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