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Nodes registerFake + once registered, always registered + cleanup (#147)
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@moritzholzer
moritzholzer authored Jul 1, 2024
2 parents 6acad5b + 7c08bf6 commit 79f81e4
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Showing 3 changed files with 79 additions and 89 deletions.
12 changes: 12 additions & 0 deletions node/code/inc/shell_commands.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,9 +38,21 @@ static int send_event(int argc, char **argv) {

}

static int registerFake_command(int argc, char **argv) {
(void)argv;
if (argc != 1) {
puts("usage: registerFake");
return 1;
}
trigger_event(REGISTERED);
trigger_event(READY);
return 0;
}

const shell_command_t SHELL_COMMANDS[] = {
{ "echo", "Prints the message to the console", echo_command },
{ "send_event", "Sends an event to the dispatcher. send_event 1", send_event },
{ "registerFake", "Fake´s the registration process", registerFake_command },
{ NULL, NULL, NULL }
};

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152 changes: 65 additions & 87 deletions node/code/modules/fsm/fsm.c
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Original file line number Diff line number Diff line change
Expand Up @@ -18,26 +18,18 @@ void fsm_handle(EVENT_T event);

handler_result_t on_handler(EVENT_T event);
void on_entry(void);
void on_exit(void);
handler_result_t off_handler(EVENT_T event);
void off_entry(void);
void off_exit(void);
handler_result_t unregistered_handler(EVENT_T event);
void unregistered_entry(void);
void unregistered_exit(void);
handler_result_t userLinked_handler(EVENT_T event);
void userLinked_entry(void);
void userLinked_exit(void);
handler_result_t pet_handler(EVENT_T event);
void pet_entry(void);
void pet_exit(void);
handler_result_t mainView_handler(EVENT_T event);
void mainView_entry(void);
void mainView_exit(void);
handler_result_t gameView_handler(EVENT_T event);
void gameView_entry(void);
void gameView_exit(void);

//Our definition of an hierachical state
typedef struct hierarchical_state state_t;
struct hierarchical_state {
fsm_handler Handler; //!< State handler function
Expand All @@ -59,44 +51,44 @@ static const state_t Pet_Level[2];

static const state_t Top_Level[] = {
{//on
on_handler, // state handler
on_entry, // Entry action handler
on_exit, // Exit action handler
NULL, // Parent state
&On_Level[0], // Child state
1 // Hierarchical state level
on_handler, //state handler
on_entry, //Entry action handler
NULL, //Exit action handler
NULL, //Parent state
&On_Level[0], //Child state
1 //Hierarchical state level
},
{//off
off_handler, // state handler
off_entry, // Entry action handler
off_exit, // Exit action handler
NULL, // Parent state
NULL, // Child state
1 // Hierarchical state level
off_handler, //state handler
off_entry, //Entry action handler
NULL, //Exit action handler
NULL, //Parent state
NULL, //Child state
1 //Hierarchical state level
}
};

static const state_t On_Level[] = {
{//unregistered
unregistered_handler, // state handler
unregistered_entry, // Entry action handler
unregistered_exit, // Exit action handler
NULL, // Exit action handler
&Top_Level[0], // Parent state
NULL, // Child state
2 // Hierarchical state level
},
{//user_linked
userLinked_handler, // state handler
userLinked_entry, // Entry action handler
userLinked_exit, // Exit action handler
NULL, // Exit action handler
&Top_Level[0], // Parent state
NULL, // Child state
2 // Hierarchical state level
},
{//pet
pet_handler, // state handler
pet_entry, // Entry action handler
pet_exit, // Exit action handler
NULL, // Exit action handler
&Top_Level[0], // Parent state
&Pet_Level[0], // Child state
2 // Hierarchical state level
Expand All @@ -106,16 +98,16 @@ static const state_t On_Level[] = {
static const state_t Pet_Level[] = {
{//Main_View
mainView_handler, // state handler
mainView_entry, // Entry action handler
mainView_exit, // Exit action handler
NULL, // Entry action handler
NULL, // Exit action handler
&On_Level[2], // Parent state
NULL, // Child state
3 // Hierarchical state level
},
{//Game_View
{//Game_View TODO: not used yet
gameView_handler, // state handler
gameView_entry, // Entry action handler
gameView_exit, // Exit action handler
NULL, // Entry action handler
NULL, // Exit action handler
&On_Level[2], // Parent state
NULL, // Child state
3 // Hierarchical state level
Expand All @@ -142,23 +134,18 @@ void fsm_handle(EVENT_T event) {
if (!currentState->Handler) puts("no handler \n");
handler_result_t result = currentState->Handler(event);
if (result != HANDLED) {
DEBUG("[FSM:fsm_handle]: UNHANDLED\n");
const state_t *pState = currentState;
do {
//check if state has parent state.
if (pState->Parent == NULL) { //Is Node reached top
DEBUG("[FSM:fsm_handle]: Fatal error, terminating.\n");
//This is a fatal error. terminate state machine.
return;
}
DEBUG("[FSM:fsm_handle]: Traverse to parent state\n");
pState = pState->Parent; // traverse to parent state
result = pState->Handler(event);
DEBUG("[FSM:fsm_handle]: result: %d\n", result);
}
while (pState->Handler ==
NULL || result == UNHANDLED); // repeat again if parent state doesn't have handler
DEBUG("[FSM:fsm_handle]: State machine traversed to parent state\n");
NULL || result == UNHANDLED); // repeat again if parent state doesn't have handler or event is not handled
}

}
Expand All @@ -167,7 +154,7 @@ void traverse_state(const state_t *target_state) {
while (target_state->Level < currentState->Level) {
if (currentState->Exit) currentState->Exit();
currentState = currentState->Parent;
//if (currentState->Entry) currentState->Entry();
//if (currentState->Entry) currentState->Entry(); //dont call entry action if you come from a child state
}
while (target_state->Level > currentState->Level) {
currentState = currentState->Child;
Expand All @@ -189,19 +176,22 @@ handler_result_t on_handler(EVENT_T event) {
return HANDLED;
default:
DEBUG("[FSM:on_handler]: UNHANDLED\n");
return HANDLED; //TODO Error detection
return HANDLED; //TODO: Error detection
}
}

void on_entry(void) {
DEBUG("[FSM:on_entry_handler]: called\n");
ioHandler_handleEvent(VIBRATE);
ioHandler_handleEvent(SCREEN_ON);
traverse_state(&On_Level[0]); //wie gehe ich in den Child State
}

void on_exit(void) {

if (registered && userLinked) {
traverse_state(&On_Level[2]); //transition to pet
}
else if (registered) {
traverse_state(&On_Level[1]); //transition to user_linked
}
else {
traverse_state(&On_Level[0]); //transition to unregistered
}
}

handler_result_t off_handler(EVENT_T event) {
Expand All @@ -210,11 +200,9 @@ handler_result_t off_handler(EVENT_T event) {
DEBUG("[FSM:off_handler]: BUTTON_OK_LONG\n");
traverse_state(&Top_Level[0]); //transition to on
return HANDLED;
break;
default:
DEBUG("[FSM:off_handler]: UNHANDLED\n");
return HANDLED; //TODO Error detection
break;
return HANDLED; //TODO: Error detection
}
}

Expand All @@ -231,40 +219,33 @@ void off_entry(void) {
ioHandler_handleEvent(VIBRATE);
}

void off_exit(void) {

}

handler_result_t unregistered_handler(EVENT_T event) {
switch (event) {
case REGISTER_CODE:
displayHandler_handleEvent(REGISTERED);
DEBUG("[FSM:unregistered_state_handler]: REGISTER_CODE\n");
displayHandler_handleEvent(REGISTERED); //is that right?
displayHandler_handleEvent(REGISTER_CODE);
return HANDLED;
case REGISTERED:
traverse_state(&On_Level[1]);
DEBUG("[FSM:unregistered_state_handler]: REGISTERED\n");
traverse_state(&On_Level[1]); //transition to user_linked
return HANDLED;
default:
DEBUG("[FSM:unregistered_state_handler]: UNHANDLED\n");
return UNHANDLED;
break;
}
}

void unregistered_entry(void) {
DEBUG("[FSM:unregistered_entry]: called\n");
displayHandler_handleEvent(REGISTER_CODE);
}

void unregistered_exit(void) {

}

handler_result_t userLinked_handler(EVENT_T event) {
switch (event) {
case READY:
DEBUG("[FSM:userLinked_handler]: READY\n");
displayHandler_handleEvent(READY);
traverse_state(&On_Level[2]);
traverse_state(&On_Level[2]); //transition to pet
return HANDLED;
default:
DEBUG("[FSM:userLinked_handler]: UNHANDLED\n");
Expand All @@ -276,10 +257,6 @@ void userLinked_entry(void) {
registered = true;
}

void userLinked_exit(void) {

}

handler_result_t pet_handler(EVENT_T event) {
switch (event) {
default:
Expand All @@ -289,18 +266,15 @@ handler_result_t pet_handler(EVENT_T event) {
}

void pet_entry(void) {
displayHandler_handleEvent(READY); //to draw the pet
userLinked = true;
traverse_state(&Pet_Level[0]);
}

void pet_exit(void) {

traverse_state(&Pet_Level[0]); //transition to main_view
}

handler_result_t mainView_handler(EVENT_T event) {
switch (event) {
case BUTTON_OK_LONG:
DEBUG("[FSM:mainView_handler]: langer Button nach oben\n");
DEBUG("[FSM:mainView_handler]: BUTTON_OK_LONG\n");
return UNHANDLED;
case BUTTON_OK_PRESSED:
DEBUG("[FSM:mainView_handler]: BUTTON_OK_PRESSED\n");
Expand All @@ -311,14 +285,35 @@ handler_result_t mainView_handler(EVENT_T event) {
displayHandler_handleEvent(event);
return HANDLED;
case BUTTON_UP_PRESSED:
DEBUG("[FSM:mainView_handler]: BUTTON_UP_PRESSED\n");
displayHandler_handleEvent(event);
return HANDLED;
case BUTTON_UP_RELEASED:
DEBUG("[FSM:mainView_handler]: BUTTON_UP_RELEASED\n");
displayHandler_handleEvent(event);
return HANDLED;
case BUTTON_DOWN_PRESSED:
DEBUG("[FSM:mainView_handler]: BUTTON_DOWN_PRESSED\n");
displayHandler_handleEvent(event);
return HANDLED;
case BUTTON_DOWN_RELEASED:
DEBUG("[FSM:mainView_handler]: BUTTON_DOWN_RELEASED\n");
displayHandler_handleEvent(event);
return HANDLED;
case BUTTON_LEFT_PRESSED:
DEBUG("[FSM:mainView_handler]: BUTTON_LEFT_PRESSED\n");
displayHandler_handleEvent(event);
return HANDLED;
case BUTTON_LEFT_RELEASED:
DEBUG("[FSM:mainView_handler]: BUTTON_LEFT_RELEASED\n");
displayHandler_handleEvent(event);
return HANDLED;
case BUTTON_RIGHT_PRESSED:
DEBUG("[FSM:mainView_handler]: BUTTON_RIGHT_PRESSED\n");
displayHandler_handleEvent(event);
return HANDLED;
case BUTTON_RIGHT_RELEASED:
DEBUG("[FSM:mainView_handler]: BUTTON_PRESSED or BUTTON_RELEASED\n");
DEBUG("[FSM:mainView_handler]: BUTTON_RIGHT_RELEASED\n");
displayHandler_handleEvent(event);
return HANDLED;
case PET_FEED:
Expand Down Expand Up @@ -347,28 +342,11 @@ handler_result_t mainView_handler(EVENT_T event) {
}
}

void mainView_entry(void) {
//displayHandler_handleEvent(MAIN_VIEW);
}

void mainView_exit(void) {

}

handler_result_t gameView_handler(EVENT_T event) {
switch (event) {
default:
DEBUG("[FSM:gameView_handler]: UNHANDLED\n");
return UNHANDLED;
break;
}
}

void gameView_entry(void) {
//displayHandler_handleEvent(GAME_VIEW);
}

void gameView_exit(void) {

}
//EOF
4 changes: 2 additions & 2 deletions node/code/modules/fsm/include/events.h
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Original file line number Diff line number Diff line change
Expand Up @@ -56,8 +56,8 @@ typedef enum {
VIBRATE,
SCREEN_OFF,
SCREEN_ON,
INIT,
REGISTER,
INIT, //unused
REGISTER, //unused
REGISTERED,
READY,
REGISTER_CODE,
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