fsm.c File Reference

Author:

Tran Duy Khanh, Michal Sojka

More...

#include "fsm.h"
#include <stdio.h>

Include dependency graph for fsm.c:

Go to the source code of this file.

Defines
#define	E(name)   case EV_##name: return "EV_" #name;
Functions
const char *	fsm_common_event_str (enum fsm_common_events ev)
int	fsm_nop_state (struct robo_fsm *fsm)
	Non operative state, do nothing.
static void	gettimeofday_ts (struct timespec *ts)
void	__fsm_timespec_add_ms (struct timespec *ts, struct timespec *now, long ms)
	Set timespec to some time from now.
void	__fsm_timespec_invalidate (struct timespec *ts)
static int	timespec_valid (struct timespec *ts)
static int	timespec_cmp (struct timespec *ts1, struct timespec *ts2)
static fsm_event	sem_wait_checked (struct robo_fsm *fsm)
static fsm_event	sem_timedwait_checked (sem_t *sem, struct timespec *abs_timeout, struct robo_fsm *fsm, enum fsm_common_events timeout_event)
static fsm_event	wait_for_event (struct robo_fsm *fsm)
static void	handle_event (struct robo_fsm *fsm, fsm_event event)
static void *	fsm_thread_routine (void *arg)
	FSM thread function.
void	fsm_init (struct robo_fsm *fsm, char *debug_name)
	FSM initialization.
int	fsm_start (struct robo_fsm *fsm, pthread_attr_t *attr)
	Starts previously initialized FSM.
int	fsm_destroy (struct robo_fsm *fsm)
	Deallocates all resources allocated by fsm_init().

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Detailed Description

Author:

Tran Duy Khanh, Michal Sojka

Date:

07/04/17

Finite state machine of the robot.

Definition in file fsm.c.

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Function Documentation

void __fsm_timespec_add_ms	(	struct timespec *	ts,
		struct timespec *	now,
		long	ms
	)

Set timespec to some time from now.

Parameters:

[out]	ts	Result
[in]	now	Actual time or NULL. If NULL, actual time is determined by calling gettimeofday().
[in]	ms	number of milliseconds to be set

Definition at line 55 of file fsm.c.

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