state_manager.h
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1 /*
2  * Copyright (c) 2017, James Jackson and Daniel Koch, BYU MAGICC Lab
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31 
32 #ifndef ROSFLIGHT_FIRMWARE_STATE_MANAGER_H
33 #define ROSFLIGHT_FIRMWARE_STATE_MANAGER_H
34 
35 #include <stdint.h>
36 
37 namespace rosflight_firmware
38 {
39 
40 class ROSflight;
41 
43 {
44 
45 public:
46  struct State
47  {
48  bool armed;
49  bool failsafe;
50  bool error;
51  uint16_t error_codes;
52  };
53 
54  enum Event
55  {
65  };
66 
67  enum : uint16_t
68  {
69  ERROR_NONE = 0x0000,
72  ERROR_RC_LOST = 0x0004,
76  };
77 
78  StateManager(ROSflight &parent);
79  void init();
80  void run();
81 
82  inline const State &state() const { return state_; }
83 
84  void set_event(Event event);
85  void set_error(uint16_t error);
86  void clear_error(uint16_t error);
87 
88 private:
91 
92  uint32_t next_led_blink_ms_ = 0;
94 
95  enum FsmState
96  {
103  };
104 
106  void process_errors();
107 
108  void update_leds();
109 };
110 
111 } // namespace rosflight_firmware
112 
113 #endif // ROSFLIGHT_FIRMWARE_STATE_MANAGER_H
const State & state() const
Definition: state_manager.h:82
void set_error(uint16_t error)
void clear_error(uint16_t error)


rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Thu Oct 24 2019 03:17:19