Fix: state logic on main trans

jasonyang-ee · Jul 4, 2023 · f37bfed · f37bfed
1 parent fc054ff
commit f37bfed
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Showing 3 changed files with 12 additions and 6 deletions.
diff --git a/Application/Inc/State.hpp b/Application/Inc/State.hpp
@@ -105,8 +105,8 @@ struct MainState {
         // clang-format off
 		return make_transition_table(
 			*state<begin> + event<start> / act_idle = state<Idle>,
-			state<Idle> + event<dac_update> / (act_dac, process(start{})) = state<DACState>,
-			state<DACState> + event<function_ended> / state<Idle>
+			state<Idle> + event<dac_update> / act_dac = state<DACState>,
+			state<DACState> + event<function_ended> = state<Idle>
 
 		);
         // clang-format on

diff --git a/Application/Src/CLI.cpp b/Application/Src/CLI.cpp
@@ -122,6 +122,7 @@ int32_t CLI::cmd_idle(int32_t argc, char** argv) {
 	if (argc == 1) {
 		main_sm.process_event(shutdown{});
 		main_sm.process_event(start{});
+		main_sm.process_event(start{});
 	} else {
 		serialCOM.sendString("Unknown Command\n");
 	}
@@ -139,6 +140,7 @@ int32_t CLI::cmd_dac(int32_t argc, char** argv) {
     if (argc ==1) {
 		main_sm.process_event(shutdown{});
 		main_sm.process_event(dac_update{});
+		main_sm.process_event(start{});
 	} else if (argc == 2) {
         if (!strcmp(argv[1], "help")) {
             serialCOM.sendString(help_text);

diff --git a/Application/Src/Thread.cpp b/Application/Src/Thread.cpp
@@ -10,15 +10,15 @@ Thread::Thread() {
     // xTaskCreate(_task, "", 512, this, 2, &_Handle);
 
     auto t1 = [](void *arg) { static_cast<Thread *>(arg)->telemetry_human(); };
-    xTaskCreate(t1, "telemetry_human", 150, this, 2, &telemetry_human_handle);
+    xTaskCreate(t1, "telemetry_human", 300, this, 2, &telemetry_human_handle);
     vTaskSuspend(telemetry_human_handle);
 
     auto a1 = [](void *arg) { static_cast<Thread *>(arg)->idle(); };
-    xTaskCreate(a1, "idle", 300, this, 2, &idle_handle);
+    xTaskCreate(a1, "idle", 400, this, 2, &idle_handle);
     vTaskSuspend(idle_handle);
 
     auto a2 = [](void *arg) { static_cast<Thread *>(arg)->dacUpdate(); };
-    xTaskCreate(a2, "dacUpdate", 300, this, 2, &dac_handle);
+    xTaskCreate(a2, "dacUpdate", 400, this, 2, &dac_handle);
     vTaskSuspend(dac_handle);
 
     auto s0 = [](void *arg) { static_cast<Thread *>(arg)->init(); };
@@ -31,7 +31,7 @@ Thread::Thread() {
     xTaskCreate(s11, "serial send out", 64, this, 0, &serial_send_handle);
 
     auto s12 = [](void *arg) { static_cast<Thread *>(arg)->parse(); };
-    xTaskCreate(s12, "cli parsing", 400, this, 3, &parse_handle);
+    xTaskCreate(s12, "cli parsing", 800, this, 3, &parse_handle);
 }
 
 Thread::~Thread() {}
@@ -43,6 +43,10 @@ void Thread::telemetry_human() {
         serialCOM.sendNumber(dac.getLevel());
         serialCOM.sendString("\nADC Sensing Value:\t");
         serialCOM.sendNumber(adc.volt_from_dac);
+
+        // State machine debug
+        serialCOM.sendString("\n\nCurrent State:\t");
+        main_sm.visit_current_states([](auto s) { serialCOM.sendString(s.c_str()); });
         serialCOM.sendLn();
 
         stream_sm.process_event(finish{});