vcs.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/Soft/Common/control_states.h

   1 /**
   2  *  \file     control_states.h
   3  *  \brief    Control states declaration for control loop & ihm display
   4  *  \author   Sylvain Gaeremynck <sylvain.gaeremynck@parrot.com>
   5  *  \version  1.0
   6  */
   7
   8 #ifndef _CONTROL_STATES_H_
   9 #define _CONTROL_STATES_H_
  10
  11 #ifdef CTRL_STATES_STRING
  12 typedef char ctrl_string_t[32];
  13 #endif
  14
  15 // Macros to customize preprocessing
  16 // If this CTRL_STATES_STRING is not defined, this file declare several enumeration
  17 // If user defines CTRL_STATES_STRING, this file will define several array of strings.
  18 // Each string being equivalent to an enumeration entry
  19
  20 #ifdef CTRL_STATES_STRING
  21 #define CVAR(a) #a  /* Using # causes the first argument after the # to be returned as a string in quotes */
  22 #define CVARZ(a) #a
  23 #else
  24 #define CVARZ(a) a = 0
  25 #define CVAR(a) a
  26 #endif
  27
  28 /**
  29  * \enum  CONTROL_STATE
  30  * \brief control loop thread states.
  31  * \brief this defines major states
  32 */
  33 #ifndef DO_NOT_INCLUDE_MAJOR_CTRL_STATES
  34 #ifdef CTRL_STATES_STRING
  35 static ctrl_string_t ctrl_states[] = {
  36 #else
  37 typedef enum {
  38 #endif
  39   CVARZ( CTRL_DEFAULT ),
  40   CVAR( CTRL_INIT ),
  41   CVAR( CTRL_LANDED ),
  42   CVAR( CTRL_FLYING ),
  43   CVAR( CTRL_HOVERING ),
  44   CVAR( CTRL_TEST ),
  45   CVAR( CTRL_TRANS_TAKEOFF ),
  46   CVAR( CTRL_TRANS_GOTOFIX ),
  47   CVAR( CTRL_TRANS_LANDING ),
  48 #ifndef CTRL_STATES_STRING
  49   CTRL_NUM_STATES
  50 } CTRL_STATES;
  51 #else
  52 };
  53 #endif
  54 #endif
  55
  56 /**
  57  * \enum  FLYING_STATES
  58  * \brief flying states.
  59  * \brief this is one of the minor state
  60 */
  61 #ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
  62 #ifdef CTRL_STATES_STRING
  63 static ctrl_string_t flying_states[] = {
  64 #else
  65 typedef enum {
  66 #endif
  67   CVARZ( FLYING_OK ),
  68   CVAR( FLYING_LOST_ALT ),
  69   CVAR( FLYING_LOST_ALT_GO_DOWN ),
  70   CVAR( FLYING_ALT_OUT_ZONE ),
  71   CVAR( FLYING_COMBINED_YAW )
  72   #ifndef CTRL_STATES_STRING
  73 } FLYING_STATES;
  74 #else
  75 };
  76 #endif
  77 #endif
  78
  79 /**
  80  * \enum  HOVERING_STATES
  81  * \brief flying states.
  82  * \brief this is one of the minor state
  83 */
  84 #ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
  85 #ifdef CTRL_STATES_STRING
  86 static ctrl_string_t hovering_states[] = {
  87 #else
  88 typedef enum {
  89 #endif
  90   CVARZ( HOVERING_OK ),
  91   CVAR( HOVERING_YAW ),
  92   CVAR( HOVERING_YAW_LOST_ALT),
  93   CVAR( HOVERING_YAW_LOST_ALT_GO_DOWN),
  94   CVAR( HOVERING_ALT_OUT_ZONE),
  95   CVAR( HOVERING_YAW_ALT_OUT_ZONE),
  96   CVAR( HOVERING_LOST_ALT ),
  97   CVAR( HOVERING_LOST_ALT_GO_DOWN ),
  98   CVAR( HOVERING_LOST_COM ),
  99   CVAR( LOST_COM_LOST_ALT ),
 100   CVAR( LOST_COM_LOST_ALT_TOO_LONG ),
 101   CVAR( LOST_COM_ALT_OK )
 102 #ifndef CTRL_STATES_STRING
 103 } HOVERING_STATES;
 104 #else
 105 };
 106 #endif
 107 #endif
 108
 109 /**
 110  * \enum  TAKEOFF_TRANS_STATES
 111  * \brief take off states.
 112  * \brief this is one of the minor state
 113 */
 114 #ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
 115 #ifdef CTRL_STATES_STRING
 116 static ctrl_string_t takeoff_trans_states[] = {
 117 #else
 118 typedef enum {
 119 #endif
 120   CVARZ( TAKEOFF_GROUND ),
 121   CVAR( TAKEOFF_AUTO ),
 122   #ifndef CTRL_STATES_STRING
 123 } TAKEOFF_TRANS_STATES;
 124 #else
 125 };
 126 #endif
 127 #endif
 128
 129 /**
 130  * \enum  GOTOFIX_TRANS_STATES
 131  * \brief gotofix substates.
 132  * \brief this is one of the minor state
 133 */
 134 #ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
 135 #ifdef CTRL_STATES_STRING
 136 static ctrl_string_t gotofix_trans_states[] = {
 137 #else
 138 typedef enum {
 139 #endif
 140   CVARZ( GOTOFIX_OK ),
 141   CVAR( GOTOFIX_LOST_ALT ),
 142   CVAR( GOTOFIX_YAW ),
 143   #ifndef CTRL_STATES_STRING
 144 } GOTOFIX_TRANS_STATES;
 145 #else
 146 };
 147 #endif
 148 #endif
 149
 150 /**
 151  * \enum  LANDING_TRANS_STATES
 152  * \brief landing states.
 153  * \brief this is one of the minor state
 154 */
 155 #ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
 156 #ifdef CTRL_STATES_STRING
 157 static ctrl_string_t landing_trans_states[] = {
 158 #else
 159 typedef enum {
 160 #endif
 161   CVARZ( LANDING_CLOSED_LOOP ),
 162   CVAR( LANDING_OPEN_LOOP ),
 163   CVAR( LANDING_OPEN_LOOP_FAST )
 164 #ifndef CTRL_STATES_STRING
 165 } LANDING_TRANS_STATES;
 166 #else
 167 };
 168 #endif
 169 #endif
 170
 171 #ifdef CTRL_STATES_STRING
 172 #ifndef DO_NOT_INCLUDE_CTRL_STATES_LINK
 173 /**
 174  * control link tates
 175  * \brief This array is used to link minor states & major state's strings
 176 */
 177 static ctrl_string_t* control_states_link[] = {
 178   NULL,
 179   NULL,
 180   NULL,
 181   flying_states,
 182   hovering_states,
 183   NULL,
 184   takeoff_trans_states,
 185   gotofix_trans_states,
 186   landing_trans_states
 187 };
 188 #endif
 189 #endif
 190
 191 #endif // _CONTROL_STATES_H_