playing_sm Module

Files:

Interface

Function: StartPlayingSM
Arguments: None.
Returns: None.
Does any required initialization for the playing state machine.

Function: RunPlayingSM
Arguments: Event_t: the event to process.
Returns: Event_t: an event to return.
Runs the tasks for the playing state machine.

Function: QueryPlayingSM
Arguments: None.
Returns: PlayingState_t The current state of the master state machine.
Runs the tasks for the playing state machine.

Pseudo-Code

StartPlayingSM
  Call RunPlayingSM(EV_ENTRY)

RunPlayingSM(Takes an Event_t and returns new Event_t)
  Set static variable FlagsCaptured to 0

  Initialize MakeTransition to FALSE
  Set NextState to CurrentState

  Switch between values of CurrentState:

    If value is INITIAL_MVOING:
      Call DuringInitialMoving(CurrentEvent) and store the return in CurrentEvent

      Switch between values of CurrentEvent:
        if value is EV_FLAG_SENSED:
          Set NextState to HEADING_FOR_FLAG
          Set MakeTransition to TRUE
        Endif
      Endswitch
    Endif

    If value is HEADING_FOR_FLAG:
      Call DuringHeadingForFlag(CurrentEvent) and store the return in CurrentEvent

      Switch between values of CurrentEvent:
        if value is EV_GATE_BLOCKED:
          Set NextState to CAPTURING_FLAG
          Set MakeTransition to TRUE
        Endif

        if value is EV_FLAG_LOST:
          Set NextState to LOOKING_FOR_FLAG
          Set MakeTransition to TRUE
        Endif

        if value is EV_WARNING_TIMER_DONE:
          Set NextState to GOING_TO_GOAL
          Set MakeTransition to TRUE
        Endif
      Endswitch
    Endif

    If value is CAPTURING_FLAG:
      Call DuringCapturingFlag(CurrentEvent) and store the return in CurrentEvent

      Switch between values of CurrentEvent:
        if value is EV_CAPTURING_TIMER_DONE:
          Increment FlagsCaptured
          If FlagsCaptured equals 3:
            Set NextState to GOING_TO_GOAL
          Else:
            Set NextState to LOOKING_FOR_FLAG
          Endif
          Set MakeTransition to TRUE
        Endif

        if value is EV_FLAG_LOST:
          Set NextState to LOOKING_FOR_FLAG
          Set MakeTransition to TRUE
        Endif

        if value is EV_WARNING_TIMER_DONE:
          Set NextState to GOING_TO_GOAL
          Set MakeTransition to TRUE
        Endif
      Endswitch
    Endif

    If value is LOOKING_FOR_FLAG:
      Call DuringLookingForFlag(CurrentEvent) and store the return in CurrentEvent

      Switch between values of CurrentEvent:
        if value is EV_GATE_BLOCKED:
          Set NextState to CAPTURING_FLAG
          Set MakeTransition to TRUE
        Endif

        if value is EV_FLAG_SENSED:
          Set NextState to HEADING_FOR_FLAG
          Set MakeTransition to TRUE
        Endif

        if value is EV_WARNING_TIMER_DONE:
          Set NextState to GOING_TO_GOAL
          Set MakeTransition to TRUE
        Endif
      Endswitch
    Endif

    If value is GOING_TO_GOAL:
      Call DuringGoingToGoal(CurrentEvent) and store the return in CurrentEvent
    Endif

  Endswitch

  If MakeTransition is TRUE:
    Call RunPlayingSM(EV_EXIT)
    Set CurrentState to NextState
    Call RunPlayingSM(EV_ENTRY)
  Endif

  return CurrentEvent

QueryPlayingSM(Returns current PlayingState_t)
  return module variable CurrentState

DuringInitialMoving(Takes current event Event_t, returns new event Event_t)
  If the event is EV_ENTRY:
    Move straight
  Endif

  Return same event

DuringHeadingForFlag(Takes current event Event_t, returns new event Event_t)
  If the event is not EV_ENTRY or EV_EXIT:
    Call beacon moving control law
  Endif

  Return new event

DuringCapturingFlag(Takes current event Event_t, returns new event Event_t)
  If the event is EV_ENTRY:
    Move straight
  Endif

  Return same event

DuringGoingToGoal(Takes current event Event_t, returns new event Event_t)
  If the event is EV_ENTRY:
    Call StartGoalFindingSM()
  Else:
    Call RunGoalFindingSM(event) and store the return vale as the new event
  Endif

  Return the new event

DuringLookingForFlag(Takes current event Event_t, returns new event Event_t)
  If the event is EV_ENTRY:
    Turn left
  Endif

  Return same event