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authorNicolas Schodet2013-03-21 21:20:18 +0100
committerNicolas Schodet2013-03-21 21:20:18 +0100
commit0c5ba0b879baa5291d35dd0a5028ab9a5d52560d (patch)
tree0d1dbc0a4c91776e3db686ba672755ba5dfa8bd8 /digital/io-hub
parentc9f14499885b3c087aa5b107156cc91b48917a7c (diff)
digital/io-hub/src/apbirthday: add FSM queue
Diffstat (limited to 'digital/io-hub')
-rw-r--r--digital/io-hub/src/apbirthday/Makefile4
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc16
-rw-r--r--digital/io-hub/src/apbirthday/robot.hh6
-rw-r--r--digital/io-hub/src/common-cc/fsm_queue.cc50
-rw-r--r--digital/io-hub/src/common-cc/fsm_queue.hh62
5 files changed, 131 insertions, 7 deletions
diff --git a/digital/io-hub/src/apbirthday/Makefile b/digital/io-hub/src/apbirthday/Makefile
index 89458a08..362e7476 100644
--- a/digital/io-hub/src/apbirthday/Makefile
+++ b/digital/io-hub/src/apbirthday/Makefile
@@ -5,7 +5,7 @@ PROGS = apbirthday
apbirthday_SOURCES = main.cc robot.cc hardware.host.cc hardware.stm32.cc \
i2c_queue.cc asserv.cc \
top.cc \
- angfsm.host.c angfsm_gen_arm_AI.arm.c \
+ angfsm.host.c angfsm_gen_arm_AI.arm.c fsm_queue.cc \
$(AVR_SOURCES)
MODULES = utils hal/gpio hal/uart hal/usb hal/i2c base/proto
@@ -21,7 +21,7 @@ AVR_SOURCES = $(foreach module,$(AVR_MODULES),$($(subst /,_,$(module))_SOURCES))
# FSM.
INCLUDES += -I$(BASE)/../ai/src/fsm -I.
-vpath %.c $(BASE)/../ai/src/fsm
+vpath angfsm.host.c $(BASE)/../ai/src/fsm
# Common files.
INCLUDES += -I../common-cc
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index 4464013e..83a9928d 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -46,19 +46,27 @@ Robot::main_loop ()
// Wait until next cycle.
hardware.wait ();
// Handle communications.
- main_i2c_queue_.sync ();
+ bool sync = main_i2c_queue_.sync ();
+ // Handle events if synchronised.
+ if (sync)
+ fsm_gen_event ();
// Handle commands.
dev_proto.accept ();
zb_proto.accept ();
usb_proto.accept ();
- // Handle events.
- fsm_gen_event ();
}
}
-void
+bool
Robot::fsm_gen_event ()
{
+ if (fsm_queue.poll ())
+ {
+ FsmQueue::Event event = fsm_queue.pop ();
+ if (ANGFSM_HANDLE_VAR (AI, event))
+ return true;
+ }
+ return false;
}
void
diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh
index e0b50f41..d9590e59 100644
--- a/digital/io-hub/src/apbirthday/robot.hh
+++ b/digital/io-hub/src/apbirthday/robot.hh
@@ -25,6 +25,7 @@
// }}}
#include "hardware.hh"
#include "asserv.hh"
+#include "fsm_queue.hh"
#include "ucoolib/base/proto/proto.hh"
@@ -40,7 +41,7 @@ class Robot : public ucoo::Proto::Handler
/// Main program loop.
void main_loop ();
/// Generate events for the FSM.
- void fsm_gen_event ();
+ bool fsm_gen_event ();
/// Receive proto messages.
void proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size);
public:
@@ -55,6 +56,9 @@ class Robot : public ucoo::Proto::Handler
private:
/// Proto associated to each serial interface.
ucoo::Proto dev_proto, zb_proto, usb_proto;
+ public:
+ /// Public access to deferred events FSM queue.
+ FsmQueue fsm_queue;
};
/// Global instance pointer.
diff --git a/digital/io-hub/src/common-cc/fsm_queue.cc b/digital/io-hub/src/common-cc/fsm_queue.cc
new file mode 100644
index 00000000..816d836d
--- /dev/null
+++ b/digital/io-hub/src/common-cc/fsm_queue.cc
@@ -0,0 +1,50 @@
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT org
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "fsm_queue.hh"
+
+FsmQueue::FsmQueue ()
+ : head_ (0), nb_ (0)
+{
+}
+
+void
+FsmQueue::post (Event e)
+{
+ ucoo::assert (nb_ < queue_size_);
+ int tail = (head_ + nb_) % queue_size_;
+ events_[tail] = e;
+ nb_++;
+}
+
+FsmQueue::Event
+FsmQueue::pop ()
+{
+ Event e;
+ ucoo::assert (nb_ > 0);
+ e = events_[head_];
+ nb_--;
+ head_ = (head_ + 1) % queue_size_;
+ return e;
+}
+
diff --git a/digital/io-hub/src/common-cc/fsm_queue.hh b/digital/io-hub/src/common-cc/fsm_queue.hh
new file mode 100644
index 00000000..333bea80
--- /dev/null
+++ b/digital/io-hub/src/common-cc/fsm_queue.hh
@@ -0,0 +1,62 @@
+#ifndef fsm_queue_hh
+#define fsm_queue_hh
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT org
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "ucoolib/common.hh"
+
+extern "C" {
+#define ANGFSM_NAME AI
+#include "angfsm.h"
+}
+
+/// Handle asynchronous FSM event queue.
+class FsmQueue
+{
+ public:
+#ifdef TARGET_host
+ typedef uint16_t Event;
+#else
+ typedef angfsm_AI_event_t Event;
+#endif
+ public:
+ /// Constructor.
+ FsmQueue ();
+ /// Post an event to be processed in the next main loop.
+ void post (Event e);
+ /// Poll for event (return true if there is an event pending).
+ bool poll () const { return nb_ != 0; }
+ /// Pop one event from the queue.
+ Event pop ();
+ private:
+ /// Maximum number of events in the queue.
+ static const int queue_size_ = 8;
+ /// Events to post to the FSM in next iteration.
+ Event events_[queue_size_];
+ /// First event in the queue.
+ int head_;
+ /// Number of events in the queue.
+ int nb_;
+};
+
+#endif // fsm_queue_hh