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add emergency and fault inputs to operations exe #283

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merged 1 commit into from
Nov 22, 2023
Merged

add emergency and fault inputs to operations exe #283

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22 changes: 21 additions & 1 deletion exes/operations/inc/details/state_machine_owner_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ auto state_machine_owner<signal_t, slot_t, sml_t>::set_mode(tfc::operation::mode

bool handled{};
switch (new_mode) {
using enum tfc::operation::mode_e;
using enum mode_e;
case unknown:
break;
case stopping:
Expand Down Expand Up @@ -251,6 +251,26 @@ void state_machine_owner<signal_t, slot_t, sml_t>::maintenance_new_state(bool ne
// clang-format off
template <template <typename, typename> typename signal_t, template <typename, typename> typename slot_t, template <typename, typename...> typename sml_t>
// clang-format on
void state_machine_owner<signal_t, slot_t, sml_t>::emergency(bool new_state) {
if (new_state) {
states_->process_event(detail::events::emergency_on{});
} else {
states_->process_event(detail::events::emergency_off{});
}
}
// clang-format off
template <template <typename, typename> typename signal_t, template <typename, typename> typename slot_t, template <typename, typename...> typename sml_t>
// clang-format on
void state_machine_owner<signal_t, slot_t, sml_t>::fault(bool new_state) {
if (new_state) {
states_->process_event(detail::events::fault_on{});
} else {
states_->process_event(detail::events::fault_off{});
}
}
// clang-format off
template <template <typename, typename> typename signal_t, template <typename, typename> typename slot_t, template <typename, typename...> typename sml_t>
// clang-format on
void state_machine_owner<signal_t, slot_t, sml_t>::on_starting_timer_expired(std::error_code const& err) {
if (err) {
return;
Expand Down
7 changes: 7 additions & 0 deletions exes/operations/inc/state_machine_owner.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -93,6 +93,9 @@ class state_machine_owner {
void cleaning_new_state(bool);
void maintenance_new_state(bool);

void emergency(bool);
void fault(bool);

private:
std::function<void(new_mode, old_mode)> on_new_state_{};
asio::io_context& ctx_;
Expand All @@ -119,6 +122,10 @@ class state_machine_owner {
std::bind_front(&state_machine_owner::cleaning_new_state, this) };
bool_slot_t maintenance_button_{ ctx_, mclient_, "maintenance_button",
std::bind_front(&state_machine_owner::maintenance_new_state, this) };
bool_slot_t emergency_{ ctx_, mclient_, "emergency", "Emergency active input",
std::bind_front(&state_machine_owner::emergency, this) };
bool_slot_t fault_{ ctx_, mclient_, "fault", "Fault active, like trip signal from motor driver",
std::bind_front(&state_machine_owner::fault, this) };
tfc::logger::logger logger_{ "state_machine" };
tfc::confman::config<detail::storage> config_{ ctx_, "state_machine",
detail::storage{ .startup_time = std::chrono::milliseconds{ 0 },
Expand Down