FSM event handling

MIDAS/src/finite-state-machines/MIDAS_Events.cpp

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+#include "MIDAS_Events.h"
+
+#ifdef IS_SUSTAINER
+
+// SAFE
+void MIDAS_Events::safe_to_pyroTest(RocketData& rocket_data) {
+    rocket_data.command_flags.should_transition_pyro_test = false;
+}
+void MIDAS_Events::safe_to_stateIdle(RocketData& rocket_data) {
+    rocket_data.command_flags.should_transition_idle = false;
+}
+
+// PYRO TEST
+void MIDAS_Events::pyroTest_to_safe_forced(RocketData& rocket_data) {
+    rocket_data.command_flags.should_transition_pyro_test = false;
+    rocket_data.command_flags.should_transition_idle = false;
+    rocket_data.command_flags.should_transition_safe = false;
+}
+void MIDAS_Events::pyroTest_to_safe_timed(RocketData& rocket_data) {
+    rocket_data.command_flags.should_transition_pyro_test = false;
+}
+void MIDAS_Events::pyroTest_to_firstBoost(RocketData& rocket_data) {
+
+}
+
+// IDLE
+void MIDAS_Events::idle_to_safe_forced(RocketData& rocket_data) {
+    rocket_data.command_flags.should_transition_pyro_test = false;
+    rocket_data.command_flags.should_transition_idle = false;
+    rocket_data.command_flags.should_transition_safe = false;
+}
+
+void MIDAS_Events::idle_to_firstBoost(RocketData& rocket_data) {
+    rocket_data.command_flags.FSM_should_set_cam_feed_cam1 = true;
+}
+
+// FIRST BOOST
+void MIDAS_Events::firstBoost_to_idle(RocketData& rocket_data) {}
+void MIDAS_Events::firstBoost_to_burnout(RocketData& rocket_data) {}
+
+// BURNOUT
+void MIDAS_Events::burnout_to_firstBoost(RocketData& rocket_data) {}
+void MIDAS_Events::burnout_to_sustainerIgnition(RocketData& rocket_data) {}
+void MIDAS_Events::burnout_to_firstSeparation(RocketData& rocket_data) {}
+
+// SUSTAINER IGNITION
+void MIDAS_Events::sustainerIgnition_to_coast(RocketData& rocket_data) {}
+void MIDAS_Events::sustainerIgnition_to_secondBoost(RocketData& rocket_data) {}
+
+// FIRST SEPARATION
+void MIDAS_Events::firstSeparation_to_coast_jerk(RocketData& rocket_data) {}
+void MIDAS_Events::firstSeparation_to_coast_timed(RocketData& rocket_data) {}
+
+// SECOND BOOST
+void MIDAS_Events::secondBoost_to_sustainerIgnition(RocketData& rocket_data) {}
+void MIDAS_Events::secondBoost_to_coast(RocketData& rocket_data) {}
+
+// COAST
+void MIDAS_Events::coast_to_secondBoost(RocketData& rocket_data) {}
+void MIDAS_Events::coast_to_apogee(RocketData& rocket_data) {
+    rocket_data.command_flags.FSM_should_swap_camera_feed = true;
+}
+
+// APOGEE
+void MIDAS_Events::apogee_to_coast(RocketData& rocket_data) {}
+void MIDAS_Events::apogee_to_drogueDeploy(RocketData& rocket_data) {}
+
+// DROUGE DEPLOY
+void MIDAS_Events::drogueDeploy_to_drogue_jerk(RocketData& rocket_data) {}
+void MIDAS_Events::drogueDeploy_to_drouge_timed(RocketData& rocket_data) {}
+
+// DROGUE
+void MIDAS_Events::drogue_to_mainDeploy(RocketData& rocket_data) {}
+
+// MAIN DEPLOY
+void MIDAS_Events::mainDeploy_to_main_jerk(RocketData& rocket_data) {}
+void MIDAS_Events::mainDeploy_to_main_timed(RocketData& rocket_data) {}
+
+// MAIN
+void MIDAS_Events::main_to_landed(RocketData& rocket_data) {}
+
+// LANDED
+void MIDAS_Events::landed_to_safe(RocketData& rocket_data) {
+    rocket_data.command_flags.should_transition_pyro_test = false;
+    rocket_data.command_flags.should_transition_idle = false;
+    rocket_data.command_flags.should_transition_safe = false;
+}
+void MIDAS_Events::landed_to_main(RocketData& rocket_data) {}
+
+#else
+
+// SAFE
+void MIDAS_Events::safe_to_pyroTest(RocketData& rocket_data) {
+    rocket_data.command_flags.should_transition_pyro_test = false;
+}
+void MIDAS_Events::safe_to_stateIdle(RocketData& rocket_data) {
+    rocket_data.command_flags.should_transition_idle = false;
+}
+
+// PYRO TEST
+void MIDAS_Events::pyroTest_to_safe_forced(RocketData& rocket_data) {
+    rocket_data.command_flags.should_transition_pyro_test = false;
+    rocket_data.command_flags.should_transition_idle = false;
+    rocket_data.command_flags.should_transition_safe = false;
+}
+void MIDAS_Events::pyroTest_to_safe_timed(RocketData& rocket_data) {
+    rocket_data.command_flags.should_transition_pyro_test = false;
+}
+void MIDAS_Events::pyroTest_to_firstBoost(RocketData& rocket_data) {
+
+}
+
+// IDLE
+void MIDAS_Events::idle_to_safe_forced(RocketData& rocket_data) {
+    rocket_data.command_flags.should_transition_pyro_test = false;
+    rocket_data.command_flags.should_transition_idle = false;
+    rocket_data.command_flags.should_transition_safe = false;
+}
+
+void MIDAS_Events::idle_to_firstBoost(RocketData& rocket_data) {
+    rocket_data.command_flags.FSM_should_set_cam_feed_cam1 = true;
+}
+
+// FIRST BOOST
+void MIDAS_Events::firstBoost_to_idle(RocketData& rocket_data) {}
+void MIDAS_Events::firstBoost_to_burnout(RocketData& rocket_data) {}
+
+// BURNOUT
+void MIDAS_Events::burnout_to_firstBoost(RocketData& rocket_data) {}
+void MIDAS_Events::burnout_to_sustainerIgnition(RocketData& rocket_data) {}
+void MIDAS_Events::burnout_to_firstSeparation(RocketData& rocket_data) {}
+
+// SUSTAINER IGNITION
+void MIDAS_Events::sustainerIgnition_to_coast(RocketData& rocket_data) {}
+void MIDAS_Events::sustainerIgnition_to_secondBoost(RocketData& rocket_data) {}
+
+// FIRST SEPARATION
+void MIDAS_Events::firstSeparation_to_coast_jerk(RocketData& rocket_data) {}
+void MIDAS_Events::firstSeparation_to_coast_timed(RocketData& rocket_data) {}
+
+// SECOND BOOST
+void MIDAS_Events::secondBoost_to_sustainerIgnition(RocketData& rocket_data) {}
+void MIDAS_Events::secondBoost_to_coast(RocketData& rocket_data) {}
+
+// COAST
+void MIDAS_Events::coast_to_secondBoost(RocketData& rocket_data) {}
+void MIDAS_Events::coast_to_apogee(RocketData& rocket_data) {}
+
+// APOGEE
+void MIDAS_Events::apogee_to_coast(RocketData& rocket_data) {}
+void MIDAS_Events::apogee_to_drogueDeploy(RocketData& rocket_data) {}
+
+// DROUGE DEPLOY
+void MIDAS_Events::drogueDeploy_to_drogue_jerk(RocketData& rocket_data) {}
+void MIDAS_Events::drogueDeploy_to_drouge_timed(RocketData& rocket_data) {}
+
+// DROGUE
+void MIDAS_Events::drogue_to_mainDeploy(RocketData& rocket_data) {}
+
+// MAIN DEPLOY
+void MIDAS_Events::mainDeploy_to_main_jerk(RocketData& rocket_data) {}
+void MIDAS_Events::mainDeploy_to_main_timed(RocketData& rocket_data) {}
+
+// MAIN
+void MIDAS_Events::main_to_landed(RocketData& rocket_data) {}
+
+// LANDED
+void MIDAS_Events::landed_to_safe(RocketData& rocket_data) {
+    rocket_data.command_flags.should_transition_pyro_test = false;
+    rocket_data.command_flags.should_transition_idle = false;
+    rocket_data.command_flags.should_transition_safe = false;
+}
+void MIDAS_Events::landed_to_main(RocketData& rocket_data) {}
+
+#endif

MIDAS/src/finite-state-machines/MIDAS_Events.h

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+#include "rocket_state.h"
+
+/**
+ * @struct MIDAS_Events
+ * 
+ * @brief Abstracts changing command flags during state changes away from fsm.cpp.
+ * The functions are defined in MIDAS_Events.cpp
+ */
+struct MIDAS_Events {
+    void safe_to_pyroTest(RocketData& rocket_data);
+    void safe_to_stateIdle(RocketData& rocket_data);
+
+    void pyroTest_to_safe_forced(RocketData& rocket_data);
+    void pyroTest_to_safe_timed(RocketData& rocket_data);
+    void pyroTest_to_firstBoost(RocketData& rocket_data);
+
+    void idle_to_safe_forced(RocketData& rocket_data);
+    void idle_to_firstBoost(RocketData& rocket_data);
+
+    void firstBoost_to_idle(RocketData& rocket_data);
+    void firstBoost_to_burnout(RocketData& rocket_data);
+
+    void burnout_to_firstBoost(RocketData& rocket_data);
+    void burnout_to_sustainerIgnition(RocketData& rocket_data);
+    void burnout_to_firstSeparation(RocketData& rocket_data);
+
+    void sustainerIgnition_to_coast(RocketData& rocket_data);
+    void sustainerIgnition_to_secondBoost(RocketData& rocket_data);
+
+    void firstSeparation_to_coast_jerk(RocketData& rocket_data);
+    void firstSeparation_to_coast_timed(RocketData& rocket_data);
+
+    void secondBoost_to_sustainerIgnition(RocketData& rocket_data);
+    void secondBoost_to_coast(RocketData& rocket_data);
+
+    void coast_to_secondBoost(RocketData& rocket_data);
+    void coast_to_apogee(RocketData& rocket_data);
+
+    void apogee_to_coast(RocketData& rocket_data);
+    void apogee_to_drogueDeploy(RocketData& rocket_data);
+
+    void drogueDeploy_to_drogue_jerk(RocketData& rocket_data);
+    void drogueDeploy_to_drouge_timed(RocketData& rocket_data);
+
+    void drogue_to_mainDeploy(RocketData& rocket_data);
+
+    void mainDeploy_to_main_jerk(RocketData& rocket_data);
+    void mainDeploy_to_main_timed(RocketData& rocket_data);
+
+    void main_to_landed(RocketData& rocket_data);
+
+    void landed_to_safe(RocketData& rocket_data);
+    void landed_to_main(RocketData& rocket_data);
+};