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aentingeraentinger
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Reimplementing application flow using the State Design Pattern.
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3 files changed

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‎examples/Braccio_Learn_and_Repeat/AppState.cpp‎

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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include "AppState.h"
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/**************************************************************************************
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* CONSTANT
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**************************************************************************************/
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static int const SAMPLE_BUF_SIZE = 6*100*2; /* 20 seconds. */
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static float const HOME_POS[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0};
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/**************************************************************************************
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* GLOBAL VARIABLES
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**************************************************************************************/
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extern const char * btnm_map[];
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extern lv_obj_t * counter;
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extern lv_obj_t * btnm;
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static float sample_buf[SAMPLE_BUF_SIZE];
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static int sample_cnt;
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IdleState LearnAndRepeatApp::_idle_state;
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RecordState LearnAndRepeatApp::_record_state;
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ReplayState LearnAndRepeatApp::_replay_state;
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ZeroState LearnAndRepeatApp::_zero_state;
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/**************************************************************************************
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* State
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**************************************************************************************/
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State * State::handle_OnZeroPosition()
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{
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return &LearnAndRepeatApp::_zero_state;
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}
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/**************************************************************************************
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* IdleState
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**************************************************************************************/
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void IdleState::onEnter()
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{
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lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
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}
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void IdleState::onExit()
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{
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lv_btnmatrix_clear_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
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}
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State * IdleState::handle_OnRecord()
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{
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return &LearnAndRepeatApp::_record_state;
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}
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State * IdleState::handle_OnReplay()
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{
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return &LearnAndRepeatApp::_replay_state;
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}
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/**************************************************************************************
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* RecordState
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**************************************************************************************/
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void RecordState::onEnter()
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{
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btnm_map[0] = "STOP";
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lv_btnmatrix_set_btn_ctrl(btnm, 0, LV_BTNMATRIX_CTRL_CHECKED);
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Braccio.disengage();
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sample_cnt = 0;
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}
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void RecordState::onExit()
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{
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btnm_map[0] = "RECORD";
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lv_btnmatrix_clear_btn_ctrl(btnm, 0, LV_BTNMATRIX_CTRL_CHECKED);
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lv_btnmatrix_clear_btn_ctrl(btnm, 1, LV_BTNMATRIX_CTRL_DISABLED);
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lv_label_set_text_fmt(counter, "Counter: %d" , 0);
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Braccio.engage();
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}
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State * RecordState::handle_OnRecord()
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{
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return &LearnAndRepeatApp::_idle_state;
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}
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State * RecordState::handle_OnTimerTick()
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{
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/* The sample buffer is full. */
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if (sample_cnt >= SAMPLE_BUF_SIZE) {
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return &LearnAndRepeatApp::_idle_state;
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}
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/* We still have space, let's sample some data. */
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Braccio.positions(sample_buf + sample_cnt);
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sample_cnt += 6;
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/* Update sample counter. */
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lv_label_set_text_fmt(counter, "Counter: %d" , (sample_cnt / 6));
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return this;
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}
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/**************************************************************************************
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* ReplayState
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**************************************************************************************/
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void ReplayState::onEnter()
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{
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_replay_cnt = 0;
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btnm_map[2] = "STOP";
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lv_btnmatrix_set_btn_ctrl(btnm, 0, LV_BTNMATRIX_CTRL_DISABLED);
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lv_btnmatrix_set_btn_ctrl(btnm, 1, LV_BTNMATRIX_CTRL_CHECKED);
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}
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void ReplayState::onExit()
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{
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btnm_map[2] = "REPLAY";
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lv_btnmatrix_clear_btn_ctrl(btnm, 0, LV_BTNMATRIX_CTRL_DISABLED);
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lv_btnmatrix_clear_btn_ctrl(btnm, 1, LV_BTNMATRIX_CTRL_CHECKED);
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lv_label_set_text_fmt(counter, "Counter: %d" , 0);
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}
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State * ReplayState::handle_OnReplay()
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{
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return &LearnAndRepeatApp::_idle_state;
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}
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State * ReplayState::handle_OnTimerTick()
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{
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/* All samples have been replayed. */
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if (_replay_cnt >= sample_cnt) {
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return &LearnAndRepeatApp::_idle_state;
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}
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/* Replay recorded movements. */
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Braccio.moveTo(sample_buf[_replay_cnt + 0],
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sample_buf[_replay_cnt + 1],
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sample_buf[_replay_cnt + 2],
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sample_buf[_replay_cnt + 3],
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sample_buf[_replay_cnt + 4],
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sample_buf[_replay_cnt + 5]);
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_replay_cnt += 6;
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lv_label_set_text_fmt(counter, "Counter: %d" , (_replay_cnt / 6));
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return this;
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}
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/**************************************************************************************
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* ReplayState
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**************************************************************************************/
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State * ZeroState::handle_OnTimerTick()
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{
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return &LearnAndRepeatApp::_idle_state;
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}
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void ZeroState::onEnter()
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{
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lv_btnmatrix_set_btn_ctrl(btnm, 1, LV_BTNMATRIX_CTRL_DISABLED);
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lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
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Braccio.engage();
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delay(100);
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Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]);
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delay(500);
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}
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void ZeroState::onExit()
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{
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lv_btnmatrix_clear_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKED);
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}

‎examples/Braccio_Learn_and_Repeat/AppState.h‎

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#ifndef LEARN_AND_REPEAT_APP_STATE_H_
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#define LEARN_AND_REPEAT_APP_STATE_H_
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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include <Braccio++.h>
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/**************************************************************************************
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* TYPEDEF
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**************************************************************************************/
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enum class EventSource
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{
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Button_Record, Button_Replay, Button_ZeroPosition, TimerTick
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};
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enum class StateName
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{
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Record, Replay, Idle, Zero
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};
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/**************************************************************************************
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* CLASS DECLARATION
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**************************************************************************************/
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class State
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{
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public:
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virtual ~State() { }
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virtual void onEnter() { Serial.println("State::onEnter"); }
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virtual void onExit() { Serial.println("State::onExit"); }
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virtual StateName name() = 0;
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State * update(EventSource const evt_src)
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{
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State * next_state = this;
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switch (evt_src)
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{
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case EventSource::Button_Record: next_state = handle_OnRecord(); break;
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case EventSource::Button_Replay: next_state = handle_OnReplay(); break;
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case EventSource::Button_ZeroPosition: next_state = handle_OnZeroPosition(); break;
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case EventSource::TimerTick: next_state = handle_OnTimerTick(); break;
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}
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return next_state;
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}
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protected:
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virtual State * handle_OnRecord() { return this; }
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virtual State * handle_OnReplay() { return this; }
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virtual State * handle_OnZeroPosition();
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virtual State * handle_OnTimerTick() { return this; }
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};
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class IdleState : public State
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{
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public:
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virtual ~IdleState() { }
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virtual StateName name() override { return StateName::Idle; }
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virtual void onEnter() override;
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virtual void onExit() override;
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protected:
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virtual State * handle_OnRecord() override;
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virtual State * handle_OnReplay() override;
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};
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class RecordState : public State
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{
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public:
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virtual ~RecordState() { }
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virtual StateName name() override { return StateName::Record; }
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virtual void onEnter() override;
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virtual void onExit() override;
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protected:
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virtual State * handle_OnRecord() override;
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virtual State * handle_OnTimerTick() override;
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};
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class ReplayState : public State
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{
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public:
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virtual ~ReplayState() { }
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virtual StateName name() override { return StateName::Replay; }
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virtual void onEnter() override;
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virtual void onExit() override;
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protected:
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virtual State * handle_OnReplay() override;
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virtual State * handle_OnTimerTick() override;
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private:
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int _replay_cnt;
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};
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class ZeroState : public State
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{
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public:
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virtual ~ZeroState() { }
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virtual StateName name() override { return StateName::Zero; }
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virtual void onEnter() override;
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virtual void onExit() override;
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protected:
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virtual State * handle_OnTimerTick() override;
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};
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class LearnAndRepeatApp
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{
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public:
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LearnAndRepeatApp()
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: _state{nullptr}
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, _mtx{}
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{ }
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static IdleState _idle_state;
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static RecordState _record_state;
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static ReplayState _replay_state;
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static ZeroState _zero_state;
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void update(EventSource const evt_src)
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{
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mbed::ScopedLock<rtos::Mutex> lock(_mtx);
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if (!_state)
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{
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_state = &_zero_state;
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_state->onEnter();
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return;
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}
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State * next_state = _state->update(evt_src);
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if (next_state->name() != _state->name())
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{
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_state->onExit();
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_state = next_state;
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_state->onEnter();
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}
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}
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private:
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State * _state;
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rtos::Mutex _mtx;
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};
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#endif /* LEARN_AND_REPEAT_APP_STATE_H_ */

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