State Machine

Template class for the internal state machine. This class does not hold any inherent value except as a superclass for the LED state machine. This file defines the system states and abstracts the underlying state tracking.

Author: Braidan Duffy

Usage

The StateMachine object tracks the value of systemState through a pointer reference. By changing the value of systemState, the machine will automatically adjust the execution process defined in executeState(). This is best done through the state method StateMachine::changeSystemState() as it will automatically update the previous system state as well.

Version: 1.0
Date: 2024-03-05
Copyright: Copyright (c) 2024

Enums

enum State

Values:

enumerator IDLE_NO_CONNECTION: Micro-ROS node is awaiting connection to Agent.

enumerator IDLE_WITH_CONNECTION: Micro-ROS node is connected to Agent.

enumerator PARTIAL_FORWARD: Motor is moving forward, but not at full speed.

enumerator PARTIAL_REVERSE: Motor is moving reverse, but not at full speed.

enumerator FULL_FORWARD: Motor is moving forward at full speed.

enumerator FULL_REVERSE: Motor is moving reverse at full speed.

enumerator DEVICE_IDENTIFY: Micro-ROS node is commanded to identify itself using the LED.

enumerator MOTOR_DISABLED: Motor is disabled due to motor fault.

enumerator SENSOR_FAULT: One or more sensors have encountered an error.

enumerator DRIVER_FAULT: The motor driver has encountered an error.

enumerator TRANSPORT_FAULT: The Micro-ROS transport layer has encountered an error.

Variables

State systemState: Current system state. Defaults to IDLE_NO_CONNECTION.

State previousSystemState: Previous system state. Defaults to IDLE_NO_CONNECTION.

class StateMachine

#include <state_machine.h>

Superclass object that encapsulates and handles a changing system state variable.

Subclassed by LEDStateMachine

Public Functions

inline StateMachine(State &currentStatePtr)

Construct a new State Machine object.

Parameters:: currentStatePtr – Pointer to the system state global variable

inline virtual void executeState(): Execute functions based on the current system state.

Note

Should be executed in an asynchronous loop

Public Static Functions

static inline void changeSystemState(State newState)

Changes the value of the global systemState variable. Saves the system state to previousSystemState before making the change. If the State Machine object is initialized with the systemState variable, this will automatically update its internal state value.

Parameters:: newState – The new desired system state

Protected Attributes

State &currentState: Variable to store the pointer to the memory address of the current system state.