flight/modules/PathFollower/inc/vtolbrakefsm.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup PathFollower FSM Brake
   6  * @brief Executes brake seqeuence
   7  * @{
   8  *
   9  * @file       vtolbrakfsm.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
  11  * @brief      Executes brake sequence fsm
  12  *
  13  * @see        The GNU Public License (GPL) Version 3
  14  *
  15  *****************************************************************************/
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31 #ifndef VTOLBRAKEFSM_H
  32 #define VTOLBRAKEFSM_H
  33
  34 #include "pathfollowerfsm.h"
  35
  36 // Brakeing state machine
  37 typedef enum {
  38     BRAKE_STATE_INACTIVE = 0, // Inactive state is the initialised state on startup
  39     BRAKE_STATE_BRAKE, // Initiate altitude hold before starting descent
  40     BRAKE_STATE_HOLD, // Waiting for attainment of landing descent rate
  41     BRAKE_STATE_SIZE
  42 } PathFollowerFSM_BrakeState_T;
  43
  44 typedef enum {
  45     FSMBRAKESTATUS_STATEEXITREASON_NONE = 0
  46 } VtolBrakeFSMStatusStateExitReasonOptions;
  47
  48 class VtolBrakeFSM : public PathFollowerFSM {
  49 private:
  50     static VtolBrakeFSM *p_inst;
  51     VtolBrakeFSM();
  52
  53 public:
  54     static VtolBrakeFSM *instance()
  55     {
  56         if (!p_inst) {
  57             p_inst = new VtolBrakeFSM();
  58         }
  59         return p_inst;
  60     }
  61     int32_t Initialize(VtolPathFollowerSettingsData *vtolPathFollowerSettings,
  62                        PathDesiredData *pathDesired,
  63                        FlightStatusData *flightStatus,
  64                        PathStatusData *ptr_pathStatus);
  65     void Inactive(void);
  66     void Activate(void);
  67     void Update(void);
  68     PathFollowerFSMState_T GetCurrentState(void);
  69     uint8_t PositionHoldState(void);
  70
  71 protected:
  72
  73     // FSM instance data type
  74     typedef struct {
  75         PathFollowerFSM_BrakeState_T currentState;
  76         uint32_t stateRunCount;
  77         uint32_t stateTimeoutCount;
  78         float    sum1;
  79         float    sum2;
  80         uint8_t  observationCount;
  81         uint8_t  observation2Count;
  82     } VtolBrakeFSMData_T;
  83
  84     // FSM state structure
  85     typedef struct {
  86         void(VtolBrakeFSM::*setup) (void); // Called to initialise the state
  87         void(VtolBrakeFSM::*run) (uint8_t); // Run the event detection code for a state
  88     } PathFollowerFSM_BrakeStateHandler_T;
  89
  90     // Private variables
  91     VtolBrakeFSMData_T *mBrakeData;
  92     VtolPathFollowerSettingsData *vtolPathFollowerSettings;
  93     PathDesiredData *pathDesired;
  94     PathStatusData *pathStatus;
  95     FlightStatusData *flightStatus;
  96
  97     void setup_brake(void);
  98     void run_brake(uint8_t);
  99     void initFSM(void);
 100     void setState(PathFollowerFSM_BrakeState_T newState, VtolBrakeFSMStatusStateExitReasonOptions reason);
 101     int32_t runState();
 102     // void updateVtolBrakeFSMStatus();
 103
 104     void setStateTimeout(int32_t count);
 105
 106     static PathFollowerFSM_BrakeStateHandler_T sBrakeStateTable[BRAKE_STATE_SIZE];
 107 };
 108
 109 #endif // VTOLBRAKEFSM_H