currentEvent

private

holds the current event of the FSM

Definition at line 161 of file NavigationCtrl.h.

pCurrentSubState

int NavigationCtrl::pCurrentSubState = 0

private

Counter for the Current Substate.

Definition at line 162 of file NavigationCtrl.h.

pLastSubStateBevorError

int NavigationCtrl::pLastSubStateBevorError = 0

private

Holds the last Substate befor an Error occured.

Definition at line 163 of file NavigationCtrl.h.

pSubStateLoopInc

int NavigationCtrl::pSubStateLoopInc = 0

private

Counter so you can call the same substatefunction multiple times.

Definition at line 164 of file NavigationCtrl.h.

pActual

struct NavigationCtrl::ActualPos NavigationCtrl::pActual

private

pTarget

struct NavigationCtrl::TargetPos NavigationCtrl::pTarget

private

tranistonce

bool NavigationCtrl::tranistonce = true

private

prevents an loop between transit and gateway

Definition at line 187 of file NavigationCtrl.h.

pLastGatewayTurn

DriveCtrl::Event NavigationCtrl::pLastGatewayTurn

private

Variable which holds the last made turn in gateway.

Definition at line 188 of file NavigationCtrl.h.

doActionFPtr

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

private

Functionpointer to call the current states do-function.

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

Definition at line 196 of file NavigationCtrl.h.

pDriveCtrl

DriveCtrl NavigationCtrl::pDriveCtrl

private

Navigation Object.

Definition at line 198 of file NavigationCtrl.h.

---

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

• NavigationCtrl.h
• NavigationCtrl.cpp