From 1edead13b57a263e7ea1c9594b917b87f5cacefe Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Sun, 19 Jan 2025 22:05:41 +0100
Subject: [PATCH] fixup: move FSM async implementation to boardcore
If async FSM support is merged in boardcore, repoint the submodule to the correct commit
---
skyward-boardcore | 2 +-
src/RIGv2/StateMachines/TARS1/TARS1.cpp | 34 +++----------------------
src/RIGv2/StateMachines/TARS1/TARS1.h | 3 +--
src/common/Events.h | 1 -
src/common/Topics.h | 1 -
5 files changed, 5 insertions(+), 36 deletions(-)
diff --git a/skyward-boardcore b/skyward-boardcore
index 93254875b..da169eb81 160000
--- a/skyward-boardcore
+++ b/skyward-boardcore
@@ -1 +1 @@
-Subproject commit 93254875ba79c70c4e1b4fb1b144a8b117337abf
+Subproject commit da169eb8192e8cb760fb4b6e3ec23ef60f7b85fa
diff --git a/src/RIGv2/StateMachines/TARS1/TARS1.cpp b/src/RIGv2/StateMachines/TARS1/TARS1.cpp
index f7675725b..83b2111ed 100644
--- a/src/RIGv2/StateMachines/TARS1/TARS1.cpp
+++ b/src/RIGv2/StateMachines/TARS1/TARS1.cpp
@@ -37,7 +37,6 @@ TARS1::TARS1()
Config::Scheduler::TARS1_PRIORITY)
{
EventBroker::getInstance().subscribe(this, TOPIC_TARS);
- EventBroker::getInstance().subscribe(this, TOPIC_TARS_ASYNC);
EventBroker::getInstance().subscribe(this, TOPIC_MOTOR);
}
@@ -83,35 +82,11 @@ void TARS1::state_ready(const Event& event)
}
}
-#define ASYNC_BEGIN(topic, event) \
- constexpr auto _ASYNC_TOPIC = topic; \
- constexpr auto _ASYNC_CONT_EVENT = event; \
- static int _lc = 0; \
- if (event == TARS_ASYNC_CONTINUE || event == EV_ENTRY) \
- { \
- switch (_lc) \
- { \
- case 0:
-#define ASYNC_END() \
- } \
- return; \
- }
-
-#define ASYNC_WAIT_FOR(t) \
- _lc = __LINE__; \
- case __LINE__: \
- if (event != __LINE__) \
- { \
- nextDelayedEventId = EventBroker::getInstance().postDelayed( \
- _ASYNC_CONT_EVENT, _ASYNC_TOPIC, t); \
- return; \
- }
-
void TARS1::state_refueling(const Event& event)
{
Actuators* actuators = getModule<Actuators>();
- ASYNC_BEGIN(TOPIC_TARS_ASYNC, TARS_ASYNC_CONTINUE)
+ ASYNC_BEGIN(TOPIC_TARS)
// Reset TARS state
massStableCounter = 0;
@@ -185,7 +160,7 @@ void TARS1::state_refueling(const Event& event)
// Wait for system stabilization based on valve opening time
ASYNC_WAIT_FOR(
actuators->getServoOpeningTime(ServosList::VENTING_VALVE) +
- Config::TARS1::PRESSURE_STABILIZE_WAIT_TIME * 5) // wait (5000ms)
+ Config::TARS1::PRESSURE_STABILIZE_WAIT_TIME * 5)
// If the pressure is not stable, keep waiting until it is
while (true)
@@ -228,8 +203,6 @@ void TARS1::state_refueling(const Event& event)
LOG_INFO(logger, "TARS manual stop");
logAction(TarsActionType::MANUAL_STOP);
- // Disable next event
- EventBroker::getInstance().removeDelayed(nextDelayedEventId);
transition(&TARS1::state_ready);
break;
}
@@ -241,8 +214,7 @@ void TARS1::state_refueling(const Event& event)
// The user requested that we stop
getModule<Actuators>()->closeAllServos();
- // Disable next event
- EventBroker::getInstance().removeDelayed(nextDelayedEventId);
+
transition(&TARS1::state_ready);
break;
}
diff --git a/src/RIGv2/StateMachines/TARS1/TARS1.h b/src/RIGv2/StateMachines/TARS1/TARS1.h
index eba7653f2..f1ed53cd6 100644
--- a/src/RIGv2/StateMachines/TARS1/TARS1.h
+++ b/src/RIGv2/StateMachines/TARS1/TARS1.h
@@ -73,8 +73,7 @@ private:
float massSample = 0;
float pressureSample = 0;
- int massStableCounter = 0;
- uint16_t nextDelayedEventId = 0;
+ int massStableCounter = 0;
};
} // namespace RIGv2
diff --git a/src/common/Events.h b/src/common/Events.h
index 1d24ae46f..fc524997e 100644
--- a/src/common/Events.h
+++ b/src/common/Events.h
@@ -163,7 +163,6 @@ enum Events : uint8_t
TARS_PRESSURE_STABILIZED,
TARS_FILLING_DONE,
TARS_REFINING_DONE,
- TARS_ASYNC_CONTINUE,
ALTITUDE_TRIGGER_ALTITUDE_REACHED,
WING_ALGORITHM_ENDED,
LAST_EVENT
diff --git a/src/common/Topics.h b/src/common/Topics.h
index b9e7171c6..37c83378b 100644
--- a/src/common/Topics.h
+++ b/src/common/Topics.h
@@ -44,7 +44,6 @@ enum Topics : uint8_t
TOPIC_TMTC,
TOPIC_MOTOR,
TOPIC_TARS,
- TOPIC_TARS_ASYNC,
TOPIC_ALT,
TOPIC_WING,
};
--
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