151 lines
6.4 KiB
C++
151 lines
6.4 KiB
C++
/*
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* Copyright (c) 2023 Fancy Code.
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "MissionStateMachine.h"
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#include "DataProcessing.h"
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#include "ILog.h"
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#include "IMcuManager.h"
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#include "IMissionManager.h"
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#include "IStateMachine.h"
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#include "McuAskBase.h"
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#include "MissionManagerMakePtr.h"
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#include "StatusCode.h"
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#include "VStateBase.h"
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#include <memory>
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// #include "TopState.h"
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std::shared_ptr<MissionStateMachine> &MissionStateMachine::GetInstance(std::shared_ptr<MissionStateMachine> *impl)
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{
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static auto instance = std::make_shared<MissionStateMachine>();
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if (impl) {
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instance = *impl;
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}
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return instance;
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}
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MissionStateMachine::MissionStateMachine()
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{
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mStartMission = IpcMission::END;
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}
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void MissionStateMachine::Init(void)
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{
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mStateMachine = std::make_shared<VStateMachineHandle>();
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auto code = IStateMachine::GetInstance()->CreateStateMachine(mStateMachine);
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if (!IsCodeOK(code)) {
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LogError("Create state machine failed[%s].\n", code.mPrintStringCode(code));
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return;
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}
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if (!mStateMachine->InitialStateMachine()) {
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LogError("State machine init failed.\n");
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return;
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}
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mStartMission = GetStartMission();
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if (mStartMission == IpcMission::END) {
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LogError("ipcmission error, will start test mode.\n");
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mStartMission = IpcMission::TEST;
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}
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RunStateMachine(mStartMission);
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}
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void MissionStateMachine::UnInit(void)
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{
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mStateMachine->StopHandlerThread();
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UnInitAllState();
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mStateTree.clear();
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}
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StatusCode MissionStateMachine::SendStateMessage(const std::shared_ptr<VMissionData> &message)
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{
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std::shared_ptr<VStateMessage> msg = std::make_shared<MissionMessage>(message);
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mStateMachine->SendMessage(static_cast<int>(message->mEvent), msg);
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return CreateStatusCode(STATUS_CODE_OK);
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}
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StatusCode MissionStateMachine::MessageExecutedLater(const std::shared_ptr<VMissionData> &message,
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long long &delayTimeMs)
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{
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std::shared_ptr<VStateMessage> msg = std::make_shared<MissionMessage>(message);
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mStateMachine->MessageExecutedLater(static_cast<int>(message->mEvent), msg, delayTimeMs);
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return CreateStatusCode(STATUS_CODE_OK);
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}
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void MissionStateMachine::DelayMessage(VStateMachineData *msg)
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{
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mStateMachine->DelayMessage(msg);
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}
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void MissionStateMachine::SwitchState(const SystemState &state)
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{
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mStateMachine->SwitchState(mStateTree[state].get());
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}
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IpcMission MissionStateMachine::GetStartMission(void)
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{
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class McuAskIpcMission : public McuAsk<IpcMission>, public McuAskBase
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{
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public:
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McuAskIpcMission() : McuAskBase(McuAskBlock::BLOCK, McuAskReply::NEED_REPLY)
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{
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mDataReply = IpcMission::END;
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}
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virtual ~McuAskIpcMission() = default;
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};
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std::shared_ptr<VMcuAsk> ask = std::make_shared<McuAskIpcMission>();
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IMcuManager::GetInstance()->GetIpcMission(ask);
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return std::dynamic_pointer_cast<McuAskIpcMission>(ask)->mDataReply;
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}
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void MissionStateMachine::RunStateMachine(const IpcMission &mission)
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{
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LogInfo("Make all states and start the state machine, ipc mission = %s.\n",
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IMcuManager::GetInstance()->PrintIpcMissionString(mission));
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mStateTree[SystemState::TOP_STATE] = MissionManagerMakePtr::GetInstance()->CreateTopState();
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mStateTree[SystemState::MISSION_STATE] = MissionManagerMakePtr::GetInstance()->CreateMissionState(mission);
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mStateTree[SystemState::STORAGE_HANDLE_STATE] = MissionManagerMakePtr::GetInstance()->CreateStorageHandleState();
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mStateTree[SystemState::SD_CARD_HANDLE_STATE] = MissionManagerMakePtr::GetInstance()->CreateSdCardHandleState();
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mStateTree[SystemState::UPGRADE_STATE] = MissionManagerMakePtr::GetInstance()->CreateUpgradeState();
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mStateTree[SystemState::MEDIA_HANDLE_STATE] = MissionManagerMakePtr::GetInstance()->CreateMediaHandleState();
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mStateTree[SystemState::IDLE_STATE] = MissionManagerMakePtr::GetInstance()->CreateIdleState();
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mStateMachine->StatePlus(mStateTree[SystemState::TOP_STATE].get(), nullptr);
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mStateMachine->StatePlus(mStateTree[SystemState::MISSION_STATE].get(), mStateTree[SystemState::TOP_STATE].get());
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mStateMachine->StatePlus(mStateTree[SystemState::STORAGE_HANDLE_STATE].get(),
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mStateTree[SystemState::MISSION_STATE].get());
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mStateMachine->StatePlus(mStateTree[SystemState::SD_CARD_HANDLE_STATE].get(),
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mStateTree[SystemState::STORAGE_HANDLE_STATE].get());
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mStateMachine->StatePlus(mStateTree[SystemState::UPGRADE_STATE].get(),
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mStateTree[SystemState::MISSION_STATE].get());
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mStateMachine->StatePlus(mStateTree[SystemState::MEDIA_HANDLE_STATE].get(),
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mStateTree[SystemState::MISSION_STATE].get());
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mStateMachine->StatePlus(mStateTree[SystemState::IDLE_STATE].get(), mStateTree[SystemState::MISSION_STATE].get());
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mStateMachine->SetCurrentState(mStateTree[SystemState::TOP_STATE].get());
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mStateMachine->StartStateMachine();
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// /**
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// * @brief The business can only be processed after the state machine is started.
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// *
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// */
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// std::shared_ptr<VMissionData> message =
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// std::make_shared<VMissionData>(static_cast<MissionEvent>(InternalStateEvent::STORAGE_HANDLE_STATE_INIT));
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// SendStateMessage(message);
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InitAllState();
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}
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void MissionStateMachine::InitAllState(void)
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{
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for (auto &state : mStateTree) {
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std::shared_ptr<VStateBase> stateBase = std::dynamic_pointer_cast<VStateBase>(state.second);
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if (stateBase) {
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stateBase->StateInit();
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}
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}
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}
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void MissionStateMachine::UnInitAllState(void)
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{
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for (auto &state : mStateTree) {
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std::shared_ptr<VStateBase> stateBase = std::dynamic_pointer_cast<VStateBase>(state.second);
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if (stateBase) {
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stateBase->StateUnInit();
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}
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}
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}
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