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This commit is contained in:
Timur A. Fatkhullin 2025-06-11 12:29:56 +03:00
parent 3c4045e620
commit 37b33d4ff7
1 changed files with 102 additions and 9 deletions
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111
cxx/mcc_mount_events_states.h
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@ -162,6 +162,13 @@ struct MccMountEventStop : public MccMountEventBase<MountT> {
return _reason;
}
std::string_view reason() const
{
return _reason == EVENT_STOP_BUTTON ? "Hardware stop-button"
: _reason == EVENT_STOP_CLIENT ? "Stop from client"
: "UNKNOWN";
}
MccMountEventStop(MountT& mount, event_data_t reason) : base_t(mount), _reason(reason) {}
protected:
@ -236,7 +243,7 @@ struct MccMountStateError;
template <traits::mcc_mount_c MountT>
struct MccMountStateSlew;
template <traits::mcc_mount_c MountT>
template <traits::mcc_mount_c MountT, fsm::traits::fsm_event_c TrEvT = MccMountEventStop<MountT>>
struct MccMountStateStop;
template <traits::mcc_mount_c MountT>
@ -246,6 +253,49 @@ template <traits::mcc_mount_c MountT>
struct MccMountStateShutdown;
// stop state
template <traits::mcc_mount_c MountT, fsm::traits::fsm_event_c TrEvT>
struct MccMountStateStop : MccMountStateBase<MountT> {
static constexpr std::string_view ID = "MCC-MOUNT-STOP-STATE";
using transition_t = fsm::fsm_transition_table_t<std::pair<MccMountEventIDLE<MountT>, MccMountStateIDLE<MountT>>>;
protected:
void exitImpl(MccMountEventIDLE<MountT>& event)
{
// normal exit from the state
}
// normal bihavior (transit to IDLE state after stopping)
void enterImpl(MccMountEventStop<MountT>& event)
{
auto mount = event.mount();
mount.stopMount();
// switch to IDLE state
mount.template dispatchEvent<MccMountEventIDLE<MountT>>({mount});
}
template <std::derived_from<MccMountEventBase<MountT>> EvT>
void enterImpl(EvT& event)
{
auto mount = event.mount();
mount.stopMount();
if constexpr (std::same_as<EvT, MccMountEventStop<MountT>>) {
mount.logInfo("Stop reason: {}", event.reason());
// normal bihavior (transit to IDLE state after stopping)
mount.template dispatchEvent<MccMountEventIDLE<MountT>>({mount});
} else {
mount.logInfo("Stop reason: special state");
mount.dispatchEvent(event);
}
}
};
// initialization state
template <traits::mcc_mount_c MountT>
@ -263,14 +313,17 @@ protected:
template <std::derived_from<MccMountEventBase<MountT>> EvT>
void enterImpl(EvT& event)
{
event.mount().initMount();
auto mount = event.mount();
mount.initMount();
// switch to IDLE state
event.mount().template dispatchEvent<MccMountEventIDLE<MountT>>();
mount.template dispatchEvent<MccMountEventIDLE<MountT>>({mount});
}
};
// error state
template <traits::mcc_mount_c MountT>
struct MccMountStateError : MccMountStateBase<MountT> {
static constexpr std::string_view ID = "MCC-MOUNT-ERROR-STATE";
@ -288,7 +341,7 @@ protected:
template <std::derived_from<MccMountEventBase<MountT>> EvT>
void exitImpl(EvT& event)
{
event.mount().logWarning(
event.mount().logWarn(
"The mount is in the error state!!! One must correct it before transit to any states! Event type is '{}'",
EvT::ID);
}
@ -314,6 +367,8 @@ protected:
};
// IDLE state
template <traits::mcc_mount_c MountT>
struct MccMountStateIDLE : MccMountStateBase<MountT> {
static constexpr std::string_view ID = "MCC-MOUNT-IDLE-STATE";
@ -328,17 +383,55 @@ struct MccMountStateIDLE : MccMountStateBase<MountT> {
};
// shutdown state
template <traits::mcc_mount_c MountT>
struct MccMountStateShutdown : MccMountStateBase<MountT> {
static constexpr std::string_view ID = "MCC-MOUNT-SHUTDOWN-STATE";
// only initialization
using transition_t = fsm::fsm_transition_table_t<std::pair<MccMountEventInit<MountT>, MccMountStateInit<MountT>>>;
protected:
void exitImpl(MccMountEventInit<MountT>& event)
{
// normal exit from the state
}
template <std::derived_from<MccMountEventBase<MountT>> EvT>
void enterImpl(EvT& event)
{
event.mount().shutdownMount();
}
};
// slew state
template <traits::mcc_mount_c MountT>
struct MccMountStateSlew : MccMountStateBase<MountT> {
static constexpr std::string_view ID = "MCC-MOUNT-SLEW-STATE";
// only initialization
using transition_t =
fsm::fsm_transition_table_t<std::pair<MccMountEventInit<MountT>, MccMountStateInit<MountT>>,
std::pair<MccMountEventError<MountT>, MccMountStateError<MountT>>,
std::pair<MccMountEventSlew<MountT>, MccMountStateSlew<MountT>>,
std::pair<MccMountEventGuiding<MountT>, MccMountStateGuiding<MountT>>,
std::pair<MccMountEventStop<MountT>, MccMountStateIDLE<MountT>>,
std::pair<MccMountEventShutdown<MountT>, MccMountStateShutdown<MountT>>>;
std::pair<MccMountEventError<MountT>, MccMountStateStop<MountT>>,
// std::pair<MccMountEventSlew<MountT>, MccMountStateSlew<MountT>>,
std::pair<MccMountEventGuiding<MountT>, MccMountStateStop<MountT>>,
std::pair<MccMountEventStop<MountT>, MccMountStateStop<MountT>>,
std::pair<MccMountEventShutdown<MountT>, MccMountStateStop<MountT>>>;
protected:
template <std::derived_from<MccMountEventBase<MountT>> EvT>
void exitImpl(EvT& event)
{
}
template <std::derived_from<MccMountEventSlew<MountT>> EvT>
void enterImpl(EvT& event)
{
event.mount().startSlew(/* params here ...*/);
}
};
} // namespace mcc