int StateMachineMCP::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 314 of file mcp.cc.

References MCP::State::kConfigured, FTM::State::kConfigured1, MCP::State::kConfiguring1, MCP::State::kConfiguring2, MCP::State::kConfiguring3, RateControl::State::kConnected, MCP::State::kIdle, RateControl::State::kSettingGlobalThreshold, MCP::State::kTakingData, MCP::State::kTriggerOn, FTM::State::kTriggerOn, Dim::SendCommandNB(), and DimState::state().

    {
        // ========================================================

        if (GetCurrentState()==MCP::State::kConfiguring1)
        {
            if (fDimRC.state()!=RateControl::State::kConnected)
                return MCP::State::kConfiguring1;

            Dim::SendCommandNB("FTM_CONTROL/CONFIGURE", fRunType);
            Message("Configuring Trigger (FTM)");

            Update(MCP::State::kConfiguring2);
            return MCP::State::kConfiguring2;
        }

        // --------------------------------------------------------

        if (GetCurrentState()==MCP::State::kConfiguring2)
        {
            if (fDimFTM.state() != FTM::State::kConfigured1 ||
                fDimLog.state()<30 || fDimLog.state()>0xff ||
                fDimRC.state()!=RateControl::State::kConnected)
                return MCP::State::kConfiguring2;

            // For calibration, ratecontrol will globally set all threshold
            // to make sure that does not interfer with the configuration,
            // it is only done when the ftm reports Configured
            Dim::SendCommandNB("RATE_CONTROL/CALIBRATE_RUN", fRunType);
            Message("Starting Rate Control");

            ConfigureFAD();

            fFadTimeout = Time();

            Update(MCP::State::kConfiguring3);
            return MCP::State::kConfiguring3;
        }

        // --------------------------------------------------------

        if (GetCurrentState()==MCP::State::kConfiguring3)
        {
            /*
            // If everything is configured but the FADs
            // we run into a timeout and some FAD need to be reset
            // then we start an automatic crate reset
            if (fDimFTM.state() == FTM::State::kConfigured &&
                fDimFAD.state() != FAD::State::kConfigured &&
                //fDimRC.state()  >  RateControl::State::kSettingGlobalThreshold &&
                fFadTimeout+boost::posix_time::seconds(15)<Time() &&
                count(fFadNeedsReset.begin(), fFadNeedsReset.end(), true)>0)
            {
                Update(MCP::State::kCrateReset0);
                return MCP::State::kCrateReset0;
            }
            */
            // If something is not yet properly configured: keep state
            if (fDimFTM.state() != FTM::State::kConfigured1 ||
                fDimFAD.state() != FAD::State::kConfigured ||
                fDimRC.state()  <= RateControl::State::kSettingGlobalThreshold)
                return MCP::State::kConfiguring3;

            // Note that before the trigger is started, the ratecontrol
            // must not be InProgress. In rare cases there is interference.
            Dim::SendCommandNB("FTM_CONTROL/START_TRIGGER");
            Message("Starting Trigger (FTM)");

            Update(MCP::State::kConfigured);
            return MCP::State::kConfigured;
        }

        // --------------------------------------------------------

        if (GetCurrentState()==MCP::State::kConfigured)
        {
            if (fDimFTM.state() != FTM::State::kTriggerOn)
                return MCP::State::kConfigured;

            Update(MCP::State::kTriggerOn);
            return MCP::State::kTriggerOn;
        }

        // --------------------------------------------------------

        if (GetCurrentState()==MCP::State::kTriggerOn)
        {
            if (fDimFTM.state() != FTM::State::kTriggerOn)
            {
                Update(MCP::State::kIdle);
                return MCP::State::kIdle;
            }

            if (fDimFAD.state() != FAD::State::kRunInProgress)
                return MCP::State::kTriggerOn;

            Update(MCP::State::kTakingData);
            return MCP::State::kTakingData;
        }

        // --------------------------------------------------------

        if (GetCurrentState()==MCP::State::kTakingData)
        {
            if (/*fDimFTM.state()==FTM::State::kTriggerOn &&*/
                fDimFAD.state()==FAD::State::kRunInProgress)
                return MCP::State::kTakingData;

            Update(MCP::State::kIdle);
            return MCP::State::kIdle;
        }

        // ========================================================
        /*
        if (GetCurrentState()==MCP::State::kCrateReset0)
        {
            static const struct Data { int32_t id; char on; } __attribute__((__packed__)) d = { -1, 0 };

            Dim::SendCommandNB("FTM_CONTROL/ENABLE_FTU", &d, sizeof(Data));

            fFadCratesForReset      = fFadNeedsReset;
            fFadBoardsForConnection = fFadConnected;

            for (int c=0; c<4; c++)
                if (fFadNeedsReset[c])
                    for (int b=0; b<10; b++)
                        Dim::SendCommandNB("FAD_CONTROL/DISCONNECT", uint16_t(c*10+b));

            fNumReset++;

            Update(MCP::State::kCrateReset1);
            return MCP::State::kCrateReset1;
        }

        // --------------------------------------------------------

        if (GetCurrentState()==MCP::State::kCrateReset1)
        {
            if (fNumConnectedFtu>0 || count(fFadNeedsReset.begin(), fFadNeedsReset.end(), true)>0)
                return MCP::State::kCrateReset1;

            for (int i=0; i<4; i++)
                if (fFadCratesForReset[i])
                    Dim::SendCommandNB("FAD_CONTROL/RESET_CRATE", uint16_t(i));

            fFadTimeout = Time();

            Update(MCP::State::kCrateReset2);
            return MCP::State::kCrateReset2;
        }

        // --------------------------------------------------------

        if (GetCurrentState()==MCP::State::kCrateReset2)
        {
            if (fFadTimeout+boost::posix_time::seconds(45)>Time())
                return MCP::State::kCrateReset2;

            static const struct Data { int32_t id; char on; } __attribute__((__packed__)) d = { -1, 1 };

            Dim::SendCommandNB("FTM_CONTROL/ENABLE_FTU", &d, sizeof(Data));

            for (int c=0; c<4; c++)
                if (fFadCratesForReset[c])
                    for (int b=0; b<10; b++)
                        if (fFadBoardsForConnection[c*10+b])
                            Dim::SendCommandNB("FAD_CONTROL/CONNECT", uint16_t(c*10+b));

            Update(MCP::State::kCrateReset3);
            return MCP::State::kCrateReset3;
        }

        // --------------------------------------------------------

        if (GetCurrentState()==MCP::State::kCrateReset3)
        {
            if (fNumConnectedFtu<40 || fFadBoardsForConnection!=fFadConnected)
                return MCP::State::kCrateReset3;

            if (count(fFadNeedsReset.begin(), fFadNeedsReset.end(), true)>0 && fNumReset<6)
            {
                Update(MCP::State::kCrateReset0);
                return MCP::State::kCrateReset0;
            }

            // restart configuration
            Update(MCP::State::kConfiguring1);
            return MCP::State::kConfiguring1;
        }
        */
        // ========================================================

        return GetCurrentState();
    }

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