rosflight_firmware::StateManager Class Reference

#include <state_manager.h>

Classes
struct	State

Public Types
enum	: uint16_t {   ERROR_NONE = 0x0000, ERROR_INVALID_MIXER = 0x0001, ERROR_IMU_NOT_RESPONDING = 0x0002, ERROR_RC_LOST = 0x0004,   ERROR_UNHEALTHY_ESTIMATOR = 0x0008, ERROR_TIME_GOING_BACKWARDS = 0x0010, ERROR_UNCALIBRATED_IMU = 0x0020 }
enum	Event {   EVENT_INITIALIZED, EVENT_REQUEST_ARM, EVENT_REQUEST_DISARM, EVENT_RC_LOST,   EVENT_RC_FOUND, EVENT_ERROR, EVENT_NO_ERROR, EVENT_CALIBRATION_COMPLETE,   EVENT_CALIBRATION_FAILED }

Public Member Functions
void	clear_error (uint16_t error)
void	init ()
void	run ()
void	set_error (uint16_t error)
void	set_event (Event event)
const State &	state () const
	StateManager (ROSflight &parent)

Private Types
enum	FsmState {   FSM_STATE_INIT, FSM_STATE_PREFLIGHT, FSM_STATE_ARMED, FSM_STATE_ERROR,   FSM_STATE_FAILSAFE, FSM_STATE_CALIBRATING }

Private Member Functions
void	process_errors ()
void	update_leds ()

Private Attributes
FsmState	fsm_state_
uint32_t	next_arming_error_msg_ms_ = 0
uint32_t	next_led_blink_ms_ = 0
ROSflight &	RF_
State	state_

Detailed Description

Definition at line 42 of file state_manager.h.

Member Enumeration Documentation

anonymous enum : uint16_t

Enumerator
ERROR_NONE
ERROR_INVALID_MIXER
ERROR_IMU_NOT_RESPONDING
ERROR_RC_LOST
ERROR_UNHEALTHY_ESTIMATOR
ERROR_TIME_GOING_BACKWARDS
ERROR_UNCALIBRATED_IMU

Definition at line 67 of file state_manager.h.

enum rosflight_firmware::StateManager::Event

Enumerator
EVENT_INITIALIZED
EVENT_REQUEST_ARM
EVENT_REQUEST_DISARM
EVENT_RC_LOST
EVENT_RC_FOUND
EVENT_ERROR
EVENT_NO_ERROR
EVENT_CALIBRATION_COMPLETE
EVENT_CALIBRATION_FAILED

Definition at line 54 of file state_manager.h.

enum rosflight_firmware::StateManager::FsmState

private

Enumerator
FSM_STATE_INIT
FSM_STATE_PREFLIGHT
FSM_STATE_ARMED
FSM_STATE_ERROR
FSM_STATE_FAILSAFE
FSM_STATE_CALIBRATING

Definition at line 98 of file state_manager.h.

Constructor & Destructor Documentation

rosflight_firmware::StateManager::StateManager

(

ROSflight &

parent

)

Definition at line 38 of file state_manager.cpp.

Member Function Documentation

void rosflight_firmware::StateManager::clear_error

(

uint16_t

error

)

Definition at line 82 of file state_manager.cpp.

void rosflight_firmware::StateManager::init

(

)

Definition at line 47 of file state_manager.cpp.

void rosflight_firmware::StateManager::process_errors ( )

private

Definition at line 278 of file state_manager.cpp.

void rosflight_firmware::StateManager::run

(

void

)

Definition at line 64 of file state_manager.cpp.

void rosflight_firmware::StateManager::set_error

(

uint16_t

error

)

Definition at line 73 of file state_manager.cpp.

void rosflight_firmware::StateManager::set_event

(

StateManager::Event

event

)

Definition at line 98 of file state_manager.cpp.

const State& rosflight_firmware::StateManager::state ( ) const

inline

Definition at line 82 of file state_manager.h.

void rosflight_firmware::StateManager::update_leds ( )

private

Definition at line 286 of file state_manager.cpp.

Member Data Documentation

FsmState rosflight_firmware::StateManager::fsm_state_

private

Definition at line 108 of file state_manager.h.

uint32_t rosflight_firmware::StateManager::next_arming_error_msg_ms_ = 0

private

Definition at line 96 of file state_manager.h.

uint32_t rosflight_firmware::StateManager::next_led_blink_ms_ = 0

private

Definition at line 95 of file state_manager.h.

ROSflight& rosflight_firmware::StateManager::RF_

private

Definition at line 92 of file state_manager.h.

State rosflight_firmware::StateManager::state_

private

Definition at line 93 of file state_manager.h.

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

• state_manager.h
• state_manager.cpp