int StateMachineFeedback::Execute ( )

inlineprivatevirtual

Is called continously to execute actions in the current state.

This is what the state machine is doing in a certain state continously. In an idle state this might just be doing nothing.

In the tracking state of the drive system this might be sending new command values to the drive based on its current position.

The current state of the state machine can be accessed by GetCurrentState()

Returns

Usually it should just return the current state. However, sometimes execution might lead to a new state, e.g. when a hardware error is detected. In this case a new state can be returned to put the state machine into a different state. Note, that the function is responsible of doing all actions connected with the state change itself. If not overwritten it returns the current status.

Reimplemented from StateMachineImp.

Definition at line 1144 of file feedback.cc.

References Feedback::State::kCalibrating, FSC::State::kConnected, Feedback::State::kConnected, Feedback::State::kConnecting, BIAS::State::kConnecting, Feedback::State::kDimNetworkNA, Feedback::State::kDisconnected, BIAS::State::kVoltageOff, BIAS::State::kVoltageOn, Feedback::State::kWaitingForData, DimState::online(), Dim::SendCommandNB(), and DimState::state().

    {
        if (!fDim.online())
            return Feedback::State::kDimNetworkNA;

        const bool bias = fDimBias.state() >= BIAS::State::kConnecting;
        const bool fsc  = fDimFSC.state()  >= FSC::State::kConnected;

        // All subsystems are not connected
        if (!bias && !fsc)
            return Feedback::State::kDisconnected;

        // Not all subsystems are yet connected
        if (!bias || !fsc)
            return Feedback::State::kConnecting;

        if (GetCurrentState()<Feedback::State::kCalibrating)
            return Feedback::State::kConnected;

        if (GetCurrentState()==Feedback::State::kConnected)
            return GetCurrentState();
        if (GetCurrentState()==Feedback::State::kCalibrating)
            return GetCurrentState();

        // kCalibrated, kWaitingForData, kInProgress

        if (fDimBias.state()==BIAS::State::kVoltageOn || (fDimBias.state()==BIAS::State::kVoltageOff && GetCurrentState()==Feedback::State::kWaitingForData))
        {
            static Time past;
            if (fCurrentRequestInterval>0 && Time()-past>boost::posix_time::milliseconds(fCurrentRequestInterval))
            {
                Dim::SendCommandNB("BIAS_CONTROL/REQUEST_STATUS");
                past = Time();
            }
        }

        return GetCurrentState();
    }

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