/****************************************************************************

Module
HSMTemplate.c

Revision
2.0.1

Description
This is a template file for implementing state machines.

Notes

History
When Who What/Why
-------------- --- --------
02/27/17 09:48 jec another correction to re-assign both CurrentEvent
and ReturnEvent to the result of the During function
this eliminates the need for the prior fix and allows
the during function to-remap an event that will be
processed at a higher level.
02/20/17 10:14 jec correction to Run function to correctly assign
ReturnEvent in the situation where a lower level
machine consumed an event.
02/03/16 12:38 jec updated comments to reflect changes made in '14 & '15
converted unsigned char to bool where appropriate
spelling changes on true (was True) to match standard
removed local var used for debugger visibility in 'C32
commented out references to Start & RunLowerLevelSM so
that this can compile.
02/07/13 21:00 jec corrections to return variable (should have been
ReturnEvent, not CurrentEvent) and several EV_xxx
event names that were left over from the old version
02/08/12 09:56 jec revisions for the Events and Services Framework Gen2
02/13/10 14:29 jec revised Start and run to add new kind of entry function
to make implementing history entry cleaner
02/13/10 12:29 jec added NewEvent local variable to During function and
comments about using either it or Event as the return
02/11/10 15:54 jec more revised comments, removing last comment in during
function that belongs in the run function
02/09/10 17:21 jec updated comments about internal transitions on During
funtion
02/18/09 10:14 jec removed redundant call to RunLowerlevelSM in EV_Entry
processing in During function
02/20/07 21:37 jec converted to use enumerated type for events & states
02/13/05 19:38 jec added support for self-transitions, reworked
to eliminate repeated transition code
02/11/05 16:54 jec converted to implment hierarchy explicitly
02/25/03 10:32 jec converted to take a passed event parameter
02/18/99 10:19 jec built template from MasterMachine.c
02/14/99 10:34 jec Began Coding
****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
// Basic includes for a program using the Events and Services Framework
#include "ES_Configure.h"
#include "ES_Framework.h"

/* include header files for this state machine as well as any machines at the
next lower level in the hierarchy that are sub-machines to this machine
*/
#include "MotorService.h"
#include "HSMTemplate.h"
#include "MasterHSM.h"
#include "Loading.h"
#include "Unloading.h"
#include "TopHSMTemplate.h"

/*----------------------------- Module Defines ----------------------------*/

// define constants for the states for this machine
// and any other local defines

#define ENTRY_STATE WAITING

#define MASTER_Timer 0
#define CRASH_TIMER 3
#define RESPONSE_TIME 200
#define LOADING_TIMER 6
#define FIVE_SECS 5000
/*---------------------------- Module Functions ---------------------------*/
/* prototypes for private functions for this machine, things like during
functions, entry & exit functions.They should be functions relevant to the
behavior of this state machine
*/
static ES_Event_t DuringWaiting(ES_Event_t Event);
static ES_Event_t DuringSF(ES_Event_t Event);
static ES_Event_t DuringSB(ES_Event_t Event);
static ES_Event_t DuringCCW(ES_Event_t Event);
static ES_Event_t DuringOpen(ES_Event_t Event);

/*---------------------------- Module Variables ---------------------------*/

// everybody needs a state variable, you may need others as well
static UnloadTrashState_t CurrentState;
static uint8_t count = 0;
/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function
UnloadTrashSM

Parameters
ES_Event_t: the event to process

Returns
ES_Event_t: an event to return

Description
add your description here
Notes
uses nested switch/case to implement the machine.
Author
J. Edward Carryer, 2/11/05, 10:45AM
****************************************************************************/
ES_Event_t RunUnloadTrashSM(ES_Event_t CurrentEvent)
{
bool MakeTransition = false;/* are we making a state transition?
*/
UnloadTrashState_t NextState = CurrentState;
ES_Event_t EntryEventKind = { ES_ENTRY, 0 }; // default to normal entry
to new state
ES_Event_t ReturnEvent = CurrentEvent; // assume we are not
consuming event

switch (CurrentState)
{
case WAITING: // If current state is state one
{ // Execute During function for state one. ES_ENTRY & ES_EXIT are
// processed here allow the lower level state machines to re-map
// or consume the event
ReturnEvent = CurrentEvent = DuringWaiting(CurrentEvent);
//process any events
if (CurrentEvent.EventType != ES_NO_EVENT) //If an event is active
 {
printf("\n\rWaiting 2 Unload Trash**************");
switch (CurrentEvent.EventType)
{
case ES_FAR: //If event is event one
{ // Execute action function for state one :
event one
printf("\n\rFarLandfill**************");
NextState = STRAIGHTFRONT; //Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
EntryEventKind.EventType = ES_ENTRY_HISTORY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
}
break;
case ES_NEAR: //If event is event one
{ // Execute action function for state one : event one
NextState = CCW; //Decide what the next state will be
printf("\n\rNearLandfill**************");
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
EntryEventKind.EventType = ES_ENTRY_HISTORY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
}
break;
// repeat cases as required for relevant events
}
}
}
break;

case STRAIGHTFRONT: // If current state is state one

{ // Execute During function for state one. ES_ENTRY & ES_EXIT
are
// processed here allow the lower level state machines to
re-map
// or consume the event
ReturnEvent = CurrentEvent = DuringSF(CurrentEvent);
printf("\n\rMoving Straight**************");
//process any events
if (CurrentEvent.EventType != ES_NO_EVENT) //If an event is active
{
switch (CurrentEvent.EventType)
{
case ES_NEAR: //If event is event one
{ // Execute action function for state one :
event one
NextState = STRAIGHTBACK; //Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
EntryEventKind.EventType = ES_ENTRY_HISTORY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
}
break;
// repeat cases as required for relevant events
 }
}
}
break;

case CCW: // If current state is state one

{ // Execute During function for state one. ES_ENTRY & ES_EXIT are
// processed here allow the lower level state machines to re-map
// or consume the event
ReturnEvent = CurrentEvent = DuringCCW(CurrentEvent);
//process any events
printf("\n\rCCW**************");
if (CurrentEvent.EventType != ES_NO_EVENT) //If an event is active
{
switch (CurrentEvent.EventType)
{
case ES_READY: //If event is event one
{ // Execute action function for state one :
event one
NextState = STRAIGHTBACK; //Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
EntryEventKind.EventType = ES_ENTRY_HISTORY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
}
break;
// repeat cases as required for relevant events
}
}
}
break;

case STRAIGHTBACK: // If current state is state one

{ // Execute During function for state one. ES_ENTRY & ES_EXIT
are
// processed here allow the lower level state machines to
re-map
// or consume the event
ReturnEvent = CurrentEvent = DuringSB(CurrentEvent);
printf("\n\rStraightBack**************");
//process any events
if (CurrentEvent.EventType != ES_NO_EVENT) //If an event is active
{
switch (CurrentEvent.EventType)
{
case ES_BACKCRASH: //If event is event one
{ // Execute action function for state one : event one
NextState = OPEN; //Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
EntryEventKind.EventType = ES_ENTRY_HISTORY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
}
break;
// repeat cases as required for relevant events
}
}
}
 break;

case OPEN: // If current state is state one

{ // Execute During function for state one. ES_ENTRY & ES_EXIT are
// processed here allow the lower level state machines to re-map
// or consume the event
ReturnEvent = CurrentEvent = DuringOpen(CurrentEvent);
printf("\n\rOpening Gate**************");
//process any events
if (CurrentEvent.EventType != ES_NO_EVENT) //If an event is active
{
switch (CurrentEvent.EventType)
{
case ES_CLOSE: //If event is event one
{ // Execute action function for state one : event
one
NextState = WAITING; //Decide what the next state will be
// for internal transitions, skip changing MakeTransition
MakeTransition = false; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
EntryEventKind.EventType = ES_ENTRY_HISTORY;
printf("ES_CLOSE RECEIVED");
//ES_Timer_InitTimer(MASTER_Timer, RESPONSE_TIME);
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_CLOSE;
}
break;
// repeat cases as required for relevant events
}
}
}
break;
// repeat state pattern as required for other states
}
// If we are making a state transition
if (MakeTransition == true)
{
// Execute exit function for current state
CurrentEvent.EventType = ES_EXIT;
RunUnloadTrashSM(CurrentEvent);

CurrentState = NextState; //Modify state variable

// Execute entry function for new state

// this defaults to ES_ENTRY
RunUnloadTrashSM(EntryEventKind);
}
return ReturnEvent;
}

/****************************************************************************
Function
StartUnloadTrashSM

Parameters
None

Returns
None

Description
Does any required initialization for this state machine
Notes
 Author
J. Edward Carryer, 2/18/99, 10:38AM
****************************************************************************/
void StartUnloadTrashSM(ES_Event_t CurrentEvent)
{
// to implement entry to a history state or directly to a substate
// you can modify the initialization of the CurrentState variable
// otherwise just start in the entry state every time the state machine
// is started
// if (ES_ENTRY_HISTORY != CurrentEvent.EventType)
//No history
{
CurrentState = ENTRY_STATE;
}
// call the entry function (if any) for the ENTRY_STATE
RunUnloadTrashSM(CurrentEvent);
}

/****************************************************************************
Function
QueryUnloadTrashSM

Parameters
None

Returns
UnloadTrashState_t The current state of the Template state machine

Description
returns the current state of the Template state machine
Notes

Author
J. Edward Carryer, 2/11/05, 10:38AM
****************************************************************************/
UnloadTrashState_t QueryUnloadTrashSM(void)
{
return CurrentState;
}

/***************************************************************************
private functions
***************************************************************************/

static ES_Event_t DuringWaiting(ES_Event_t Event)

{
ES_Event_t ReturnEvent = Event; // assume no re-mapping or consumption

// process ES_ENTRY, ES_ENTRY_HISTORY & ES_EXIT events

if ((Event.EventType == ES_ENTRY) ||
(Event.EventType == ES_ENTRY_HISTORY))
{
// implement any entry actions required for this state machine

// after that start any lower level machines that run in this state
//StartLowerLevelSM( Event );
// repeat the StartxxxSM() functions for concurrent state machines
// on the lower level
}
else if (Event.EventType == ES_EXIT)
{
// on exit, give the lower levels a chance to clean up first
//RunLowerLevelSM(Event);
 // repeat for any concurrently running state machines
// now do any local exit functionality
}
else
// do the 'during' function for this state
{
// run any lower level state machine
// ReturnEvent = RunLowerLevelSM(Event);

// repeat for any concurrent lower level machines

// do any activity that is repeated as long as we are in this state

}
// return either Event, if you don't want to allow the lower level machine
// to remap the current event, or ReturnEvent if you do want to allow it.
return ReturnEvent;
}

static ES_Event_t DuringSF(ES_Event_t Event)

{
ES_Event_t ReturnEvent = Event; // assume no re-mapping or consumption
ES_Event_t MotorEvent;

// process ES_ENTRY, ES_ENTRY_HISTORY & ES_EXIT events

if ((Event.EventType == ES_ENTRY) ||
(Event.EventType == ES_ENTRY_HISTORY))
{
// implement any entry actions required for this state machine
//Make motor to go straight
MotorEvent.EventType = ES_FULLFRONT;
PostMotor(MotorEvent);
ES_Timer_InitTimer(LOADING_TIMER, FIVE_SECS);

// after that start any lower level machines that run in this state
//StartLowerLevelSM( Event );
// repeat the StartxxxSM() functions for concurrent state machines
// on the lower level
}
else if (Event.EventType == ES_EXIT)
{
// on exit, give the lower levels a chance to clean up first
//RunLowerLevelSM(Event);
// repeat for any concurrently running state machines
// now do any local exit functionality
}
else
// do the 'during' function for this state
{
// run any lower level state machine
// ReturnEvent = RunLowerLevelSM(Event);
if ((Event.EventType == ES_TIMEOUT) && (Event.EventParam == LOADING_TIMER))
{
if (count == 0)
{
//Make motor turn CW
MotorEvent.EventType = ES_CW;
PostMotor(MotorEvent);
ES_Timer_InitTimer(LOADING_TIMER, 2000);
ReturnEvent.EventType = ES_NO_EVENT;
count = 1;
}
else if (count == 1)
{
//Make motor to go back if motor had already turned CW
 MotorEvent.EventType = ES_FULLBACK;
printf("Going to Landfill from FAR");
PostMotor(MotorEvent);
count = 0;
ReturnEvent.EventType = ES_NEAR;
}
}

// repeat for any concurrent lower level machines

// do any activity that is repeated as long as we are in this state

}
// return either Event, if you don't want to allow the lower level machine
// to remap the current event, or ReturnEvent if you do want to allow it.
return ReturnEvent;
}

static ES_Event_t DuringCCW(ES_Event_t Event)

{
ES_Event_t ReturnEvent = Event; // assume no re-mapping or consumption
ES_Event_t MotorEvent;

// process ES_ENTRY, ES_ENTRY_HISTORY & ES_EXIT events

if ((Event.EventType == ES_ENTRY) ||
(Event.EventType == ES_ENTRY_HISTORY))
{
// implement any entry actions required for this state machine
//Make motor turn CCW
MotorEvent.EventType = ES_CCW;
PostMotor(MotorEvent);
ES_Timer_InitTimer(LOADING_TIMER, 2000);

// after that start any lower level machines that run in this state
//StartLowerLevelSM( Event );
// repeat the StartxxxSM() functions for concurrent state machines
// on the lower level
}
else if (Event.EventType == ES_EXIT)
{
// on exit, give the lower levels a chance to clean up first
//RunLowerLevelSM(Event);
// repeat for any concurrently running state machines
// now do any local exit functionality
}
else
// do the 'during' function for this state
{
// run any lower level state machine
// ReturnEvent = RunLowerLevelSM(Event);
if ((Event.EventType == ES_TIMEOUT) && (Event.EventParam == LOADING_TIMER))
{
printf("Timeout received, getting ready for back");
ReturnEvent.EventType = ES_READY;
}

// repeat for any concurrent lower level machines

// do any activity that is repeated as long as we are in this state

}
// return either Event, if you don't want to allow the lower level machine
// to remap the current event, or ReturnEvent if you do want to allow it.
return ReturnEvent;
}
static ES_Event_t DuringSB(ES_Event_t Event)
{
ES_Event_t ReturnEvent = Event; // assume no re-mapping or consumption
ES_Event_t MotorEvent;

// process ES_ENTRY, ES_ENTRY_HISTORY & ES_EXIT events

if ((Event.EventType == ES_ENTRY) ||
(Event.EventType == ES_ENTRY_HISTORY))
{
// implement any entry actions required for this state machine
//Make motor go full back
MotorEvent.EventType = ES_FULLBACK;
PostMotor(MotorEvent);
// after that start any lower level machines that run in this state
//StartLowerLevelSM( Event );
// repeat the StartxxxSM() functions for concurrent state machines
// on the lower level
}
else if (Event.EventType == ES_EXIT)
{
// on exit, give the lower levels a chance to clean up first
//RunLowerLevelSM(Event);
// repeat for any concurrently running state machines
// now do any local exit functionality
}
else
// do the 'during' function for this state
{
// run any lower level state machine
// ReturnEvent = RunLowerLevelSM(Event);
if (Event.EventType == ES_BACKCRASH)
{
MotorEvent.EventType = ES_HOLD;
PostMotor(MotorEvent);
}

// repeat for any concurrent lower level machines

// do any activity that is repeated as long as we are in this state

}
// return either Event, if you don't want to allow the lower level machine
// to remap the current event, or ReturnEvent if you do want to allow it.
return ReturnEvent;
}

static ES_Event_t DuringOpen(ES_Event_t Event)

{
ES_Event_t ReturnEvent = Event; // assume no re-mapping or consumption
ES_Event_t MotorEvent;

// process ES_ENTRY, ES_ENTRY_HISTORY & ES_EXIT events

if ((Event.EventType == ES_ENTRY) ||
(Event.EventType == ES_ENTRY_HISTORY))
{ //Make motor to go front
// implement any entry actions required for this state machine
MotorEvent.EventType = ES_FULLFRONT;
PostMotor(MotorEvent);
ES_Timer_InitTimer(LOADING_TIMER, 200);
printf("Timer Started");
// after that start any lower level machines that run in this state
//StartLowerLevelSM( Event );
// repeat the StartxxxSM() functions for concurrent state machines
// on the lower level
}
 else if (Event.EventType == ES_EXIT)
{
// on exit, give the lower levels a chance to clean up first
//RunLowerLevelSM(Event);
// repeat for any concurrently running state machines
// now do any local exit functionality
}
else
// do the 'during' function for this state
{
// run any lower level state machine
// ReturnEvent = RunLowerLevelSM(Event);
if ((Event.EventType == ES_TIMEOUT) && (Event.EventParam == LOADING_TIMER))
{
MotorEvent.EventType = ES_HOLD;
PostMotor(MotorEvent);
ReturnEvent.EventType = ES_CLOSE;
printf("ES_CLOSE POSTED");
}

// repeat for any concurrent lower level machines

// do any activity that is repeated as long as we are in this state

}
// return either Event, if you don't want to allow the lower level machine
// to remap the current event, or ReturnEvent if you do want to allow it.
return ReturnEvent;
}