games/reverse + refactor

Core/Inc/state_machine.h

@@ -15,7 +15,7 @@ typedef enum {
 	F_PIT,
 	F_PERFORMANCE,
 	F_EFFICIENCY,
-	REVERSE,
+	F_REVERSE,
 	FAULTED,
 	MAX_FUNC_STATES
 } func_state_t;
@@ -29,9 +29,10 @@ typedef enum {
 	PIT, //SPEED_LIMITIED
 	PERFORMANCE, //AUTOCROSS
 	EFFICIENCY, //ENDURANCE
+	REVERSE,
 	DEBUG,
 	CONFIGURATION,
-	FLAPPY_BIRD,
+	GAMES,
 	EXIT,
 	MAX_NERO_STATES
 } nero_menu_t;

Core/Src/state_machine.c

@@ -13,7 +13,7 @@
 
 #define SEND_NERO_TIMEOUT 500 /*in millis*/
 
-//#define DISABLE_REVERSE
+// #define DISABLE_REVERSE
 
 /* Internal State of Vehicle */
 static state_t cerberus_state;
@@ -45,14 +45,6 @@ static void send_nero_msg()
 		uint8_t torque_lim_percentage;
 	} nero_data;
 
-	/* Since the screen on NERO relies on the NERO index, and reverse and pit have the same index,
-	 * reverse gets a special index */
-	if (get_func_state() == REVERSE) {
-		nero_data.nero_index = 255;
-	} else {
-		nero_data.nero_index = (uint8_t)get_nero_state().nero_index;
-	}
-
 	nero_data.home_mode = (uint8_t)get_nero_state().home_mode;
 	nero_data.mph = get_mph();
 	nero_data.tsms = (uint8_t)get_tsms();
@@ -78,7 +70,7 @@ bool get_active()
 	return cerberus_state.functional == F_EFFICIENCY ||
 	       cerberus_state.functional == F_PERFORMANCE ||
 	       cerberus_state.functional == F_PIT ||
-	       cerberus_state.functional == REVERSE;
+	       cerberus_state.functional == F_REVERSE;
 }
 
 nero_state_t get_nero_state()
@@ -89,13 +81,14 @@ nero_state_t get_nero_state()
 static int transition_functional_state(func_state_t new_state, pdu_t *pdu,
 				       dti_t *mc, mpu_t *mpu)
 {
+	/* Make sure wheels are not spinning before changing modes */
+	if (dti_get_mph(mc) > 1)
+		return 1;
+	bool brake_state;
+
 	/* Catching state transitions */
 	switch (new_state) {
 	case READY:
-		/* Make sure wheels are not spinning before changing modes */
-		if (dti_get_mph(mc) > 1)
-			return 1;
-
 		/* Turn off high power peripherals */
 		// write_fan_battbox(pdu, false);
 		write_pump(pdu, false);
@@ -105,48 +98,41 @@ static int transition_functional_state(func_state_t new_state, pdu_t *pdu,
 	case F_PIT:
 	case F_PERFORMANCE:
 	case F_EFFICIENCY:
-		/* Entering active state from home mode */
-		if (cerberus_state.functional != REVERSE) {
-			/* Check that motor is not spinning before changing modes */
-			if (dti_get_mph(mc) > 1) {
-				return 2;
-			}
-			/* Only turn on motor if brakes engaged and tsms is on */
-			bool brake_state;
-			if (read_brake_state(pdu, &brake_state)) {
-				return 3;
-			}
+		if (read_brake_state(pdu, &brake_state)) {
+			return 3;
+		}
 #ifdef TSMS_OVERRIDE
-			if (!brake_state) {
-				return 3;
-			}
+		if (!brake_state) {
+			return 3;
+		}
 #else
-			if (!brake_state || !get_tsms()) {
-				return 3;
-			}
-#endif
-			osThreadFlagsSet(rtds_thread, SOUND_RTDS_FLAG);
+		/* Only turn on motor if brakes engaged and tsms is on */
+		if (!brake_state || !get_tsms()) {
+			return 3;
 		}
+#endif
+		osThreadFlagsSet(rtds_thread, SOUND_RTDS_FLAG);
 
 		/* Turn on high power peripherals */
 		// write_fan_battbox(pdu, true);
 		write_pump(pdu, true);
 		write_fault(mpu, false);
 		printf("ACTIVE STATE\r\n");
 		break;
-	case REVERSE:
+
+	case F_REVERSE:
+#ifndef DISABLE_REVERSE
 		/* Can only enter reverse mode if already in pit mode */
 		if (cerberus_state.functional != F_PIT)
 			return 4;
+#endif
 		break;
 	case FAULTED:
 		/* Turn off high power peripherals */
 		// write_fan_battbox(pdu, true);
 		write_pump(pdu, false);
 		cerberus_state.nero =
 			(nero_state_t){ .nero_index = OFF, .home_mode = false };
-
-		osDelay(1000); /* Delay for 1 sec before faulting car */
 		write_fault(mpu, true);
 		printf("FAULTED\r\n");
 		break;
@@ -175,24 +161,6 @@ static int transition_nero_state(nero_state_t new_state, pdu_t *pdu, dti_t *mc,
 	if (new_state.nero_index >= MAX_NERO_STATES)
 		new_state.nero_index = MAX_NERO_STATES - 1;
 
-#ifndef DISABLE_REVERSE
-	// Wasn't in home mode and still are not in home mode (Infer a Select Request)
-	if (!current_nero_state.home_mode && !new_state.home_mode) {
-		// Only Check if we are in pit mode to toggle direction
-		if (current_nero_state.nero_index == PIT) {
-			if (get_func_state() == REVERSE) {
-				if (transition_functional_state(F_PIT, pdu, mc,
-								mpu))
-					return 1;
-			} else if (get_func_state() == F_PIT) {
-				if (transition_functional_state(REVERSE, pdu,
-								mc, mpu))
-					return 1;
-			}
-		}
-	}
-#endif
-
 	// Selecting a mode on NERO
 	if (current_nero_state.home_mode && !new_state.home_mode) {
 		if (new_state.nero_index < DEBUG &&
@@ -332,12 +300,8 @@ void vStateMachineDirector(void *pv_params)
 	for (;;) {
 		if (osMessageQueueGet(state_trans_queue, &new_state_req, NULL,
 				      pdMS_TO_TICKS(SEND_NERO_TIMEOUT)) ==
-		    osOK) {
-			// transition state only if state was changed
-			if (!check_state_change(new_state_req)) {
-				continue;
-			}
-
+			    osOK &&
+		    check_state_change(new_state_req)) {
 			if (new_state_req.id == NERO)
 				transition_nero_state(new_state_req.state.nero,
 						      pdu, mc, mpu);