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Initial public release of SystemK.

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Joe Kearney 2025-01-25 13:45:14 -06:00
parent 387f57cdda
commit 6f51f5b006
129 changed files with 11654 additions and 2 deletions
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133
States/State_Machine.c Normal file
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/*
* This program source code file is part of SystemK, a library in the KTag project.
*
* 🛡️ <https://ktag.clubk.club> 🃞
*
* Copyright © 2016-2025 Joseph P. Kearney and the KTag developers.
*
* This program is free software: you can redistribute it and/or modify it under
* the terms of the GNU Affero General Public License as published by the Free
* Software Foundation, either version 3 of the License, or (at your option) any
* later version.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
* FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more
* details.
*
* There should be a copy of the GNU Affero General Public License in the LICENSE
* file in the root of this repository. If not, see <http://www.gnu.org/licenses/>.
*/
/* Include Files */
#include "SystemK.h"
const StateActivity_T STATE_DEFAULT_Activities =
{
.Entry = NULL,
.Do = NULL,
.Exit = NULL
};
//! Activities for the top-level state machine.
/*!
* This array is indexed by #StateID_T (except there is no entry for
* #STATE_OUT_OF_RANGE or #STATE_NONE), and the order of activities
* must match the order of the enumeration.
*/
static const StateActivity_T * Activities[] =
{
&STATE_DEFAULT_Activities,
&STATE_INITIALIZING_Activities,
&STATE_REPROGRAMMING_Activities,
&STATE_CONFIGURING_Activities,
&STATE_READY_Activities,
&STATE_STARTING_GAME__INSTIGATING_Activities,
&STATE_STARTING_GAME__RESPONDING_Activities,
&STATE_STARTING_GAME__COUNTING_DOWN_Activities,
&STATE_PLAYING__INTERACTING_Activities,
&STATE_PLAYING__TAGGED_OUT_Activities,
&STATE_WRAPPING_UP_Activities
};
//! Context in which the top-level state machine is run.
static StateMachineContext_T Context =
{
.States =
{
.Previous_State = STATE_NONE,
.Current_State = STATE_NONE,
.Next_State = STATE_INITIALIZING
},
.Time_At_State_Entry_In_Ticks = 0,
};
TaskHandle_t State_Machine_Task_Handle;
void State_Machine_Task(void * pvParameters)
{
while (true)
{
// Handle state changes.
if (Context.States.Next_State != Context.States.Current_State)
{
// Exit the current state.
if (Context.States.Current_State < STATE_IS_OUT_OF_RANGE)
{
if (Activities[Context.States.Current_State]->Exit != NULL)
{
Activities[Context.States.Current_State]->Exit(&Context);
}
}
// Save off the time of the state change.
Context.Time_At_State_Entry_In_Ticks = xTaskGetTickCount();
// Update the current state.
Context.States.Previous_State = Context.States.Current_State;
Context.States.Current_State = Context.States.Next_State;
if (Context.States.Current_State < STATE_IS_OUT_OF_RANGE)
{
// Enter the current state.
if (Activities[Context.States.Current_State]->Entry != NULL)
{
Activities[Context.States.Current_State]->Entry(&Context);
}
}
}
if (Context.States.Current_State < STATE_IS_OUT_OF_RANGE)
{
// Execute the current state.
if (Activities[Context.States.Current_State]->Do != NULL)
{
Activities[Context.States.Current_State]->Do(&Context);
}
}
vTaskDelay(1);
}
}
void ProcessUnhandledEvent(KEvent_T * Event)
{
switch (Event->ID)
{
case KEVENT_TAG_RECEIVED:
FreeDecodedPacketBuffer(Event->Data);
break;
case KEVENT_COMMAND_RECEIVED:
FreeDecodedPacketBuffer(Event->Data);
break;
case KEVENT_BLE_PACKET_RECEIVED:
BLE_FreePacketBuffer(Event->Data);
break;
default:
// All other events can be safely ignored.
break;
}
}