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sumo_hsm.qm
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<?xml version="1.0" encoding="UTF-8"?>
<model version="5.2.2" links="1">
<!--${qpc}-->
<framework name="qpc" license="../../../../qp-linux_7.1.2/qp/qpc/LICENSES/QM-EVAL-QPC.qlc"/>
<!--${AOs}-->
<package name="AOs" stereotype="0x02">
<!--${AOs::SumoHSM}-->
<class name="SumoHSM" superclass="qpc::QMActive">
<!--${AOs::SumoHSM::timeEvt}-->
<attribute name="timeEvt" type="QTimeEvt" visibility="0x02" properties="0x00"/>
<!--${AOs::SumoHSM::buzzerTimeEvt}-->
<attribute name="buzzerTimeEvt" type="QTimeEvt" visibility="0x02" properties="0x00"/>
<!--${AOs::SumoHSM::buzzerCount}-->
<attribute name="buzzerCount" type="uint8_t" visibility="0x02" properties="0x00"/>
<!--${AOs::SumoHSM::strategy}-->
<attribute name="strategy" type="uint8_t" visibility="0x02" properties="0x00"/>
<!--${AOs::SumoHSM::timeEvt_2}-->
<attribute name="timeEvt_2" type="QTimeEvt" visibility="0x02" properties="0x00"/>
<!--${AOs::SumoHSM::pre_strategy}-->
<attribute name="pre_strategy" type="uint8_t" visibility="0x02" properties="0x00"/>
<!--${AOs::SumoHSM::timeEvtBle}-->
<attribute name="timeEvtBle" type="QTimeEvt" visibility="0x02" properties="0x00"/>
<!--${AOs::SumoHSM::ble_counter}-->
<attribute name="ble_counter" type="uint8_t" visibility="0x02" properties="0x00"/>
<!--${AOs::SumoHSM::SM}-->
<statechart properties="0x03">
<!--${AOs::SumoHSM::SM::initial}-->
<initial target="../1">
<action>(void)par; /* unused parameter */
/* arm the private time event to expire in 1/2s
* and periodically every 1/2 second
*/
QTimeEvt_armX(&me->buzzerTimeEvt, BSP_TICKS_PER_SEC/10, 0);
me->buzzerCount = 0U;</action>
<initial_glyph conn="95,2,5,1,-2,11,-8">
<action box="0,-2,7,2"/>
</initial_glyph>
</initial>
<!--${AOs::SumoHSM::SM::Idle}-->
<state name="Idle">
<entry>board_led_off();
driving_disable();
drive(0,0);
me->strategy = 0;
me->pre_strategy = 0;
QTimeEvt_disarm(&me->timeEvt);
QTimeEvt_armX(&me->timeEvt, BSP_TICKS_PER_SEC/2, BSP_TICKS_PER_SEC/2);
if (adc_get_low_battery()){
led_stripe_set_all(color_red);
}</entry>
<exit>QTimeEvt_disarm(&me->timeEvt);
QTimeEvt_disarm(&me->buzzerTimeEvt);
buzzer_stop();
bsp_ble_start();</exit>
<!--${AOs::SumoHSM::SM::Idle::TIMEOUT}-->
<tran trig="TIMEOUT">
<action>board_led_toggle();</action>
<tran_glyph conn="42,17,3,-1,17">
<action box="0,-2,14,4"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::Idle::CHANGE_STATE_EVT}-->
<tran trig="CHANGE_STATE_EVT" target="../../4">
<tran_glyph conn="42,43,3,3,-19,15,12">
<action box="-16,-3,18,2"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::Idle::PLAY_BUZZER}-->
<tran trig="PLAY_BUZZER">
<action>buzzer_toggle();
if (me->buzzerCount == 15) {
QTimeEvt_armX(&me->buzzerTimeEvt, 1.6 * BSP_TICKS_PER_SEC, 0);
led_stripe_set(me->buzzerCount, color_purple);
} else if (me->buzzerCount < 15){
QTimeEvt_armX(&me->buzzerTimeEvt, BSP_TICKS_PER_SEC/10, 0);
led_stripe_set(me->buzzerCount, color_purple);
} else{
buzzer_stop();
bsp_ble_start();
}
me->buzzerCount += 1;</action>
<tran_glyph conn="42,25,3,-1,17">
<action box="0,-2,12,2"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::Idle::LOW_BATTERY}-->
<tran trig="LOW_BATTERY">
<action>led_stripe_set_all(color_red);</action>
<tran_glyph conn="42,21,3,-1,17">
<action box="0,-2,24,4"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::Idle::BLE_DATA}-->
<tran trig="BLE_DATA">
<action>ble_data_header_t last_header = ble_service_last_packet_type();
if (last_header == BLE_REQUEST_DATA){
me->ble_counter = 0;
QTimeEvt_armX(&me->timeEvtBle, BSP_TICKS_PER_MILISSEC * 10, 0);
} else if (last_header == BLE_UPDATE_PARAMETERS) {
ble_rcv_packet_t last_data;
ble_service_last_packet(&last_data);
parameters_update_from_ble(&parameters, last_data._raw);
}</action>
<tran_glyph conn="42,29,3,-1,17">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::Idle::TIMEOUT_SEND_BLE}-->
<tran trig="TIMEOUT_SEND_BLE">
<action>if (me->ble_counter < 8){
parameters_report(parameters, me->ble_counter);
QTimeEvt_armX(&me->timeEvtBle, BSP_TICKS_PER_MILISSEC * 10, 0);
}
me->ble_counter++;</action>
<tran_glyph conn="42,32,3,-1,17">
<action box="0,-2,19,2"/>
</tran_glyph>
</tran>
<state_glyph node="42,1,43,43">
<entry box="1,2,24,6"/>
<exit box="1,8,38,4"/>
</state_glyph>
</state>
<!--${AOs::SumoHSM::SM::RCWait}-->
<state name="RCWait">
<entry>board_led_off();
drive(0,0);
driving_disable();
led_stripe_set_all(color_blue);
QTimeEvt_disarm(&me->timeEvt);
QTimeEvt_armX(&me->timeEvt, BSP_TICKS_PER_SEC/10, BSP_TICKS_PER_SEC/10);</entry>
<exit brief="StopTimer">QTimeEvt_disarm(&me->timeEvt);</exit>
<!--${AOs::SumoHSM::SM::RCWait::START}-->
<tran trig="START" target="../../6">
<action>driving_enable();</action>
<tran_glyph conn="118,65,3,3,-7,16,6">
<action box="-7,-2,10,2"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::RCWait::CHANGE_STATE_EVT}-->
<tran trig="CHANGE_STATE_EVT" target="../../1">
<action>led_stripe_set_all(color_purple);</action>
<tran_glyph conn="138,55,1,1,21,-19,-74">
<action box="-48,-21,29,5"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::RCWait::TIMEOUT}-->
<tran trig="TIMEOUT">
<action>board_led_toggle();</action>
<tran_glyph conn="118,63,3,-1,12">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<state_glyph node="118,52,20,18">
<entry box="1,2,14,4"/>
<exit box="1,6,14,2"/>
</state_glyph>
</state>
<!--${AOs::SumoHSM::SM::StarStrategy}-->
<state name="StarStrategy">
<entry>drive(parameters.star_speed, parameters.star_speed);</entry>
<!--${AOs::SumoHSM::SM::StarStrategy::LINE_CHANGED_FL, LINE_CHANGED_FR}-->
<tran trig="LINE_CHANGED_FL, LINE_CHANGED_FR" target="../../7">
<tran_glyph conn="24,115,3,3,-8,28,8">
<action box="0,-2,21,4"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::StarStrategy::STOP}-->
<tran trig="STOP" target="../../4">
<tran_glyph conn="24,107,3,3,-12,-35,23">
<action box="-9,-3,6,2"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::StarStrategy::DIST_SENSOR_CHANGE}-->
<tran trig="DIST_SENSOR_CHANGE">
<action brief="CheckSensors">if (distance_is_active(DIST_SENSOR_R)) {
drive(80,-80);
} else if (distance_is_active(DIST_SENSOR_FR)) {
drive(80,0);
} else if (distance_is_active(DIST_SENSOR_F)) {
drive(100,100);
} else if (distance_is_active(DIST_SENSOR_FL)) {
drive(0,80);
} else if (distance_is_active(DIST_SENSOR_L)) {
drive(-80,80);
} else {
drive(60,60);
}</action>
<tran_glyph conn="24,120,3,-1,20">
<action box="0,-2,24,4"/>
</tran_glyph>
</tran>
<state_glyph node="24,104,25,28">
<entry box="1,2,23,6"/>
</state_glyph>
</state>
<!--${AOs::SumoHSM::SM::AutoWait}-->
<state name="AutoWait">
<entry>drive(0,0);
driving_disable();
board_led_on();
led_stripe_set_strategy_color(me->strategy);
led_stripe_set_pre_strategy_color(me->pre_strategy);</entry>
<!--${AOs::SumoHSM::SM::AutoWait::START}-->
<tran trig="START">
<action>driving_enable();</action>
<!--${AOs::SumoHSM::SM::AutoWait::START::[pre_strategy_0]}-->
<choice target="../../../9" cpref="../../../11/0">
<guard brief="pre_strategy_0">me->pre_strategy == 0</guard>
<choice_glyph conn="52,77,5,0,-22,8">
<action box="-34,1,12,2"/>
</choice_glyph>
</choice>
<!--${AOs::SumoHSM::SM::AutoWait::START::[pre_strategy_1]}-->
<choice target="../../../9" cpref="../../../11/1">
<guard brief="pre_strategy_1">me->pre_strategy == 1</guard>
<choice_glyph conn="52,77,5,0,-7,8">
<action box="-20,1,13,2"/>
</choice_glyph>
</choice>
<!--${AOs::SumoHSM::SM::AutoWait::START::[pre_strategy_2]}-->
<choice target="../../../9" cpref="../../../11/2">
<guard brief="pre_strategy_2">me->pre_strategy == 2</guard>
<choice_glyph conn="52,77,5,0,6,8">
<action box="-6,1,11,2"/>
</choice_glyph>
</choice>
<!--${AOs::SumoHSM::SM::AutoWait::START::[pre_strategy_3]}-->
<choice target="../../../9" cpref="../../../11/3">
<guard brief="pre_strategy_3">me->pre_strategy == 3</guard>
<choice_glyph conn="52,77,5,0,20,8">
<action box="8,1,13,2"/>
</choice_glyph>
</choice>
<tran_glyph conn="35,70,3,-1,17,7">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::AutoWait::CHANGE_STATE_EVT}-->
<tran trig="CHANGE_STATE_EVT" target="../../2">
<tran_glyph conn="71,56,1,3,47">
<action box="1,-3,19,2"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::AutoWait::CHANGE_STRATEGY_EVT}-->
<tran trig="CHANGE_STRATEGY_EVT">
<action brief="change_strategy">SumoHSM_change_strategy(me);
led_stripe_set_strategy_color(me->strategy);</action>
<tran_glyph conn="35,63,3,-1,11">
<action box="0,-3,29,2"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::AutoWait::CHANGE_PRE_STRATEGY_EVT}-->
<tran trig="CHANGE_PRE_STRATEGY_EVT">
<action brief="change_pre_strategy">SumoHSM_change_pre_strategy(me);
led_stripe_set_pre_strategy_color(me->pre_strategy);</action>
<tran_glyph conn="35,66,3,-1,12">
<action box="0,-2,31,2"/>
</tran_glyph>
</tran>
<state_glyph node="35,48,36,26">
<entry box="1,2,35,8"/>
</state_glyph>
</state>
<!--${AOs::SumoHSM::SM::StepsStrategy}-->
<state name="StepsStrategy">
<entry brief="arm_timer">drive(0,0);
uint32_t small_step_wait = parameters.step_wait_time_ms * BSP_TICKS_PER_MILISSEC;
QTimeEvt_rearm(&me->timeEvt, small_step_wait);</entry>
<exit brief="disarm_timer">QTimeEvt_disarm(&me->timeEvt);
QTimeEvt_disarm(&me->timeEvt_2);</exit>
<!--${AOs::SumoHSM::SM::StepsStrategy::TIMEOUT}-->
<tran trig="TIMEOUT">
<action>drive(100,100);
uint32_t small_step_advance_time = parameters.step_advance_time_ms * BSP_TICKS_PER_MILISSEC;
QTimeEvt_rearm(&me->timeEvt_2, small_step_advance_time);</action>
<tran_glyph conn="60,113,3,-1,8">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::StepsStrategy::TIMEOUT_2}-->
<tran trig="TIMEOUT_2">
<action>drive(0,0);
uint32_t small_step_wait = parameters.step_wait_time_ms * BSP_TICKS_PER_MILISSEC;
QTimeEvt_rearm(&me->timeEvt, small_step_wait);</action>
<tran_glyph conn="60,116,3,-1,11">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::StepsStrategy::STOP}-->
<tran trig="STOP" target="../../4">
<tran_glyph conn="84,112,1,1,7,-44,-20">
<action box="1,-5,6,3"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::StepsStrategy::DIST_SENSOR_CHANGE}-->
<tran trig="DIST_SENSOR_CHANGE">
<action brief="CheckSensors">QTimeEvt_disarm(&me->timeEvt);
QTimeEvt_disarm(&me->timeEvt_2);
if (distance_is_active(DIST_SENSOR_R)) {
drive(80,-80);
} else if (distance_is_active(DIST_SENSOR_FR)) {
drive(80,0);
} else if (distance_is_active(DIST_SENSOR_F)) {
drive(100,100);
} else if (distance_is_active(DIST_SENSOR_FL)) {
drive(0,80);
} else if (distance_is_active(DIST_SENSOR_L)) {
drive(-80,80);
} else {
drive(0,0);
uint32_t small_step_wait = parameters.step_wait_time_ms * BSP_TICKS_PER_MILISSEC;
QTimeEvt_rearm(&me->timeEvt, small_step_wait);
}
</action>
<tran_glyph conn="60,124,3,-1,16">
<action box="0,-2,21,5"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::StepsStrategy::LINE_CHANGED_FL, LINE_CHANGED_FR}-->
<tran trig="LINE_CHANGED_FL, LINE_CHANGED_FR" target="../../8">
<tran_glyph conn="60,119,3,3,-1,27,2">
<action box="0,-2,25,4"/>
</tran_glyph>
</tran>
<state_glyph node="60,104,24,28">
<entry box="1,2,19,2"/>
<exit box="1,4,19,2"/>
</state_glyph>
</state>
<!--${AOs::SumoHSM::SM::RC}-->
<state name="RC">
<entry>board_led_off();</entry>
<!--${AOs::SumoHSM::SM::RC::RADIO_DATA}-->
<tran trig="RADIO_DATA">
<action>int coord_x = radio_service_get_channel(RADIO_CH1);
int coord_y = radio_service_get_channel(RADIO_CH2);
int mot1 = coord_y + coord_x;
int mot2 = coord_y - coord_x;
drive(mot1, mot2);</action>
<tran_glyph conn="117,87,3,-1,11">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::RC::STOP}-->
<tran trig="STOP" target="../../2">
<tran_glyph conn="137,80,1,1,6,-15,-5">
<action box="2,-18,10,2"/>
</tran_glyph>
</tran>
<state_glyph node="117,77,20,15">
<entry box="1,2,12,4"/>
</state_glyph>
</state>
<!--${AOs::SumoHSM::SM::line1}-->
<smstate name="line1" submachine="../10">
<!--${AOs::SumoHSM::SM::line1::XP1}-->
<xpseg xpref="../../10/0" target="../../3">
<xpseg_glyph conn="45,138,0,2,-6">
<action box="1,0,10,2"/>
</xpseg_glyph>
</xpseg>
<!--${AOs::SumoHSM::SM::line1::STOP}-->
<xpseg xpref="../../10/1" target="../../4">
<xpseg_glyph conn="43,150,2,1,3,54,-89,-26">
<action box="1,0,10,2"/>
</xpseg_glyph>
</xpseg>
<smstate_glyph node="24,138,24,12"/>
</smstate>
<!--${AOs::SumoHSM::SM::line2}-->
<smstate name="line2" submachine="../10">
<!--${AOs::SumoHSM::SM::line2::XP1}-->
<xpseg xpref="../../10/0" target="../../5">
<xpseg_glyph conn="82,138,0,2,-6">
<action box="1,0,10,2"/>
</xpseg_glyph>
</xpseg>
<!--${AOs::SumoHSM::SM::line2::STOP}-->
<xpseg xpref="../../10/1" target="../../4">
<xpseg_glyph conn="80,150,2,1,2,16,-86,-25">
<action box="1,0,10,2"/>
</xpseg_glyph>
</xpseg>
<smstate_glyph node="61,138,24,12"/>
</smstate>
<!--${AOs::SumoHSM::SM::pre_strategy}-->
<smstate name="pre_strategy" submachine="../11">
<!--${AOs::SumoHSM::SM::pre_strategy::XP1}-->
<xpseg xpref="../../11/4">
<!--${AOs::SumoHSM::SM::pre_strategy::XP1::[strategy_0]}-->
<choice target="../../../3">
<guard brief="strategy_0">me->strategy == 0</guard>
<choice_glyph conn="52,98,5,0,-18,6">
<action box="-15,-3,10,2"/>
</choice_glyph>
</choice>
<!--${AOs::SumoHSM::SM::pre_strategy::XP1::[else]}-->
<choice target="../../../5">
<guard brief="else">else</guard>
<choice_glyph conn="52,98,5,0,22,6">
<action box="3,-3,10,2"/>
</choice_glyph>
</choice>
<xpseg_glyph conn="52,93,2,-1,5">
<action box="1,0,10,2"/>
</xpseg_glyph>
</xpseg>
<smstate_glyph node="23,86,57,7"/>
</smstate>
<!--${AOs::SumoHSM::SM::LineSubmachine}-->
<submachine name="LineSubmachine">
<!--${AOs::SumoHSM::SM::LineSubmachine::XP-XP1}-->
<xp name="XP1">
<xp_glyph point="72,2,0">
<name box="1,-2,10,2"/>
</xp_glyph>
</xp>
<!--${AOs::SumoHSM::SM::LineSubmachine::XP-STOP}-->
<xp name="STOP">
<xp_glyph point="64,56,2">
<name box="1,-2,10,2"/>
</xp_glyph>
</xp>
<!--${AOs::SumoHSM::SM::LineSubmachine::initial}-->
<initial target="../3">
<initial_glyph conn="6,6,5,0,11,3">
<action box="0,-2,10,2"/>
</initial_glyph>
</initial>
<!--${AOs::SumoHSM::SM::LineSubmachine::LineGoBack}-->
<state name="LineGoBack">
<entry brief="go_back">drive(-parameters.reverse_speed, -parameters.reverse_speed);
uint32_t reverse_time = BSP_TICKS_PER_MILISSEC * parameters.reverse_time_ms;
if (adc_line_is_white(LINE_FL)){
QTimeEvt_rearm(&me->timeEvt, reverse_time);
} else {
QTimeEvt_rearm(&me->timeEvt_2, reverse_time);
}</entry>
<!--${AOs::SumoHSM::SM::LineSubmachine::LineGoBack::TIMEOUT}-->
<tran trig="TIMEOUT" target="../../4">
<tran_glyph conn="7,18,3,0,10,8">
<action box="0,-2,16,4"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::LineSubmachine::LineGoBack::STOP}-->
<tran trig="STOP" target="../.." cpref="../../1">
<tran_glyph conn="61,18,1,2,3,37">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::LineSubmachine::LineGoBack::TIMEOUT_2}-->
<tran trig="TIMEOUT_2" target="../../5">
<tran_glyph conn="7,16,3,0,36,10">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<state_glyph node="7,9,54,11">
<entry box="1,2,16,3"/>
</state_glyph>
</state>
<!--${AOs::SumoHSM::SM::LineSubmachine::LineTurnRight}-->
<state name="LineTurnRight">
<entry brief="turn right">drive(parameters.turn_speed, -parameters.turn_speed);
uint32_t turn_time = BSP_TICKS_PER_MILISSEC * parameters.turn_180_time_ms * (0.6);
QTimeEvt_rearm(&me->timeEvt, turn_time);</entry>
<exit>drive(0,0);</exit>
<!--${AOs::SumoHSM::SM::LineSubmachine::LineTurnRight::TIMEOUT}-->
<tran trig="TIMEOUT" target="../.." cpref="../../0">
<tran_glyph conn="11,38,3,0,61,-35">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::LineSubmachine::LineTurnRight::DIST_SENSOR_CHANGE}-->
<tran trig="DIST_SENSOR_CHANGE" target="../.." cpref="../../0">
<tran_glyph conn="11,42,3,0,61,-39">
<action box="0,-2,23,2"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::LineSubmachine::LineTurnRight::STOP}-->
<tran trig="STOP" target="../.." cpref="../../1">
<tran_glyph conn="11,45,3,2,9,8,44,2">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<state_glyph node="11,26,21,22">
<entry box="1,2,10,2"/>
<exit box="1,4,18,4"/>
</state_glyph>
</state>
<!--${AOs::SumoHSM::SM::LineSubmachine::LineTurnLeft}-->
<state name="LineTurnLeft">
<entry brief="turn left">drive(-parameters.turn_speed, parameters.turn_speed);
uint32_t turn_time = BSP_TICKS_PER_MILISSEC * parameters.turn_180_time_ms * (0.6);
QTimeEvt_rearm(&me->timeEvt, turn_time);</entry>
<exit>drive(0,0);</exit>
<!--${AOs::SumoHSM::SM::LineSubmachine::LineTurnLeft::TIMEOUT}-->
<tran trig="TIMEOUT" target="../.." cpref="../../0">
<tran_glyph conn="36,39,3,0,36,-36">
<action box="0,-3,10,2"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::LineSubmachine::LineTurnLeft::DIST_SENSOR_CHANGE}-->
<tran trig="DIST_SENSOR_CHANGE" target="../.." cpref="../../0">
<tran_glyph conn="36,45,3,0,36,-42">
<action box="0,-2,23,2"/>
</tran_glyph>
</tran>
<!--${AOs::SumoHSM::SM::LineSubmachine::LineTurnLeft::STOP}-->
<tran trig="STOP" target="../.." cpref="../../1">
<tran_glyph conn="57,36,1,2,7,19">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<state_glyph node="36,26,21,22">
<entry box="1,2,10,2"/>
<exit box="1,4,18,4"/>
</state_glyph>
</state>
<submachine_diagram size="79,54"/>
</submachine>
<!--${AOs::SumoHSM::SM::PreStrategy}-->
<submachine name="PreStrategy">
<entry brief="Disable_timers">QTimeEvt_disarm(&me->timeEvt);
QTimeEvt_disarm(&me->timeEvt_2);</entry>
<!--${AOs::SumoHSM::SM::PreStrategy::EP-EP0}-->
<epseg name="EP0" target="../5">
<epseg_glyph conn="19,2,0,0,9">
<name box="1,-2,10,2"/>
<action box="1,0,10,2"/>
</epseg_glyph>
</epseg>
<!--${AOs::SumoHSM::SM::PreStrategy::EP-EP1}-->
<epseg name="EP1" target="../8">
<epseg_glyph conn="53,2,0,0,8">
<name box="1,-2,10,2"/>
<action box="1,0,10,2"/>
</epseg_glyph>
</epseg>
<!--${AOs::SumoHSM::SM::PreStrategy::EP-EP2}-->
<epseg name="EP2" target="../6">
<epseg_glyph conn="85,2,0,0,8">
<name box="1,-2,10,2"/>
<action box="1,0,10,2"/>
</epseg_glyph>
</epseg>
<!--${AOs::SumoHSM::SM::PreStrategy::EP-EP3}-->
<epseg name="EP3" target="../7">
<epseg_glyph conn="117,2,0,0,8">
<name box="1,-2,10,2"/>
<action box="1,0,10,2"/>
</epseg_glyph>
</epseg>
<!--${AOs::SumoHSM::SM::PreStrategy::XP-XP1}-->
<xp name="XP1">
<xp_glyph point="69,66,2">
<name box="1,-2,10,2"/>
</xp_glyph>
</xp>
<!--${AOs::SumoHSM::SM::PreStrategy::PreStrategy_0}-->
<state name="PreStrategy_0">
<entry brief="motor_on">drive(100,100);
QTimeEvt_armX(&me->timeEvt, BSP_TICKS_PER_MILISSEC * 10, 0);</entry>
<!--${AOs::SumoHSM::SM::PreStrategy::PreStrategy_0::TIMEOUT}-->
<tran trig="TIMEOUT" target="../.." cpref="../../4">
<tran_glyph conn="8,20,3,2,-2,40,63,5">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<state_glyph node="8,11,26,47">
<entry box="1,2,14,4"/>
</state_glyph>
</state>
<!--${AOs::SumoHSM::SM::PreStrategy::PreStrategy_2}-->
<state name="PreStrategy_2">
<entry brief="turn_right">drive(60,-60);
QTimeEvt_rearm(&me->timeEvt, BSP_TICKS_PER_MILISSEC * parameters.turn_180_time_ms * (0.2));</entry>
<!--${AOs::SumoHSM::SM::PreStrategy::PreStrategy_2::TIMEOUT}-->
<tran trig="TIMEOUT" target="../../11">
<tran_glyph conn="72,17,3,0,13,10">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<state_glyph node="72,10,26,12">
<entry box="1,2,6,2"/>
</state_glyph>
</state>
<!--${AOs::SumoHSM::SM::PreStrategy::PreStrategy_3}-->
<state name="PreStrategy_3">
<state_glyph node="104,10,26,12"/>
</state>
<!--${AOs::SumoHSM::SM::PreStrategy::PreStrategy_1}-->
<state name="PreStrategy_1">
<entry brief="turn_left">drive(-60,60);
QTimeEvt_rearm(&me->timeEvt, BSP_TICKS_PER_MILISSEC * parameters.turn_180_time_ms * (0.2));</entry>
<!--${AOs::SumoHSM::SM::PreStrategy::PreStrategy_1::TIMEOUT}-->
<tran trig="TIMEOUT" target="../../10">
<tran_glyph conn="40,18,3,0,10,10">
<action box="0,-2,16,4"/>
</tran_glyph>
</tran>
<state_glyph node="40,10,26,13">
<entry box="1,2,18,4"/>
</state_glyph>
</state>
<!--${AOs::SumoHSM::SM::PreStrategy::pre_strategy_1_sub2}-->
<state name="pre_strategy_1_sub2">
<entry brief="turn_right">drive(100,-100);
QTimeEvt_rearm(&me->timeEvt, BSP_TICKS_PER_MILISSEC * parameters.turn_180_time_ms * (0.4));</entry>
<!--${AOs::SumoHSM::SM::PreStrategy::pre_strategy_1_s~::TIMEOUT}-->
<tran trig="TIMEOUT" target="../.." cpref="../../4">
<tran_glyph conn="40,53,3,2,29,12">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<state_glyph node="40,45,26,13">
<entry box="1,2,12,3"/>
</state_glyph>
</state>
<!--${AOs::SumoHSM::SM::PreStrategy::pre_strategy_1_sub1}-->
<state name="pre_strategy_1_sub1">
<entry brief="motor_front">drive(100,100);
QTimeEvt_rearm(&me->timeEvt, BSP_TICKS_PER_MILISSEC * 500);</entry>
<!--${AOs::SumoHSM::SM::PreStrategy::pre_strategy_1_s~::TIMEOUT}-->
<tran trig="TIMEOUT" target="../../9">
<tran_glyph conn="40,36,3,0,10,9">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<state_glyph node="40,28,26,11">
<entry box="1,2,15,4"/>
</state_glyph>
</state>
<!--${AOs::SumoHSM::SM::PreStrategy::pre_strategy_2_sub1}-->
<state name="pre_strategy_2_sub1">
<entry brief="motor_front">drive(100,100);
QTimeEvt_rearm(&me->timeEvt, BSP_TICKS_PER_MILISSEC * 500);</entry>
<!--${AOs::SumoHSM::SM::PreStrategy::pre_strategy_2_s~::TIMEOUT}-->
<tran trig="TIMEOUT" target="../../12">
<tran_glyph conn="72,35,3,0,10,10">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<state_glyph node="72,27,26,11">
<entry box="1,2,15,4"/>
</state_glyph>
</state>
<!--${AOs::SumoHSM::SM::PreStrategy::pre_strategy_2_sub2}-->
<state name="pre_strategy_2_sub2">
<entry brief="turn_left">drive(-100,100);
QTimeEvt_rearm(&me->timeEvt, BSP_TICKS_PER_MILISSEC * parameters.turn_180_time_ms * (0.4));</entry>
<!--${AOs::SumoHSM::SM::PreStrategy::pre_strategy_2_s~::TIMEOUT}-->
<tran trig="TIMEOUT" target="../.." cpref="../../4">
<tran_glyph conn="72,53,3,2,-3,12">
<action box="0,-2,10,2"/>
</tran_glyph>
</tran>
<state_glyph node="72,45,26,13">
<entry box="1,2,12,3"/>
</state_glyph>
</state>
<submachine_diagram size="134,64">
<entry box="1,2,22,4"/>
</submachine_diagram>
</submachine>
<state_diagram size="332,181"/>
</statechart>
</class>
<!--${AOs::SumoHSM_ctor}-->
<operation name="SumoHSM_ctor" type="void" visibility="0x00" properties="0x01">
<documentation>The Blinky "constructor" is provided outside of the Blinky class, so that it can be used independently from the class. This is part of the "opaque pointer" design idiom.</documentation>
<code>SumoHSM *me = (SumoHSM *)AO_SumoHSM;
QMActive_ctor(&me->super, Q_STATE_CAST(&SumoHSM_initial));
QTimeEvt_ctorX(&me->timeEvt, &me->super.super, TIMEOUT_SIG, 0U);
QTimeEvt_ctorX(&me->timeEvt_2, &me->super.super, TIMEOUT_2_SIG, 0U);
QTimeEvt_ctorX(&me->timeEvtBle, &me->super.super, TIMEOUT_SEND_BLE_SIG, 0U);
QTimeEvt_ctorX(&me->buzzerTimeEvt, &me->super.super, PLAY_BUZZER_SIG, 0U);
me->ble_counter = 0;
parameters_init(&parameters);
</code>
</operation>
</package>
<!--${.}-->
<directory name=".">
<!--${.::src}-->
<directory name="src">
<!--${.::src::sumo_hsm.c}-->
<file name="sumo_hsm.c">
<text>#include <math.h>
#include <stdio.h>
#include "qf_custom_defines.h"
#include "qpc.h" /* QP/C framework API */
#include "bsp.h" /* Board Support Package interface */
#include "led_service.h"
#include "driving_service.h"
#include "buzzer_service.h"
#include "radio_service.h"
#include "distance_service.h"
#include "adc_service.h"
#include "bsp_eeprom.h"
#include "ble_service.h"
#include "parameters.h"
#define CALIB_ANGLE_MULT 2.5
#ifndef M_PI
#define M_PI 3.14159265
#endif
#define MAX_STRATEGIES 2
#define MAX_PRE_STRATEGIES 3
static sumo_parameters_t parameters;
/* ask QM to declare the Blinky class --------------------------------------*/
$declare${AOs::SumoHSM}
static void SumoHSM_change_strategy(SumoHSM * const me);
/* instantiate the Blinky active object ------------------------------------*/
static SumoHSM l_sumo_hsm;
QActive * const AO_SumoHSM = &l_sumo_hsm.super.super;
/* ask QM to define the Blinky class ---------------------------------------*/
$define${AOs::SumoHSM_ctor}
static void SumoHSM_change_strategy(SumoHSM * const me) {
me->strategy++;
if (me->strategy >= MAX_STRATEGIES){
me->strategy = 0;
}
}
static void SumoHSM_change_pre_strategy(SumoHSM * const me) {
me->pre_strategy++;
if (me->pre_strategy >= MAX_PRE_STRATEGIES){
me->pre_strategy = 0;
}
}
$define${AOs::SumoHSM}
#ifdef Q_SPY
void sumoHSM_update_qs_dict(){
QS_OBJ_DICTIONARY(&l_sumo_hsm);
QS_OBJ_DICTIONARY(&l_sumo_hsm.timeEvt);
QS_OBJ_DICTIONARY(&l_sumo_hsm.timeEvt_2);
QS_OBJ_DICTIONARY(&l_sumo_hsm.buzzerTimeEvt);
QS_OBJ_DICTIONARY(&l_sumo_hsm.strategy);
QS_SIG_DICTIONARY(TIMEOUT_SIG, (void *)0);
QS_SIG_DICTIONARY(TIMEOUT_2_SIG, (void *)0);
QS_SIG_DICTIONARY(PLAY_BUZZER_SIG, (void *)0);
QS_SIG_DICTIONARY(START_SIG, (void *)0);
QS_SIG_DICTIONARY(CHANGE_STATE_EVT_SIG, (void *)0);
QS_SIG_DICTIONARY(CHANGE_STRATEGY_EVT_SIG, (void *)0);
QS_SIG_DICTIONARY(CHANGE_PRE_STRATEGY_EVT_SIG, (void *)0);
QS_SIG_DICTIONARY(STOP_SIG, (void *)0);
QS_SIG_DICTIONARY(LINE_CHANGED_FL_SIG, (void *)0);
QS_SIG_DICTIONARY(LINE_CHANGED_FR_SIG, (void *)0);
QS_SIG_DICTIONARY(LINE_CHANGED_BL_SIG, (void *)0);
QS_SIG_DICTIONARY(LINE_CHANGED_BR_SIG, (void *)0);
QS_SIG_DICTIONARY(DIST_SENSOR_CHANGE_SIG, (void *)0);
QS_SIG_DICTIONARY(RADIO_DATA_SIG, (void *)0);
QS_SIG_DICTIONARY(BUTTON_SIG, (void *)0);
QS_SIG_DICTIONARY(BLE_DATA_SIG, (void *)0);
QS_SIG_DICTIONARY(LOW_BATTERY_SIG, (void *)0);
QS_SIG_DICTIONARY(TIMEOUT_SEND_BLE_SIG, (void *)0);
}
#endif</text>
</file>
<!--${.::src::main.c}-->
<file name="main.c">
<text>#include "qpc.h" /* QP/C framework API */
#include "bsp.h" /* Board Support Package interface */
#include "app.h"
#include "start_module_ao.h"
Q_DEFINE_THIS_FILE
/* the main function -------------------------------------------------------*/
int main() {
static QEvt const *sumoHSM_queueSto[10]; /* event queue buffer for SumoHSM */
QF_init(); /* initialize the framework */
BSP_init(); /* initialize the BSP */
APP_init();
/* instantiate and start the SumoHSM active object */
SumoHSM_ctor(); /* in C you must explicitly call the SumoHSM constructor */
#ifdef Q_SPY
sumoHSM_update_qs_dict();
#endif
QACTIVE_START(AO_SumoHSM, /* active object to start */
2U, /* priority of the active object */
sumoHSM_queueSto, /* event queue buffer */
Q_DIM(sumoHSM_queueSto), /* the length of the buffer */
(void *)0, 0U, /* private stack (not used) */
(QEvt *)0); /* initialization event (not used) */
start_module_ao_init();
return QF_run(); /* let the framework run the application */
}</text>
</file>
</directory>
<!--${.::inc}-->
<directory name="inc">
<!--${.::inc::bsp.h}-->
<file name="bsp.h">
<text>#ifndef BSP_H
#define BSP_H
#include "qpc.h"
/* a very simple Board Support Package (BSP) -------------------------------*/
enum {
BSP_TICKS_PER_SEC = 100
}; /* number of clock ticks in a second */
typedef enum {
SIMULATOR = 100, //QS_USER0 on qs.h file. only useful on Qspy config
} qs_user_names_t;
#define BSP_TICKS_PER_MILISSEC (BSP_TICKS_PER_SEC/1000.0)
void BSP_init(void);
/* define the event signals used in the application ------------------------*/
enum SumoHSMSignals {
TIMEOUT_SIG = Q_USER_SIG, /* offset the first signal by Q_USER_SIG */
TIMEOUT_2_SIG,
TIMEOUT_3_SIG,
PLAY_BUZZER_SIG,
START_SIG,
STOP_SIG,
CHANGE_STATE_EVT_SIG,
CHANGE_STRATEGY_EVT_SIG,
CHANGE_PRE_STRATEGY_EVT_SIG,
LINE_CHANGED_FL_SIG,
LINE_CHANGED_FR_SIG,
LINE_CHANGED_BL_SIG,
LINE_CHANGED_BR_SIG,
DIST_SENSOR_CHANGE_SIG,
RADIO_DATA_SIG,
BUTTON_SIG,
START_MODULE_CHECK_SIG,
BLE_DATA_SIG,
LOW_BATTERY_SIG,
TIMEOUT_SEND_BLE_SIG,
MAX_SIG, /* keep last (the number of signals) */
};
/* active object(s) used in this application -------------------------------*/
extern QActive * const AO_SumoHSM; /* opaque pointer to the SumoHSM AO */
$declare${AOs::SumoHSM_ctor}
#ifdef Q_SPY
void sumoHSM_update_qs_dict(void);
#endif
#endif /* BSP_H */</text>
</file>
</directory>
</directory>
</model>