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438 lines
14 KiB
C++
438 lines
14 KiB
C++
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//////////////////////////////////////////////////////////////////////////////
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// Model: pelican.qm
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// File: ././pelican.cpp
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//
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// This file has been generated automatically by QP Modeler (QM).
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// DO NOT EDIT THIS FILE MANUALLY.
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//
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// Please visit www.state-machine.com/qm for more information.
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//////////////////////////////////////////////////////////////////////////////
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#include "qp_port.h"
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#include "bsp.h"
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#include "pelican.h"
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namespace PELICAN {
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Q_DEFINE_THIS_FILE
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enum PelicanTimeouts { // various timeouts in ticks
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CARS_GREEN_MIN_TOUT = BSP_TICKS_PER_SEC * 8, // min green for cars
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CARS_YELLOW_TOUT = BSP_TICKS_PER_SEC * 3, // yellow for cars
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PEDS_WALK_TOUT = BSP_TICKS_PER_SEC * 3, // walking time for peds
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PEDS_FLASH_TOUT = BSP_TICKS_PER_SEC / 5, // flashing timeout for peds
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PEDS_FLASH_NUM = 5*2, // number of flashes for peds
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OFF_FLASH_TOUT = BSP_TICKS_PER_SEC / 2 // flashing timeout when off
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};
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// Pelican class -------------------------------------------------------------
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// @(/1/0) ...................................................................
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/// PEdestrian LIght CONtrolled (PELICAN) crossing
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class Pelican : public QP::QActive {
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private:
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QP::QTimeEvt m_timeout;
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uint8_t m_flashCtr;
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public:
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/// constructor
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Pelican()
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: QActive(Q_STATE_CAST(&Pelican::initial)),
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m_timeout(TIMEOUT_SIG)
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{
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}
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protected:
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static QP::QState initial(Pelican * const me, QP::QEvt const * const e);
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static QP::QState operational(Pelican * const me, QP::QEvt const * const e);
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static QP::QState carsEnabled(Pelican * const me, QP::QEvt const * const e);
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static QP::QState carsGreen(Pelican * const me, QP::QEvt const * const e);
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static QP::QState carsGreenNoPed(Pelican * const me, QP::QEvt const * const e);
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static QP::QState carsGreenInt(Pelican * const me, QP::QEvt const * const e);
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static QP::QState carsGreenPedWait(Pelican * const me, QP::QEvt const * const e);
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static QP::QState carsYellow(Pelican * const me, QP::QEvt const * const e);
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static QP::QState pedsEnabled(Pelican * const me, QP::QEvt const * const e);
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static QP::QState pedsWalk(Pelican * const me, QP::QEvt const * const e);
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static QP::QState pedsFlash(Pelican * const me, QP::QEvt const * const e);
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static QP::QState offline(Pelican * const me, QP::QEvt const * const e);
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};
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// Local objects -------------------------------------------------------------
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static Pelican l_Pelican; // the single instance of Pelican active object
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// Global objects ------------------------------------------------------------
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QP::QActive * const AO_Pelican = &l_Pelican; // the opaque pointer
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// Pelican class definition --------------------------------------------------
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// @(/1/0) ...................................................................
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// @(/1/0/3) .................................................................
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// @(/1/0/3/0)
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QP::QState Pelican::initial(Pelican * const me, QP::QEvt const * const e) {
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me->subscribe(PEDS_WAITING_SIG);
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me->subscribe(TERMINATE_SIG);
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QS_OBJ_DICTIONARY(&l_Pelican);
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QS_OBJ_DICTIONARY(&l_Pelican.m_timeout);
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QS_FUN_DICTIONARY(&QP::QHsm::top);
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QS_FUN_DICTIONARY(&Pelican::initial);
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QS_FUN_DICTIONARY(&Pelican::offline);
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QS_FUN_DICTIONARY(&Pelican::operational);
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QS_FUN_DICTIONARY(&Pelican::carsEnabled);
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QS_FUN_DICTIONARY(&Pelican::carsGreen);
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QS_FUN_DICTIONARY(&Pelican::carsGreenNoPed);
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QS_FUN_DICTIONARY(&Pelican::carsGreenPedWait);
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QS_FUN_DICTIONARY(&Pelican::carsGreenInt);
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QS_FUN_DICTIONARY(&Pelican::carsYellow);
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QS_FUN_DICTIONARY(&Pelican::pedsEnabled);
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QS_FUN_DICTIONARY(&Pelican::pedsWalk);
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QS_FUN_DICTIONARY(&Pelican::pedsFlash);
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QS_SIG_DICTIONARY(PEDS_WAITING_SIG, (void *)0); // global signals
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QS_SIG_DICTIONARY(ON_SIG, (void *)0);
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QS_SIG_DICTIONARY(OFF_SIG, (void *)0);
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QS_SIG_DICTIONARY(TIMEOUT_SIG, &l_Pelican); // just for Pelican
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return Q_TRAN(&Pelican::operational);
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}
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// @(/1/0/3/1) ...............................................................
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QP::QState Pelican::operational(Pelican * const me, QP::QEvt const * const e) {
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QP::QState status;
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switch (e->sig) {
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// @(/1/0/3/1)
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case Q_ENTRY_SIG: {
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BSP_signalCars(CARS_RED);
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BSP_signalPeds(PEDS_DONT_WALK);
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status = Q_HANDLED();
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break;
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}
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// @(/1/0/3/1/0)
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case Q_INIT_SIG: {
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status = Q_TRAN(&Pelican::carsEnabled);
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break;
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}
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// @(/1/0/3/1/1)
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case OFF_SIG: {
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status = Q_TRAN(&Pelican::offline);
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break;
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}
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// @(/1/0/3/1/2)
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case TERMINATE_SIG: {
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BSP_terminate(0);
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status = Q_HANDLED();
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break;
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}
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default: {
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status = Q_SUPER(&QHsm::top);
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break;
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}
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}
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return status;
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}
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// @(/1/0/3/1/3) .............................................................
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QP::QState Pelican::carsEnabled(Pelican * const me, QP::QEvt const * const e) {
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QP::QState status;
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switch (e->sig) {
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// @(/1/0/3/1/3)
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case Q_EXIT_SIG: {
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BSP_signalCars(CARS_RED);
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status = Q_HANDLED();
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break;
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}
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// @(/1/0/3/1/3/0)
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case Q_INIT_SIG: {
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status = Q_TRAN(&Pelican::carsGreen);
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break;
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}
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default: {
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status = Q_SUPER(&Pelican::operational);
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break;
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}
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}
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return status;
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}
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// @(/1/0/3/1/3/1) ...........................................................
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QP::QState Pelican::carsGreen(Pelican * const me, QP::QEvt const * const e) {
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QP::QState status;
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switch (e->sig) {
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// @(/1/0/3/1/3/1)
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case Q_ENTRY_SIG: {
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BSP_signalCars(CARS_GREEN);
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me->m_timeout.postIn(me, CARS_GREEN_MIN_TOUT);
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status = Q_HANDLED();
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break;
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}
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// @(/1/0/3/1/3/1)
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case Q_EXIT_SIG: {
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(void)me->m_timeout.disarm();
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status = Q_HANDLED();
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break;
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}
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// @(/1/0/3/1/3/1/0)
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case Q_INIT_SIG: {
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status = Q_TRAN(&Pelican::carsGreenNoPed);
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break;
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}
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default: {
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status = Q_SUPER(&Pelican::carsEnabled);
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break;
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}
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}
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return status;
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}
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// @(/1/0/3/1/3/1/1) .........................................................
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QP::QState Pelican::carsGreenNoPed(Pelican * const me, QP::QEvt const * const e) {
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QP::QState status;
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switch (e->sig) {
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// @(/1/0/3/1/3/1/1)
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case Q_ENTRY_SIG: {
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BSP_showState("carsGreenNoPed");
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status = Q_HANDLED();
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break;
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}
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// @(/1/0/3/1/3/1/1/0)
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case PEDS_WAITING_SIG: {
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status = Q_TRAN(&Pelican::carsGreenPedWait);
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break;
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}
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// @(/1/0/3/1/3/1/1/1)
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case TIMEOUT_SIG: {
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status = Q_TRAN(&Pelican::carsGreenInt);
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break;
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}
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default: {
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status = Q_SUPER(&Pelican::carsGreen);
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break;
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}
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}
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return status;
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}
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// @(/1/0/3/1/3/1/2) .........................................................
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QP::QState Pelican::carsGreenInt(Pelican * const me, QP::QEvt const * const e) {
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QP::QState status;
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switch (e->sig) {
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// @(/1/0/3/1/3/1/2)
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case Q_ENTRY_SIG: {
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BSP_showState("carsGreenInt");
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status = Q_HANDLED();
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break;
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}
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// @(/1/0/3/1/3/1/2/0)
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case PEDS_WAITING_SIG: {
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status = Q_TRAN(&Pelican::carsYellow);
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break;
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}
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default: {
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status = Q_SUPER(&Pelican::carsGreen);
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break;
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}
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}
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return status;
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}
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// @(/1/0/3/1/3/1/3) .........................................................
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QP::QState Pelican::carsGreenPedWait(Pelican * const me, QP::QEvt const * const e) {
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QP::QState status;
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switch (e->sig) {
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// @(/1/0/3/1/3/1/3)
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case Q_ENTRY_SIG: {
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BSP_showState("carsGreenPedWait");
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status = Q_HANDLED();
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break;
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}
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// @(/1/0/3/1/3/1/3/0)
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case TIMEOUT_SIG: {
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status = Q_TRAN(&Pelican::carsYellow);
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break;
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}
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default: {
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status = Q_SUPER(&Pelican::carsGreen);
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break;
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}
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}
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return status;
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}
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// @(/1/0/3/1/3/2) ...........................................................
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QP::QState Pelican::carsYellow(Pelican * const me, QP::QEvt const * const e) {
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QP::QState status;
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switch (e->sig) {
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// @(/1/0/3/1/3/2)
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case Q_ENTRY_SIG: {
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BSP_showState("carsYellow");
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BSP_signalCars(CARS_YELLOW);
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me->m_timeout.postIn(me, CARS_YELLOW_TOUT);
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status = Q_HANDLED();
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break;
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}
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// @(/1/0/3/1/3/2)
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case Q_EXIT_SIG: {
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(void)me->m_timeout.disarm();
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status = Q_HANDLED();
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break;
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}
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// @(/1/0/3/1/3/2/0)
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case TIMEOUT_SIG: {
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status = Q_TRAN(&Pelican::pedsEnabled);
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break;
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}
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default: {
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status = Q_SUPER(&Pelican::carsEnabled);
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break;
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}
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}
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return status;
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}
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// @(/1/0/3/1/4) .............................................................
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QP::QState Pelican::pedsEnabled(Pelican * const me, QP::QEvt const * const e) {
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QP::QState status;
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switch (e->sig) {
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// @(/1/0/3/1/4)
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case Q_EXIT_SIG: {
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BSP_signalPeds(PEDS_DONT_WALK);
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status = Q_HANDLED();
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break;
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}
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// @(/1/0/3/1/4/0)
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case Q_INIT_SIG: {
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status = Q_TRAN(&Pelican::pedsWalk);
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break;
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}
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default: {
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status = Q_SUPER(&Pelican::operational);
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break;
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}
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}
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return status;
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}
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// @(/1/0/3/1/4/1) ...........................................................
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QP::QState Pelican::pedsWalk(Pelican * const me, QP::QEvt const * const e) {
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QP::QState status;
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switch (e->sig) {
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// @(/1/0/3/1/4/1)
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case Q_ENTRY_SIG: {
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BSP_showState("pedsWalk");
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BSP_signalPeds(PEDS_WALK);
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me->m_timeout.postIn(me, PEDS_WALK_TOUT);
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status = Q_HANDLED();
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break;
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}
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// @(/1/0/3/1/4/1)
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case Q_EXIT_SIG: {
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(void)me->m_timeout.disarm();
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status = Q_HANDLED();
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break;
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}
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// @(/1/0/3/1/4/1/0)
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case TIMEOUT_SIG: {
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status = Q_TRAN(&Pelican::pedsFlash);
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break;
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}
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default: {
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status = Q_SUPER(&Pelican::pedsEnabled);
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break;
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}
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}
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return status;
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}
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// @(/1/0/3/1/4/2) ...........................................................
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QP::QState Pelican::pedsFlash(Pelican * const me, QP::QEvt const * const e) {
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QP::QState status;
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switch (e->sig) {
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// @(/1/0/3/1/4/2)
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case Q_ENTRY_SIG: {
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BSP_showState("pedsFlash");
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me->m_timeout.postIn(me, PEDS_FLASH_TOUT);
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me->m_flashCtr = PEDS_FLASH_NUM*2 + 1;
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status = Q_HANDLED();
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break;
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}
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// @(/1/0/3/1/4/2)
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case Q_EXIT_SIG: {
|
||
|
|
(void)me->m_timeout.disarm();
|
||
|
|
status = Q_HANDLED();
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
// @(/1/0/3/1/4/2/0)
|
||
|
|
case TIMEOUT_SIG: {
|
||
|
|
// @(/1/0/3/1/4/2/0/0)
|
||
|
|
if (me->m_flashCtr != 0U) {
|
||
|
|
--me->m_flashCtr;
|
||
|
|
// @(/1/0/3/1/4/2/0/0/0)
|
||
|
|
if ((me->m_flashCtr & 1U) == 0U) {
|
||
|
|
BSP_signalPeds(PEDS_DONT_WALK);
|
||
|
|
status = Q_HANDLED();
|
||
|
|
}
|
||
|
|
// @(/1/0/3/1/4/2/0/0/1)
|
||
|
|
else {
|
||
|
|
BSP_signalPeds(PEDS_BLANK);
|
||
|
|
status = Q_HANDLED();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
// @(/1/0/3/1/4/2/0/1)
|
||
|
|
else {
|
||
|
|
status = Q_TRAN(&Pelican::carsEnabled);
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
default: {
|
||
|
|
status = Q_SUPER(&Pelican::pedsEnabled);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
// @(/1/0/3/2) ...............................................................
|
||
|
|
QP::QState Pelican::offline(Pelican * const me, QP::QEvt const * const e) {
|
||
|
|
QP::QState status;
|
||
|
|
switch (e->sig) {
|
||
|
|
// @(/1/0/3/2)
|
||
|
|
case Q_ENTRY_SIG: {
|
||
|
|
BSP_showState("offline");
|
||
|
|
me->m_timeout.postEvery(me, OFF_FLASH_TOUT);
|
||
|
|
me->m_flashCtr = 0U;
|
||
|
|
status = Q_HANDLED();
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
// @(/1/0/3/2)
|
||
|
|
case Q_EXIT_SIG: {
|
||
|
|
(void)me->m_timeout.disarm();
|
||
|
|
status = Q_HANDLED();
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
// @(/1/0/3/2/0)
|
||
|
|
case TIMEOUT_SIG: {
|
||
|
|
me->m_flashCtr ^= 1U;
|
||
|
|
// @(/1/0/3/2/0/0)
|
||
|
|
if ((me->m_flashCtr & 1U) == 0U) {
|
||
|
|
BSP_signalCars(CARS_RED);
|
||
|
|
BSP_signalPeds(PEDS_DONT_WALK);
|
||
|
|
status = Q_HANDLED();
|
||
|
|
}
|
||
|
|
// @(/1/0/3/2/0/1)
|
||
|
|
else {
|
||
|
|
BSP_signalCars(CARS_BLANK);
|
||
|
|
BSP_signalPeds(PEDS_BLANK);
|
||
|
|
status = Q_HANDLED();
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
// @(/1/0/3/2/1)
|
||
|
|
case ON_SIG: {
|
||
|
|
status = Q_TRAN(&Pelican::operational);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
// @(/1/0/3/2/2)
|
||
|
|
case TERMINATE_SIG: {
|
||
|
|
BSP_terminate(0);
|
||
|
|
status = Q_HANDLED();
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
default: {
|
||
|
|
status = Q_SUPER(&QHsm::top);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
} // namespace PELICAN
|