int StateMachineRateControl::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 723 of file ratecontrol.cc.

References RateScan::State::kConfiguring, Drive::State::kConnected, RateControl::State::kConnected, FTM::State::kConnected, RateControl::State::kDimNetworkNA, RateControl::State::kDisconnected, RateControl::State::kGlobalThresholdSet, RateControl::State::kInProgress, RateControl::State::kSettingGlobalThreshold, DimState::online(), and DimState::state().

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

        // All subsystems are not connected
        if (fDimFTM.state()<FTM::State::kConnected || fDimDrive.state()<Drive::State::kConnected)
            return RateControl::State::kDisconnected;

        // Do not allow any action while a ratescan is configured or in progress
        if (fDimRS.state()>=RateScan::State::kConfiguring)
            return RateControl::State::kConnected;

        switch (GetCurrentState())
        {
        case RateControl::State::kSettingGlobalThreshold:
            return RateControl::State::kSettingGlobalThreshold;

        case RateControl::State::kGlobalThresholdSet:

            // Wait for the trigger to get switched on before starting control loop
            if (fTriggerOn && fPhysTriggerEnabled)
                return RateControl::State::kInProgress;

            return RateControl::State::kGlobalThresholdSet;

        case RateControl::State::kInProgress:

            // Go back to connected when the trigger has been switched off
            if (!fTriggerOn || !fPhysTriggerEnabled)
                return RateControl::State::kConnected;

            return RateControl::State::kInProgress;
        }

        return RateControl::State::kConnected;
    }

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