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

#include <VehicleCtrl.h>

Collaboration diagram for VehicleCtrl:

[legend]

Classes
struct	Vehicle
	Holds all relevant infos for the Vehicle. More...

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

Public Member Functions
	VehicleCtrl ()
	Construct a new Vehicle 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 VehicleCtrl::Vehicle	vehicle

Private Types
enum	State { State::waitForBox, State::handshake, State::loadVehicle, State::unloadVehicle, 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_waitForBox ()
	entry action of the waitForBox More...

VehicleCtrl::Event	doAction_waitForBox ()
	main action of the waitForBox More...

void	exitAction_waitForBox ()
	exit action of the waitForBox More...

void	entryAction_handshake ()
	entry action of the handshake More...

VehicleCtrl::Event	doAction_handshake ()
	main action of the handshake More...

void	exitAction_handshake ()
	exit action of the handshake More...

void	entryAction_loadVehicle ()
	entry action of the loadVehicle More...

VehicleCtrl::Event	doAction_loadVehicle ()
	main action of the loadVehicle More...

void	exitAction_loadVehicle ()
	exit action of the loadVehicle More...

void	entryAction_unloadVehicle ()
	entry action of the unloadVehicle More...

VehicleCtrl::Event	doAction_unloadVehicle ()
	main action of the unloadVehicle More...

void	exitAction_unloadVehicle ()
	exit action of the unloadVehicle More...

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

VehicleCtrl::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...

VehicleCtrl::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...

void	publishState (State state)
	Update State and Publish actual state. More...

void	publishPosition ()
	Update position and Publish actual position. More...

void	publishTargetPosition ()
	Update position and Publish actual position. More...

void	publishTargetPositionBlockLine ()

bool	checkForError ()
	Check if a new message with a error is received. More...

void	clearGui ()
	clear node Red gui 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	substate = 0
	actual Substate of FSM More...

int	pSorticPark [SORTIC_MAX_LINE] = {0}
	Sortic with 10 diffrent lines. More...

int	pTransferPark [SORTIC_MAX_LINE] = {1}
	Sortic with 10 diffrent lines. More...

unsigned int	pRandomDelayFactor = 0
	some sort of ALOHA stuff More...

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

NavigationCtrl	pNavCtrl
	Navigation Controll object. More...

Communication	pComm = Communication(DEFAULT_HOSTNAME)
	Communication object. More...

HoistCtrl	pHoistCtrl
	Hoist Controll object. More...

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

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

unsigned long	previousMillisPublishToken = 0
	will store last time token published More...

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

unsigned long	previousMillisPublishPos = 0
	will store last publish position time More...

Detailed Description

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

Definition at line 34 of file VehicleCtrl.h.

Member Enumeration Documentation

◆ Event

enum VehicleCtrl::Event

strong

Enum holds all possible events.

Enumerator
PosReached	Vehicle is in position.
HSsucessful	Handshake was sucessful.
AnswerReceived	Answer received.
NoAnswerReceived	No Answer received.
Error	Error occured.
Resume	Resume after Error occured.
Reset	Reset after Error occured.
NoEvent	No event generated.

Definition at line 58 of file VehicleCtrl.h.

◆ State

enum VehicleCtrl::State

strongprivate

Enum holds all possible state's.

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

Enumerator
waitForBox	wait for box to transport
handshake	handshake
loadVehicle	load box
unloadVehicle	unload box
resetState	reset state
errorState	error state

Definition at line 108 of file VehicleCtrl.h.

Constructor & Destructor Documentation

◆ VehicleCtrl()

VehicleCtrl::VehicleCtrl ( )

Construct a new Vehicle Ctrl object.

Clears GUI
Publishs current State and position
sets start position in NavigationCtrl
subscribe to "Vehicle/vehicle.id/error"
subscribe to "Vehicle/error"
subscribe to "error"
subscribe to "Box/+/handshake"

Definition at line 15 of file VehicleCtrl.cpp.

Member Function Documentation

◆ loop() [1/2]

void VehicleCtrl::loop ( )

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

Definition at line 31 of file VehicleCtrl.cpp.

◆ loop() [2/2]

void VehicleCtrl::loop ( Event currentEvent )

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

Parameters

currentEvent - Event

Definition at line 36 of file VehicleCtrl.cpp.

◆ process()

void VehicleCtrl::process ( Event e )

private

changes the state of the FSM based on the event

Parameters

e - Event

Definition at line 43 of file VehicleCtrl.cpp.

◆ entryAction_waitForBox()

void VehicleCtrl::entryAction_waitForBox ( )

private

entry action of the waitForBox

publish current state and position
clear old message from circular buffer
publish "Vehicle/vehicle.id/handshake" {ack:"",req:""} to clear GUI-Entry
subscribe to "Box/+/handshake"
publish to target sector to clear GUI-Entry

Definition at line 128 of file VehicleCtrl.cpp.

◆ doAction_waitForBox()

VehicleCtrl::Event VehicleCtrl::doAction_waitForBox ( )

private

main action of the waitForBox

check incomming message for error
- return Event::Error
check if a Box requests the vehicle
- update vehicle.req with box.id
- return Event::AnswerReceived
publish all xx seconds "Vehicle/vehicle.id/availabel" {"sector": "actualSector", "line":number}

Returns: VehicleCtrl::Event - generated Event

Definition at line 149 of file VehicleCtrl.cpp.

◆ exitAction_waitForBox()

void VehicleCtrl::exitAction_waitForBox ( )

private

exit action of the waitForBox

unsubscribe "Box/+/handshake"
publish "Vehicle/vehicle.id/available", {"id":"vehicle.id","sector":""","line":""} to clear GUI-Entry

Definition at line 175 of file VehicleCtrl.cpp.

◆ entryAction_handshake()

void VehicleCtrl::entryAction_handshake ( )

private

entry action of the handshake

publish current state and position
subscribe to "Box/vehicle.req/handshake"

Definition at line 182 of file VehicleCtrl.cpp.

◆ doAction_handshake()

VehicleCtrl::Event VehicleCtrl::doAction_handshake ( )

private

main action of the handshake

check incomming message for error
- return Event::Error

0 check for ack

check if Box ack vehicle
- update targetSector and targetLine
- switch to next state
if timeout
- return Event:NoAnswerReceived

10 publish ack for Box 5 times

"Vehicle/vehicle.id/handshake" {"id":"vehicle.id","ack":"vehicle.ack "}
- return Event:HSsucessful

Returns: VehicleCtrl::Event - generated Event

Definition at line 195 of file VehicleCtrl.cpp.

◆ exitAction_handshake()

void VehicleCtrl::exitAction_handshake ( )

private

exit action of the handshake

unsubscribe from "Box/vehicle.req/handshake"

Definition at line 250 of file VehicleCtrl.cpp.

◆ entryAction_loadVehicle()

void VehicleCtrl::entryAction_loadVehicle ( )

private

entry action of the loadVehicle

publish current state and position
publish empty targe pos to clear GUI-Entry
update NavCtrls TargetPosition
send NavigationCtrl::Event::MoveToTargetPosition

Definition at line 256 of file VehicleCtrl.cpp.

◆ doAction_loadVehicle()

VehicleCtrl::Event VehicleCtrl::doAction_loadVehicle ( )

private

main action of the loadVehicle

check incomming message for error
- return Event::Error
publish position and targetposition all TIME_BETWEEN_PUBLISH seconds

0 check position

if in positon switch to state 40 "raise hoist"
if in sector SorticWaitForGateway
- subscribe to "Sortic/Gateway"
if in sector TransferWaitForGateway
- subscribe to "Transfer/Gateway"

10 wait for gateway

listen if no token is published for current gateway for xx seconds + some random time

11 listen if only one in gateway

publish token for gateway and check if the only one for xx seconds
if not available go back to 10 "wait for gateway"
else go to 20 "check which gateway to block"

20 check which gateway to block

if in sector SorticGateway go to 21 "block Gateway Sortic"
if in sector TransitGateway go to 22 "block gateway Transfer"

21 block Gateway Sortic

publish token to Gateway as long as in sector Gateway
go to substate 30 "chek if in position"

22 block gateway Transfer

publish token to Gateway as long as in sector Gateway
go to substate 30 "chek if in position"

30 chek if in position

if current sector = target sector go to 40 " raise hoist"

40 raise hoist

Returns: VehicleLevelCtrl::Event - generated Event

Definition at line 278 of file VehicleCtrl.cpp.

◆ exitAction_loadVehicle()

void VehicleCtrl::exitAction_loadVehicle ( )

private

exit action of the loadVehicle

Definition at line 419 of file VehicleCtrl.cpp.

◆ entryAction_unloadVehicle()

void VehicleCtrl::entryAction_unloadVehicle ( )

private

entry action of the unloadVehicle

publish current state and position
publish empty targe pos to clear GUI-Entry

Definition at line 425 of file VehicleCtrl.cpp.

◆ doAction_unloadVehicle()

VehicleCtrl::Event VehicleCtrl::doAction_unloadVehicle ( )

private

main action of the unloadVehicle

check incomming message for error
return Event::Error
publish position and targetposition all TIME_BETWEEN_PUBLISH seconds

0 check actual sector and subscribe to handover

if in SorticHandover subscirbe to "Transfer/Handover" and switch state to 10 "search suitable targetPos Transfer"
if in TransferHandover subscirbe to "Sortic/Handover" and switch state to 20 "search suitable targetPos Sortic"

10 search suitable targetPos Transfer

listen for places with matching cargo till timeout is reached
listen to occupied places till timeout is reached
evaluate new targetposition
if targetposition is valid
- publish targetposition and switch state to 11 "ensure valid target position Transfer"

11 ensure valid target position Transfer

publish target position and listen if not occupied

20 search suitable targetPos Sortic

listen to occupied places till timeout is reached
evaluate new targetposition
if targetposition is valid
- publish targetposition and switch state to 21 "ensure valid target position Sortic"

21 ensure valid target position Sortic

publish target position and listen if not occupied

50 set targetposition

set Navigation TargetPosition
send Event MoveToTargetPosition to NavigationCtrl
switch to substate 100 "check position"

100 check position

if already in position switcht to substate 400
check in which sector and subscribe to actual gateway
- if waiting for gateway Sortic subscribe to "Sortic/Gateway"
- if waiting for gateway Transfer subscribe to "Transfer/Gateway"
- switch substate to 200 "wait for free gateway"

200 wait for free gateway

listen if no token is published for current gateway for xx seconds + some random time

210 listen if only one in gateway

publish token for gateway and check if the only one for xx seconds
if not available go back to 200 "wait for free gateway"
else go to 20 "check which gateway to block"

300 check which gateway to block

if in sector SorticGateway go to 21 "block Gateway Sortic"
if in sector TransitGateway go to 22 "block gateway Transfer"

310 block gateway Sortic

publish token to Gateway as long as in sector Gateway
go to substate 400 "chek if in position"

320 block gateway Transfer

publish token to Gateway as long as in sector Gateway
go to substate 400 "chek if in position"

400 chek if in position

if current sector = target sector
- go to 500 "lower hoist"
if current sector = TransitWaitForGatewaySortic
- subscribe to "Sortic/Gateway"
- go to 200 "wait for free gateway"
if current sector = TransitWaitForGatewayTransfer
- subscribe to "Transfer/Gateway"
- go to 200 "wait for free gateway"

500 lower hoist

if hoist is low go to 600 "publish position to Box"

600 publish position to Box

Returns: VehicleLevelCtrl::Event - generated Event

Definition at line 437 of file VehicleCtrl.cpp.

◆ exitAction_unloadVehicle()

void VehicleCtrl::exitAction_unloadVehicle ( )

private

exit action of the unloadVehicle

Definition at line 783 of file VehicleCtrl.cpp.

◆ entryAction_errorState()

void VehicleCtrl::entryAction_errorState ( )

private

entry action of the errorState

pass Errorevent to Hoist and NavCtrl

Definition at line 788 of file VehicleCtrl.cpp.

◆ doAction_errorState()

VehicleCtrl::Event VehicleCtrl::doAction_errorState ( )

private

main action of the errorState

check for reset message

Returns: VehicleLevelCtrl::Event - generated Event

Definition at line 799 of file VehicleCtrl.cpp.

◆ exitAction_errorState()

void VehicleCtrl::exitAction_errorState ( )

private

exit action of the errorState

Definition at line 822 of file VehicleCtrl.cpp.

◆ entryAction_resetState()

void VehicleCtrl::entryAction_resetState ( )

private

entry action of the resetState

Definition at line 828 of file VehicleCtrl.cpp.

◆ doAction_resetState()

VehicleCtrl::Event VehicleCtrl::doAction_resetState ( )

private

main action of the resetState

check for resume message

Returns: VehicleLevelCtrl::Event - generated Event

Definition at line 844 of file VehicleCtrl.cpp.

◆ exitAction_resetState()

void VehicleCtrl::exitAction_resetState ( )

private

exit action of the resetState

Definition at line 861 of file VehicleCtrl.cpp.

◆ decodeState()

String VehicleCtrl::decodeState ( State state )

private

Decodes the State-Enum and returns a description.

Parameters

state - enum State

Returns: String - State as String

Definition at line 873 of file VehicleCtrl.cpp.

◆ decodeEvent()

String VehicleCtrl::decodeEvent ( Event event )

private

Decodes the Event-Enum and returns a description.

Parameters

event - enum Event

Returns: String - Event as String

Definition at line 899 of file VehicleCtrl.cpp.

◆ publishState()

void VehicleCtrl::publishState ( State state )

private

Update State and Publish actual state.

update vehicle state
publishMessage "Vehicle/vehicle.id/status" {"status":"vehicle.status"}
Parameters

state - state for update

Definition at line 974 of file VehicleCtrl.cpp.

◆ publishPosition()

void VehicleCtrl::publishPosition ( )

private

Update position and Publish actual position.

update vehicle position
publishMessage "Vehicle/vehicle.id/position" {"sector":vehicle.actualSector,"line":vehicle.actualLine"}

Definition at line 979 of file VehicleCtrl.cpp.

◆ publishTargetPosition()

void VehicleCtrl::publishTargetPosition ( )

private

Update position and Publish actual position.

publishMessage "Vehicle/vehicle.id/position" {"sector":vehicle.targetSector,"line":vehicle.targetLine"}

Definition at line 990 of file VehicleCtrl.cpp.

◆ publishTargetPositionBlockLine()

void VehicleCtrl::publishTargetPositionBlockLine ( )

private

Definition at line 997 of file VehicleCtrl.cpp.

◆ checkForError()

bool VehicleCtrl::checkForError ( )

private

Check if a new message with a error is received.

Returns: true - error received; false - no error received

Definition at line 961 of file VehicleCtrl.cpp.

◆ clearGui()

void VehicleCtrl::clearGui ( )

private

clear node Red gui

Definition at line 1020 of file VehicleCtrl.cpp.

Member Data Documentation

◆ vehicle

struct VehicleCtrl::Vehicle VehicleCtrl::vehicle

◆ lastStateBevorError

State VehicleCtrl::lastStateBevorError

private

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

Definition at line 116 of file VehicleCtrl.h.

◆ currentState

State VehicleCtrl::currentState

private

holds the current state of the FSM

Definition at line 117 of file VehicleCtrl.h.

◆ currentEvent

Event VehicleCtrl::currentEvent

private

holds the current event of the FSM

Definition at line 118 of file VehicleCtrl.h.

◆ substate

int VehicleCtrl::substate = 0

private

actual Substate of FSM

Definition at line 119 of file VehicleCtrl.h.

◆ pSorticPark

int VehicleCtrl::pSorticPark[SORTIC_MAX_LINE] = {0}

private

Sortic with 10 diffrent lines.

Definition at line 120 of file VehicleCtrl.h.

◆ pTransferPark

int VehicleCtrl::pTransferPark[SORTIC_MAX_LINE] = {1}

private

Sortic with 10 diffrent lines.

Definition at line 121 of file VehicleCtrl.h.

◆ pRandomDelayFactor

unsigned int VehicleCtrl::pRandomDelayFactor = 0

private

some sort of ALOHA stuff

Definition at line 122 of file VehicleCtrl.h.

◆ doActionFPtr

Event(VehicleCtrl::* VehicleCtrl::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 128 of file VehicleCtrl.h.

◆ pNavCtrl

NavigationCtrl VehicleCtrl::pNavCtrl

private

Navigation Controll object.

Definition at line 130 of file VehicleCtrl.h.

◆ pComm

Communication VehicleCtrl::pComm = Communication(DEFAULT_HOSTNAME)

private

Communication object.

Definition at line 131 of file VehicleCtrl.h.

◆ pHoistCtrl

HoistCtrl VehicleCtrl::pHoistCtrl

private

Hoist Controll object.

Definition at line 132 of file VehicleCtrl.h.

◆ currentMillis

unsigned long VehicleCtrl::currentMillis = 0

private

will store current time

Definition at line 134 of file VehicleCtrl.h.

◆ previousMillis

unsigned long VehicleCtrl::previousMillis = 0

private

will store last time published

Definition at line 135 of file VehicleCtrl.h.

◆ previousMillisPublishToken

unsigned long VehicleCtrl::previousMillisPublishToken = 0

private

will store last time token published

Definition at line 136 of file VehicleCtrl.h.

◆ previousMillisPublish

unsigned long VehicleCtrl::previousMillisPublish = 0

private

will store last publish time

Definition at line 137 of file VehicleCtrl.h.

◆ previousMillisPublishPos

unsigned long VehicleCtrl::previousMillisPublishPos = 0

private

will store last publish position time

Definition at line 138 of file VehicleCtrl.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

◆ Event

◆ State

Constructor & Destructor Documentation

◆ VehicleCtrl()

Member Function Documentation

◆ loop() [1/2]

◆ loop() [2/2]

◆ process()

◆ entryAction_waitForBox()

◆ doAction_waitForBox()

◆ exitAction_waitForBox()

◆ entryAction_handshake()

◆ doAction_handshake()

◆ exitAction_handshake()

◆ entryAction_loadVehicle()

◆ doAction_loadVehicle()

◆ exitAction_loadVehicle()

◆ entryAction_unloadVehicle()

◆ doAction_unloadVehicle()

◆ exitAction_unloadVehicle()

◆ entryAction_errorState()

◆ doAction_errorState()

◆ exitAction_errorState()

◆ entryAction_resetState()

◆ doAction_resetState()

◆ exitAction_resetState()

◆ decodeState()

◆ decodeEvent()

◆ publishState()

◆ publishPosition()

◆ publishTargetPosition()

◆ publishTargetPositionBlockLine()

◆ checkForError()

◆ clearGui()

Member Data Documentation

◆ vehicle

◆ lastStateBevorError

◆ currentState

◆ currentEvent

◆ substate

◆ pSorticPark

◆ pTransferPark

◆ pRandomDelayFactor

◆ doActionFPtr

◆ pNavCtrl

◆ pComm

◆ pHoistCtrl

◆ currentMillis

◆ previousMillis

◆ previousMillisPublishToken

◆ previousMillisPublish

◆ previousMillisPublishPos