MCUStateMachine< DrivetrainSysType > Class Template Reference

#include <MCUStateMachine.h>

Collaboration diagram for MCUStateMachine< DrivetrainSysType >:

Public Member Functions
	MCUStateMachine (BuzzerController *buzzer, DrivetrainSysType *drivetrain, DashboardInterface *dashboard, PedalsSystem *pedals, TCMuxType *mux, SafetySystem *safety_system)
void	tick_state_machine (unsigned long cm, const SharedCarState_s &current_car_state)
	function to tick the state machine. More...
CAR_STATE	get_state ()
bool	car_in_ready_to_drive ()

Private Member Functions
void	set_state_ (CAR_STATE new_state, unsigned long curr_time)
void	handle_entry_logic_ (CAR_STATE new_state, unsigned long curr_time)
	the function run upon the entry of the car into a new state More...
void	handle_exit_logic_ (CAR_STATE prev_state, unsigned long curr_time)
	function run upon the exit of a state More...

Private Attributes
CAR_STATE	current_state_
BuzzerController *	buzzer_
	components within state machine More...
DrivetrainSysType *	drivetrain_
PedalsSystem *	pedals_
DashboardInterface *	dashboard_
	drivers within state machine More...
SafetySystem *	safety_system_
TCMuxType *	controller_mux_

Detailed Description

template<typename DrivetrainSysType>
class MCUStateMachine< DrivetrainSysType >

Definition at line 26 of file MCUStateMachine.h.

Constructor & Destructor Documentation

MCUStateMachine()

template<typename DrivetrainSysType >

MCUStateMachine< DrivetrainSysType >::MCUStateMachine ( BuzzerController *  buzzer, DrivetrainSysType *  drivetrain, DashboardInterface *  dashboard, PedalsSystem *  pedals, TCMuxType *  mux, SafetySystem *  safety_system  )

inline

Definition at line 29 of file MCUStateMachine.h.

    {
        current_state_ = CAR_STATE::STARTUP;
        buzzer_ = buzzer;
        drivetrain_ = drivetrain;
        dashboard_ = dashboard;
        pedals_ = pedals;
        controller_mux_ = mux;
        safety_system_ = safety_system;
    }

Member Function Documentation

car_in_ready_to_drive()

template<typename DrivetrainSysType >

bool MCUStateMachine< DrivetrainSysType >::car_in_ready_to_drive ( )

inline

Definition at line 52 of file MCUStateMachine.h.

{ return current_state_ == CAR_STATE::READY_TO_DRIVE; };

get_state()

template<typename DrivetrainSysType >

CAR_STATE MCUStateMachine< DrivetrainSysType >::get_state ( )

inline

Definition at line 51 of file MCUStateMachine.h.

{ return current_state_; }

handle_entry_logic_()

template<typename DrivetrainSysType >

void MCUStateMachine< DrivetrainSysType >::handle_entry_logic_ ( CAR_STATE  new_state, unsigned long  curr_time  )

private

the function run upon the entry of the car into a new state

Parameters

new_state

the state in which we are entering

handle_exit_logic_()

template<typename DrivetrainSysType >

void MCUStateMachine< DrivetrainSysType >::handle_exit_logic_ ( CAR_STATE  prev_state, unsigned long  curr_time  )

private

function run upon the exit of a state

Parameters

prev_state

the state in which we are leaving

set_state_()

template<typename DrivetrainSysType >

void MCUStateMachine< DrivetrainSysType >::set_state_ ( CAR_STATE  new_state, unsigned long  curr_time  )

private

tick_state_machine()

template<typename DrivetrainSysType >

void MCUStateMachine< DrivetrainSysType >::tick_state_machine	(	unsigned long	cm,
		const SharedCarState_s &	current_car_state
	)

function to tick the state machine.

Parameters

cm	current millis from systick
current_car_state	current state of the car (not to be confused with the CAR_STATE enum which is the state machine state)

Member Data Documentation

buzzer_

template<typename DrivetrainSysType >

BuzzerController* MCUStateMachine< DrivetrainSysType >::buzzer_

private

components within state machine

Definition at line 67 of file MCUStateMachine.h.

controller_mux_

template<typename DrivetrainSysType >

TCMuxType* MCUStateMachine< DrivetrainSysType >::controller_mux_

private

Definition at line 75 of file MCUStateMachine.h.

current_state_

template<typename DrivetrainSysType >

CAR_STATE MCUStateMachine< DrivetrainSysType >::current_state_

private

Definition at line 64 of file MCUStateMachine.h.

dashboard_

template<typename DrivetrainSysType >

DashboardInterface* MCUStateMachine< DrivetrainSysType >::dashboard_

private

drivers within state machine

Definition at line 72 of file MCUStateMachine.h.

drivetrain_

template<typename DrivetrainSysType >

DrivetrainSysType* MCUStateMachine< DrivetrainSysType >::drivetrain_

private

Definition at line 68 of file MCUStateMachine.h.

pedals_

template<typename DrivetrainSysType >

PedalsSystem* MCUStateMachine< DrivetrainSysType >::pedals_

private

Definition at line 69 of file MCUStateMachine.h.

safety_system_

template<typename DrivetrainSysType >

SafetySystem* MCUStateMachine< DrivetrainSysType >::safety_system_

private

Definition at line 74 of file MCUStateMachine.h.

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The documentation for this class was generated from the following file:

• lib/state_machine/include/MCUStateMachine.h