#include <Arduino.h>
#include <Ethernet.h>
#include <EthernetUdp.h>
#include <SPI.h>
#include <SPIFFS.h>
#include <daq-protocol.h>
#include <esp_mac.h>
#include <cstring>
#include <vector>
#include "actuator_board_pins.h"
#include "actuator_config.h"

Include dependency graph for actuator_c.cpp:

Classes
struct	StoredConfig

Enumerations
enum class	ActuatorControllerState { WaitingForServer , Active , StandardAbort , NoConnectionAbort , PTAbort , NoPTAbort , AbortFinished , ConnectionLossDetected , StandaloneAbort , WaitingForServer , Active , StandardAbort , NoConnectionAbort , AbortFinished , ConnectionLossDetected , WaitingForServer = 1 , Active = 2 , ConnectionLossDetected = 3 , NoConnectionAbort = 4 , NoConnAbortFollower = 5 , PTAbort = 6 , NoPTAbort = 7 , AbortFinished = 8 , WaitingForServer = 1 , Active = 2 , ConnectionLossDetected = 3 , NoConnectionAbort = 4 , NoConnAbortFollower = 5 , PTAbort = 6 , NoPTAbort = 7 , AbortFinished = 8 }
enum class	LedPhase { Idle , On , Off , Idle , On , Off , Idle , On , Off }
enum class	IncomingPacketKind { None , ServerHeartbeat , Config , Abort , AbortDone , ClearAbort , SensorData , None , ServerHeartbeat , Config , Abort , AbortDone , ClearAbort , None , ServerHeartbeat , Config , Abort , AbortDone , ClearAbort , SensorData , NoConnAbort , None , ServerHeartbeat , Config , Abort , AbortDone , ClearAbort , SensorData , NoConnAbort , None , ServerHeartbeat , SensorConfig , ClearAbort , NoConnAbort }

Functions
static uint8_t	getStateNumber (ActuatorControllerState s)
static void	updateLedNonBlocking ()
static daq::BoardState	getBoardStateForHeartbeat ()
static void	sendBoardHeartbeat ()
static bool	readPacketHeader (const uint8_t *buffer, size_t buffer_size, daq::PacketHeader &header_out)
static IncomingPacketKind	processIncomingPacket (const uint8_t *buffer, size_t len)
static void	processActuatorCommands (const std::vector< daq::ActuatorCommand > &commands)
static void	readCurrentSensePinsAndSend ()
static bool	heartbeatTimedOut ()
static void	streamSensorDataIfDue ()
static void	run_WaitingForServer ()
static void	run_Active ()
static void	run_StandardAbort ()
static void	run_NoConnectionAbort ()
static void	run_AbortFinished ()
static void	run_ConnectionLossDetected ()
static void	applyPacketTransition (IncomingPacketKind kind)
static void	initializeActuators ()
static void	initializeCurrentSensePins ()
void	setup ()
void	loop ()

Variables
static uint8_t	board_id = BOARD_ID_DEFAULT
byte	mac [6]
IPAddress	staticIP (192, 168, 2, BOARD_ID_DEFAULT)
IPAddress	gateway (0, 0, 0, 0)
IPAddress	subnet (255, 255, 255, 0)
IPAddress	dns (192, 168, 2, 1)
IPAddress	serverIP (192, 168, 2, 20)
const int	udpListenPort = 5005
const int	serverPort = 5006
EthernetUDP	udp
static ActuatorControllerState	state
static unsigned long	last_server_heartbeat_ms = 0
static unsigned long	state_enter_ms = 0
static StoredConfig	stored_config = {false, {0}, 0}
const uint8_t	NUM_SENSORS = NUM_ACTUATORS
static unsigned long	last_adc_read_ms = 0
static uint8_t	actuator_states [NUM_ACTUATORS]
static unsigned long	lastHeartbeatMillis = 0
static LedPhase	led_phase = LedPhase::Idle
static unsigned long	led_cycle_start_ms = 0
static uint8_t	led_blink_index = 0
static unsigned long	led_phase_start_ms = 0
static ActuatorControllerState	last_led_state

Enumeration Type Documentation

◆ ActuatorControllerState

enum class ActuatorControllerState

strong

Enumerator
WaitingForServer
Active
StandardAbort
NoConnectionAbort
PTAbort
NoPTAbort
AbortFinished
ConnectionLossDetected
StandaloneAbort
WaitingForServer
Active
StandardAbort
NoConnectionAbort
AbortFinished
ConnectionLossDetected
WaitingForServer
Active
ConnectionLossDetected
NoConnectionAbort
NoConnAbortFollower
PTAbort
NoPTAbort
AbortFinished
WaitingForServer
Active
ConnectionLossDetected
NoConnectionAbort
NoConnAbortFollower
PTAbort
NoPTAbort
AbortFinished

Definition at line 42 of file actuator_c.cpp.

◆ IncomingPacketKind

enum class IncomingPacketKind

strong

Enumerator
None
ServerHeartbeat
Config
Abort
AbortDone
ClearAbort
SensorData
None
ServerHeartbeat
Config
Abort
AbortDone
ClearAbort
None
ServerHeartbeat
Config
Abort
AbortDone
ClearAbort
SensorData
NoConnAbort
None
ServerHeartbeat
Config
Abort
AbortDone
ClearAbort
SensorData
NoConnAbort
None
ServerHeartbeat
SensorConfig
ClearAbort
NoConnAbort

Definition at line 209 of file actuator_c.cpp.

◆ LedPhase

enum class LedPhase

strong

Enumerator
Idle
On
Off
Idle
On
Off
Idle
On
Off

Definition at line 79 of file actuator_c.cpp.

Function Documentation

◆ applyPacketTransition()

void applyPacketTransition ( IncomingPacketKind kind )

static

Definition at line 392 of file actuator_c.cpp.

References Abort, AbortDone, AbortFinished, Active, ClearAbort, Config, ConnectionLossDetected, millis(), NoConnectionAbort, ServerHeartbeat, StandardAbort, state, state_enter_ms, and WaitingForServer.

Referenced by loop().

◆ getBoardStateForHeartbeat()

daq::BoardState getBoardStateForHeartbeat ( )

static

Definition at line 154 of file actuator_c.cpp.

References daq::ABORT_FINISHED, AbortFinished, daq::ACTIVE, Active, daq::CONNECTION_LOSS_DETECTED, ConnectionLossDetected, daq::NO_CONNECTION_ABORT, NoConnectionAbort, daq::PT_ABORT, daq::SETUP, StandardAbort, state, and WaitingForServer.

Referenced by sendBoardHeartbeat().

◆ getStateNumber()

uint8_t getStateNumber ( ActuatorControllerState s )

static

Definition at line 87 of file actuator_c.cpp.

References AbortFinished, Active, ConnectionLossDetected, NoConnectionAbort, StandardAbort, and WaitingForServer.

Referenced by updateLedNonBlocking().

◆ heartbeatTimedOut()

bool heartbeatTimedOut ( )

static

Definition at line 321 of file actuator_c.cpp.

References HEARTBEAT_TIMEOUT_MS, last_server_heartbeat_ms, and millis().

Referenced by run_Active(), and run_StandardAbort().

◆ initializeActuators()

void initializeActuators ( )

static

Definition at line 433 of file actuator_c.cpp.

References actuator_states, digitalWrite(), actuator_board_pins::getActuatorPin(), LOW, actuator_board_pins::NUM_ACTUATORS, OUTPUT, pinMode(), and Serial.

Referenced by setup().

◆ initializeCurrentSensePins()

void initializeCurrentSensePins ( )

static

Definition at line 454 of file actuator_c.cpp.

References actuator_board_pins::getCurrentSensePin(), INPUT, NUM_SENSORS, pinMode(), and Serial.

Referenced by setup().

◆ loop()

void loop ( )

◆ processActuatorCommands()

void processActuatorCommands ( const std::vector< daq::ActuatorCommand > & commands )

static

Definition at line 269 of file actuator_c.cpp.

References actuator_states, commands, digitalWrite(), actuator_board_pins::getActuatorPin(), HIGH, LOW, and actuator_board_pins::NUM_ACTUATORS.

Referenced by processIncomingPacket().

◆ processIncomingPacket()

IncomingPacketKind processIncomingPacket	(	const uint8_t *	buffer,
		size_t	len )

static

Definition at line 218 of file actuator_c.cpp.

References daq::ABORT, Abort, daq::ABORT_DONE, AbortDone, Active, daq::ACTUATOR_COMMAND, daq::ACTUATOR_CONFIG, daq::CLEAR_ABORT, ClearAbort, commands, Config, last_server_heartbeat_ms, millis(), None, daq::parse_actuator_command_packet(), daq::parse_server_heartbeat_packet(), processActuatorCommands(), readPacketHeader(), daq::SERVER_HEARTBEAT, ServerHeartbeat, StandardAbort, state, and stored_config.

Referenced by loop().

◆ readCurrentSensePinsAndSend()

void readCurrentSensePinsAndSend ( )

static

Definition at line 290 of file actuator_c.cpp.

References analogRead(), chunk, chunks, daq::create_sensor_data_packet(), actuator_board_pins::getCurrentSensePin(), MAX_PACKET_SIZE, millis(), NUM_SENSORS, packetBuffer, serverIP, serverPort, and udp.

Referenced by streamSensorDataIfDue().

◆ readPacketHeader()

bool readPacketHeader	(	const uint8_t *	buffer,
		size_t	buffer_size,
		daq::PacketHeader &	header_out )

static

Definition at line 197 of file actuator_c.cpp.

Referenced by processIncomingPacket().

◆ run_AbortFinished()

void run_AbortFinished ( )

static

Definition at line 375 of file actuator_c.cpp.

Referenced by loop().

◆ run_Active()

void run_Active ( )

static

Definition at line 348 of file actuator_c.cpp.

References ConnectionLossDetected, heartbeatTimedOut(), millis(), state, state_enter_ms, and streamSensorDataIfDue().

Referenced by loop().

◆ run_ConnectionLossDetected()

void run_ConnectionLossDetected ( )

static

Definition at line 381 of file actuator_c.cpp.

References CONNECTION_LOSS_GRACE_MS, millis(), NoConnectionAbort, state, and state_enter_ms.

Referenced by loop().

◆ run_NoConnectionAbort()

void run_NoConnectionAbort ( )

static

Definition at line 367 of file actuator_c.cpp.

References AbortFinished, millis(), NO_CONNECTION_ABORT_DONE_MS, state, and state_enter_ms.

Referenced by loop().

◆ run_StandardAbort()

void run_StandardAbort ( )

static

Definition at line 358 of file actuator_c.cpp.

References heartbeatTimedOut(), millis(), NoConnectionAbort, state, and state_enter_ms.

Referenced by loop().

◆ run_WaitingForServer()

void run_WaitingForServer ( )

static

Definition at line 341 of file actuator_c.cpp.

Referenced by loop().

◆ sendBoardHeartbeat()

void sendBoardHeartbeat ( )

static

Definition at line 176 of file actuator_c.cpp.

References board_id, daq::create_board_heartbeat_packet(), getBoardStateForHeartbeat(), MAX_PACKET_SIZE, millis(), packetBuffer, daq::SAFE, serverIP, serverPort, and udp.

Referenced by loop().

◆ setup()

void setup ( void )

Definition at line 472 of file actuator_c.cpp.

References actuator_board_pins::Actuator_Board, b, board_id, delay(), digitalWrite(), dns, Ethernet, ETHERNET_BEGIN_DELAY_MS, ETHERNET_INIT_DELAY_MS, ETHERNET_SPI_DELAY_MS, gateway, HEX, initializeActuators(), initializeCurrentSensePins(), IPAddress, last_led_state, last_server_heartbeat_ms, led_cycle_start_ms, LOW, mac, millis(), OUTPUT, pinMode(), Serial, SPIFFS_BOARD_VALUE_PATH, state, state_enter_ms, staticIP, subnet, udp, udpListenPort, and WaitingForServer.

◆ streamSensorDataIfDue()

void streamSensorDataIfDue ( )

static

Definition at line 327 of file actuator_c.cpp.

References ADC_READ_INTERVAL_MS, last_adc_read_ms, millis(), and readCurrentSensePinsAndSend().

Referenced by run_Active().

◆ updateLedNonBlocking()

void updateLedNonBlocking ( )

static

Definition at line 106 of file actuator_c.cpp.

References actuator_board_pins::Actuator_Board, digitalWrite(), getStateNumber(), HIGH, Idle, last_led_state, led_blink_index, LED_BLINK_OFF_MS, LED_BLINK_ON_MS, LED_CYCLE_MS, led_cycle_start_ms, led_phase, led_phase_start_ms, LOW, millis(), Off, On, and state.

Referenced by loop().

Variable Documentation

◆ actuator_states

uint8_t actuator_states[NUM_ACTUATORS]

static

Definition at line 70 of file actuator_c.cpp.

◆ board_id

uint8_t board_id = BOARD_ID_DEFAULT

static

Definition at line 28 of file actuator_c.cpp.

◆ dns

IPAddress dns(192, 168, 2, 1)	(	192	,
		168	,
		2	,
		1	)

◆ gateway

IPAddress gateway(0, 0, 0, 0)	(	,
		,
		,
		)

◆ last_adc_read_ms

unsigned long last_adc_read_ms = 0

static

Definition at line 67 of file actuator_c.cpp.

◆ last_led_state

ActuatorControllerState last_led_state

static

Initial value:

=

ActuatorControllerState::WaitingForServer

@ WaitingForServer

Definition main.cpp:46

Definition at line 84 of file actuator_c.cpp.

◆ last_server_heartbeat_ms

unsigned long last_server_heartbeat_ms = 0

static

Definition at line 53 of file actuator_c.cpp.

◆ lastHeartbeatMillis

unsigned long lastHeartbeatMillis = 0

static

Definition at line 73 of file actuator_c.cpp.

◆ led_blink_index

uint8_t led_blink_index = 0

static

Definition at line 82 of file actuator_c.cpp.

◆ led_cycle_start_ms

unsigned long led_cycle_start_ms = 0

static

Definition at line 81 of file actuator_c.cpp.

◆ led_phase

LedPhase led_phase = LedPhase::Idle

static

Definition at line 80 of file actuator_c.cpp.

◆ led_phase_start_ms

unsigned long led_phase_start_ms = 0

static

Definition at line 83 of file actuator_c.cpp.

◆ mac

byte mac[6]

Definition at line 29 of file actuator_c.cpp.

◆ NUM_SENSORS

const uint8_t NUM_SENSORS = NUM_ACTUATORS

Definition at line 66 of file actuator_c.cpp.

◆ serverIP

IPAddress serverIP(192, 168, 2, 20)	(	192	,
		168	,
		2	,
		20	)

◆ serverPort

const int serverPort = 5006

Definition at line 36 of file actuator_c.cpp.

◆ state

ActuatorControllerState state

static

Initial value:

=

ActuatorControllerState::WaitingForServer

Definition at line 51 of file actuator_c.cpp.

◆ state_enter_ms

unsigned long state_enter_ms = 0

static

Definition at line 54 of file actuator_c.cpp.

◆ staticIP

IPAddress staticIP(192, 168, 2, BOARD_ID_DEFAULT)	(	192	,
		168	,
		2	,
		BOARD_ID_DEFAULT	)

◆ stored_config

StoredConfig stored_config = {false, {0}, 0}

static

Definition at line 63 of file actuator_c.cpp.

Referenced by applyPacketTransition(), loop(), processIncomingPacket(), processIncomingPacket(), SensorSM::processIncomingPacket(), and run_StandaloneAbort().

◆ subnet

IPAddress subnet(255, 255, 255, 0)	(	255	,
		255	,
		255	,
		0	)

◆ udp

EthernetUDP udp

Definition at line 37 of file actuator_c.cpp.

◆ udpListenPort

const int udpListenPort = 5005

Definition at line 35 of file actuator_c.cpp.

Classes

Enumerations

Functions

Variables

Enumeration Type Documentation

◆ ActuatorControllerState

◆ IncomingPacketKind

◆ LedPhase

Function Documentation

◆ applyPacketTransition()

◆ getBoardStateForHeartbeat()

◆ getStateNumber()

◆ heartbeatTimedOut()

◆ initializeActuators()

◆ initializeCurrentSensePins()

◆ loop()

◆ processActuatorCommands()

◆ processIncomingPacket()

◆ readCurrentSensePinsAndSend()

◆ readPacketHeader()

◆ run_AbortFinished()

◆ run_Active()

◆ run_ConnectionLossDetected()

◆ run_NoConnectionAbort()

◆ run_StandardAbort()

◆ run_WaitingForServer()

◆ sendBoardHeartbeat()

◆ setup()

◆ streamSensorDataIfDue()

◆ updateLedNonBlocking()

Variable Documentation

◆ actuator_states

◆ board_id

◆ dns

◆ gateway

◆ last_adc_read_ms

◆ last_led_state

◆ last_server_heartbeat_ms

◆ lastHeartbeatMillis

◆ led_blink_index

◆ led_cycle_start_ms

◆ led_phase

◆ led_phase_start_ms

◆ mac

◆ NUM_SENSORS

◆ serverIP

◆ serverPort

◆ state

◆ state_enter_ms

◆ staticIP

◆ stored_config

◆ subnet

◆ udp

◆ udpListenPort