/****************************************************************************
Module
REFService.c
Revision
2.0.1
Description
This is a REF file for implementing state machines.
Notes
History
When Who What/Why
-------------- --- --------
02/27/17 09:48 jec another correction to re-assign both CurrentEvent
and ReturnEvent to the result of the During function
this eliminates the need for the prior fix and allows
the during function to-remap an event that will be
processed at a higher level.
02/20/17 10:14 jec correction to Run function to correctly assign
ReturnEvent in the situation where a lower level
machine consumed an event.
02/03/16 12:38 jec updated comments to reflect changes made in '14 & '15
converted unsigned char to bool where appropriate
spelling changes on true (was True) to match standard
removed local var used for debugger visibility in 'C32
commented out references to Start & RunLowerLevelSM so
that this can compile.
02/07/13 21:00 jec corrections to return variable (should have been
ReturnEvent, not CurrentEvent) and several EV_xxx
event names that were left over from the old version
02/08/12 09:56 jec revisions for the Events and Services Framework Gen2
02/13/10 14:29 jec revised Start and run to add new kind of entry function
to make implementing history entry cleaner
02/13/10 12:29 jec added NewEvent local variable to During function and
comments about using either it or Event as the return
02/11/10 15:54 jec more revised comments, removing last comment in during
function that belongs in the run function
02/09/10 17:21 jec updated comments about internal transitions on During
funtion
02/18/09 10:14 jec removed redundant call to RunLowerlevelSM in EV_Entry
processing in During function
02/20/07 21:37 jec converted to use enumerated type for events & states
02/13/05 19:38 jec added support for self-transitions, reworked
to eliminate repeated transition code
02/11/05 16:54 jec converted to implment hierarchy explicitly
02/25/03 10:32 jec converted to take a passed event parameter
02/18/99 10:19 jec built REF from MasterMachine.c
02/14/99 10:34 jec Began Coding
****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
// Basic includes for a program using the Events and Services Framework
#include "ES_Configure.h"
#include "ES_Framework.h"
/* include header files for this state machine as well as any machines at the
next lower level in the hierarchy that are sub-machines to this machine
*/
#include "REFService.h"
#include "GamePlayHSM.h"
#include "PlayService.h"
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_ssi.h"
#include "inc/hw_nvic.h"
/*----------------------------- Module Defines ----------------------------*/
// define constants for the states for this machine
// and any other local defines
#define ENTRY_STATE WAITING
#define StateQuery 0x3F
#define ScoreQuery 0xC3
#define REFWaitTime 2
#define REFQueryTime 200
/*---------------------------- Module Functions ---------------------------*/
/* prototypes for private functions for this machine, things like during
functions, entry & exit functions.They should be functions relevant to the
behavior of this state machine
*/
void Check4StateChange(void);
static ES_Event_t DuringWaiting(ES_Event_t Event);
static ES_Event_t DuringSending(ES_Event_t Event);
static ES_Event_t DuringDelay(ES_Event_t Event);
/*---------------------------- Module Variables ---------------------------*/
// everybody needs a state variable, you may need others as well
static REFState_t CurrentState;
static PlayState_t LastState;
static bool QueryingScore;
static uint32_t Bytes;
static uint16_t StateMessage;
static uint16_t ScoreMessage;
static const uint16_t ShotClockMask = 0xFF00;
static const uint16_t REDScoreMask = 0xFF00;
static const uint16_t BLUEScoreMask = 0x00FF;
static const uint16_t PossessionMask = 0x0030;
static const uint16_t StatusMask = 0x0007;
static const uint8_t GameOverMask = 0x04;
static const uint32_t ErrorBytes = 0xFFFF0000;
static const uint32_t ErrorCheck = 0x00FF0000;
/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function
RunREFService
Parameters
ES_Event_t: the event to process
Returns
ES_Event_t: an event to return
Description
add your description here
Notes
uses nested switch/case to implement the machine.
Author
J. Edward Carryer, 2/11/05, 10:45AM
****************************************************************************/
ES_Event_t RunREFService(ES_Event_t CurrentEvent)
{
bool MakeTransition = false;/* are we making a state transition? */
REFState_t NextState = CurrentState;
ES_Event_t EntryEventKind = { ES_ENTRY, 0 }; // default to normal entry to
new state
ES_Event_t ReturnEvent = CurrentEvent; // assume we are not consuming
event
switch (CurrentState)
{
case WAITING:
{
// Execute During function for state one. ES_ENTRY & ES_EXIT are
// processed here allow the lower level state machines to re-map
// or consume the event
ReturnEvent = CurrentEvent = DuringWaiting(CurrentEvent);
//process any events
if (CurrentEvent.EventType != ES_NO_EVENT) //If an event is active
{
switch (CurrentEvent.EventType)
{
case EV_SCORE_UPDATE: //If event is event one
{ // Execute action function for state one :
event one
NextState = SENDING; //Decide what the next state will be
//Write param to SSIDR
HWREG(SSI0_BASE + SSI_O_DR) = ScoreQuery;
HWREG(SSI0_BASE + SSI_O_DR) = 0;
HWREG(SSI0_BASE + SSI_O_DR) = 0;
HWREG(SSI0_BASE + SSI_O_DR) = 0;
// Enable the NVIC interrupt for the SSI when starting to transmit
(vector #23, Interrupt #7)
HWREG(NVIC_EN0) |= BIT7HI;
//Reset byte storage
Bytes = 0;
//Score, not state
QueryingScore = 1;
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
//EntryEventKind.EventType = ES_ENTRY_HISTORY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
}
break;
// repeat cases as required for relevant events
case ES_TIMEOUT: //If event is event one
{ // Execute action function for state one : event one
if (CurrentEvent.EventParam == REF_QUERY_TIMER)
{
NextState = SENDING; //Decide what the next state will be
//Write param to SSIDR
HWREG(SSI0_BASE + SSI_O_DR) = StateQuery;
HWREG(SSI0_BASE + SSI_O_DR) = 0;
HWREG(SSI0_BASE + SSI_O_DR) = 0;
HWREG(SSI0_BASE + SSI_O_DR) = 0;
// Enable the NVIC interrupt for the SSI when starting to transmit
(vector #23, Interrupt #7)
HWREG(NVIC_EN0) |= BIT7HI;
//Reset byte storage
Bytes = 0;
//State, not score
QueryingScore = 0;
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
//EntryEventKind.EventType = ES_ENTRY_HISTORY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
}
}
break;
case EV_STATE_UPDATE: //If event is event one
{ // Execute action function for state one :
event one
NextState = SENDING; //Decide what the next state will be
//Write param to SSIDR
HWREG(SSI0_BASE + SSI_O_DR) = StateQuery;
HWREG(SSI0_BASE + SSI_O_DR) = 0;
HWREG(SSI0_BASE + SSI_O_DR) = 0;
HWREG(SSI0_BASE + SSI_O_DR) = 0;
// Enable the NVIC interrupt for the SSI when starting to transmit
(vector #23, Interrupt #7)
HWREG(NVIC_EN0) |= BIT7HI;
//Reset byte storage
Bytes = 0;
//State, not score
QueryingScore = 0;
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
//EntryEventKind.EventType = ES_ENTRY_HISTORY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
}
break;
}
}
}
break;
case SENDING: // If current state is state one
{ // Execute During function for state one. ES_ENTRY & ES_EXIT
are
// processed here allow the lower level state machines to re-
map
// or consume the event
ReturnEvent = CurrentEvent = DuringSending(CurrentEvent);
//process any events
if (CurrentEvent.EventType != ES_NO_EVENT) //If an event is active
{
switch (CurrentEvent.EventType)
{
case EV_EOM: //If event is event one
{ // Execute action function for state one : event
one
NextState = DELAY; //Decide what the next state will be
if ((Bytes & ErrorBytes) == ErrorCheck)
{
if (QueryingScore)
{
ScoreMessage = Bytes;
}
else
{
StateMessage = Bytes;
Check4StateChange();
}
}
else
{
printf("REF ERROR\n\r");
}
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
//EntryEventKind.EventType = ES_ENTRY_HISTORY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
}
break;
// repeat cases as required for relevant events
}
}
}
break;
case DELAY: // If current state is state one
{ // Execute During function for state one. ES_ENTRY & ES_EXIT are
// processed here allow the lower level state machines to re-map
// or consume the event
ReturnEvent = CurrentEvent = DuringDelay(CurrentEvent);
//process any events
if (CurrentEvent.EventType != ES_NO_EVENT) //If an event is active
{
switch (CurrentEvent.EventType)
{
case ES_TIMEOUT: //If event is event one
{ // Execute action function for state one : event one
if (CurrentEvent.EventParam == REF_WAIT_TIMER)
{
NextState = WAITING; //Decide what the next state will be
//Restart querying timer for game state
if (!QueryingScore)
{
ES_Timer_InitTimer(REF_QUERY_TIMER, REFQueryTime);
}
// for internal transitions, skip changing MakeTransition
MakeTransition = true; //mark that we are taking a transition
// if transitioning to a state with history change kind of entry
//EntryEventKind.EventType = ES_ENTRY_HISTORY;
// optionally, consume or re-map this event for the upper
// level state machine
ReturnEvent.EventType = ES_NO_EVENT;
}
}
break;
// repeat cases as required for relevant events
}
}
}
break;
}
// If we are making a state transition
if (MakeTransition == true)
{
// Execute exit function for current state
CurrentEvent.EventType = ES_EXIT;
RunREFService(CurrentEvent);
CurrentState = NextState; //Modify state variable
// Execute entry function for new state
// this defaults to ES_ENTRY
RunREFService(EntryEventKind);
}
return ReturnEvent;
}
/****************************************************************************
Function
StartREFService
Parameters
None
Returns
None
Description
Does any required initialization for this state machine
Notes
Author
J. Edward Carryer, 2/18/99, 10:38AM
****************************************************************************/
void StartREFService(ES_Event_t CurrentEvent)
{
// to implement entry to a history state or directly to a substate
// you can modify the initialization of the CurrentState variable
// otherwise just start in the entry state every time the state machine
// is started
if (ES_ENTRY_HISTORY != CurrentEvent.EventType)
{
CurrentState = ENTRY_STATE;
}
LastState = WAITING_TO_START;
//Start the timer for periodic state queries to the REF
ES_Timer_InitTimer(REF_QUERY_TIMER, REFQueryTime);
// call the entry function (if any) for the ENTRY_STATE (NONE)
//RunREFService(CurrentEvent);
}
/****************************************************************************
Function
QueryREFService
Parameters
None
Returns
REFState_t The current state of the REF state machine
Description
returns the current state of the REF state machine
Notes
Author
J. Edward Carryer, 2/11/05, 10:38AM
****************************************************************************/
REFState_t QueryREFService(void)
{
return CurrentState;
}
uint16_t GetREDScore(void)
{
return (ScoreMessage & REDScoreMask) >> BITS_PER_BYTE;
}
uint16_t GetBLUEScore(void)
{
return ScoreMessage & BLUEScoreMask;
}
uint16_t GetPossession(void)
{
return (StateMessage & PossessionMask) >> 4;
}
uint16_t GetGameStatus(void)
{
return StateMessage & StatusMask;
}
uint16_t GetShotClock(void)
{
return (StateMessage & ShotClockMask) >> BITS_PER_BYTE;
}
/***************************************************************************
private functions
***************************************************************************/
void EOT_ISR(void)
{
// Disable the NVIC interrupt for the SSI when transmit finished (vector #23,
Interrupt #7)
HWREG(NVIC_EN0) &= BIT7LO;
//Save received byte in specified place in Bytes variable
for (int i = 0; i < 4; i++)
{
uint8_t Received = HWREG(SSI0_BASE + SSI_O_DR);
Bytes |= Received << ((3 - i) * BITS_PER_BYTE);
}
ES_Event_t EOMEvent;
EOMEvent.EventType = EV_EOM;
PostMasterSM(EOMEvent);
}
//Checks if the REF state changed, if so, posts an event to the MasterSM
void Check4StateChange(void)
{
uint8_t Status = GetGameStatus();
uint8_t Possession = GetPossession();
ES_Event_t Event;
Event.EventType = EV_STATE_CHANGE;
PlayState_t NewState;
switch (Status)
{
case 0:
{
NewState = WAITING_TO_START;
}
break;
case 1:
{
NewState = FACE_OFF;
}
break;
case 2:
{
if (Possession == GetTeamColor())
{
NewState = OFFENSE;
}
else if (Possession == 0)
{
printf("REF ERROR Possession = 0 and in Play state\n\r");
}
else
{
NewState = DEFENSE;
}
}
break;
case 3:
{
NewState = OVERTIME;
}
break;
default:
{
if ((Status & GameOverMask) == 4)
{
NewState = GAME_OVER;
}
else
{
printf("THERE'S BEEN AN ERROR\n\r");
NewState = WAITING_TO_START;
}
}
break;
}
if (LastState != NewState)
{
Event.EventParam = NewState;
PostMasterSM(Event);
LastState = NewState;
}
}
static ES_Event_t DuringWaiting(ES_Event_t Event)
{
ES_Event_t ReturnEvent = Event; // assume no re-mapping or consumption
// process ES_ENTRY, ES_ENTRY_HISTORY & ES_EXIT events
if ((Event.EventType == ES_ENTRY) ||
(Event.EventType == ES_ENTRY_HISTORY))
{
// implement any entry actions required for this state machine
// after that start any lower level machines that run in this state
// repeat the StartxxxSM() functions for concurrent state machines
// on the lower level
}
else if (Event.EventType == ES_EXIT)
{
// on exit, give the lower levels a chance to clean up first
// repeat for any concurrently running state machines
// now do any local exit functionality (NO EXIT FUNCTIONS)
}
else
// do the 'during' function for this state
{
// run any lower level state machine
//ReturnEvent = RunLowerLevelSM(Event);
// repeat for any concurrent lower level machines
// do any activity that is repeated as long as we are in this state
}
// return either Event, if you don't want to allow the lower level machine
// to remap the current event, or ReturnEvent if you do want to allow it.
return ReturnEvent;
}
static ES_Event_t DuringSending(ES_Event_t Event)
{
ES_Event_t ReturnEvent = Event; // assume no re-mapping or consumption
// process ES_ENTRY, ES_ENTRY_HISTORY & ES_EXIT events
if ((Event.EventType == ES_ENTRY) ||
(Event.EventType == ES_ENTRY_HISTORY))
{
// implement any entry actions required for this state machine
// after that start any lower level machines that run in this state
// repeat the StartxxxSM() functions for concurrent state machines
// on the lower level
}
else if (Event.EventType == ES_EXIT)
{
// on exit, give the lower levels a chance to clean up first
// repeat for any concurrently running state machines
// now do any local exit functionality
}
else
// do the 'during' function for this state
{
// run any lower level state machine
// repeat for any concurrent lower level machines
// do any activity that is repeated as long as we are in this state
}
// return either Event, if you don't want to allow the lower level machine
// to remap the current event, or ReturnEvent if you do want to allow it.
return ReturnEvent;
}
static ES_Event_t DuringDelay(ES_Event_t Event)
{
ES_Event_t ReturnEvent = Event; // assume no re-mapping or consumption
// process ES_ENTRY, ES_ENTRY_HISTORY & ES_EXIT events
if ((Event.EventType == ES_ENTRY) ||
(Event.EventType == ES_ENTRY_HISTORY))
{
// implement any entry actions required for this state machine
ES_Timer_InitTimer(REF_WAIT_TIMER, REFWaitTime);
// after that start any lower level machines that run in this state
//StartSendingSM( Event );
// repeat the StartxxxSM() functions for concurrent state machines
// on the lower level
}
else if (Event.EventType == ES_EXIT)
{
// on exit, give the lower levels a chance to clean up first
//RunSendingSM(Event);
// repeat for any concurrently running state machines
// now do any local exit functionality
}
else
// do the 'during' function for this state
{
// run any lower level state machine
//ReturnEvent = RunSendingSM(Event);
// repeat for any concurrent lower level machines
// do any activity that is repeated as long as we are in this state
}
// return either Event, if you don't want to allow the lower level machine
// to remap the current event, or ReturnEvent if you do want to allow it.
return ReturnEvent;
}
