fsm.h

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/**
 * @file fsm.h
 * @brief Finite State Machine (FSM) module for the SPP core.
 */
 
#ifndef SPP_CORE_FSM_H
#define SPP_CORE_FSM_H
 
#include "spp/core/returnTypes.h"
#include "spp/core/types.h"
 
/* ----------------------------------------------------------------
* DEFINES
* ---------------------------------------------------------------- */
#define K_FSM_TIMEOUT_MS     10000U // Only executed once, np with stops
#define K_FSM_MAX_TABLE_SIZE 10U    /*<Only allow 10 rows on the FSM table */
 
 
/* ----------------------------------------------------------------
* STRUCTS
* ---------------------------------------------------------------- */
 
/**
 * @brief Top-level FSM states.
 */
typedef enum
{
    FSM_STATE_INIT = 0,
    FSM_STATE_READY,
    FSM_STATE_FLIGHT,
    FSM_STATE_LANDED,
} FSM_State_t;
 
/**
 * @brief FSM sub-states. Use FSM_SUBSTATE_NONE for states with no sub-state.
 */
typedef enum
{
    FSM_SUBSTATE_NONE = 0,
    FSM_SUBSTATE_FLIGHT_ASCENDING,
    FSM_SUBSTATE_FLIGHT_DESCENDING,
    FSM_SUBSTATE_FLIGHT_PARACHUTE_DEPLOYED,
} FSM_SubState_t;
 
/**
 * @brief A single row in the FSM transition table.
 */
typedef struct
{
    FSM_State_t fromState;
    FSM_SubState_t fromSubState;
    FSM_State_t toState;
    FSM_SubState_t toSubState;
    spp_bool_t (*guard)(void);
    void (*action)(void);
    void (*stateFunction)(void);
} FSM_Transition_t;
 
/**
 * @brief FSM handle — holds the current and previous state of the machine.
 */
typedef struct
{
    FSM_State_t state;
    FSM_SubState_t subState;
    FSM_State_t prevState;
    FSM_SubState_t prevSubState;
} FSM_Handle_t;
 
/* ----------------------------------------------------------------
 * PUBLIC FUNCTIONS
 * ---------------------------------------------------------------- */
/**
* @brief    Get the pointer to the FSM errors bit.
* @return   Pointer to the FSM errors bit.
*/
spp_uint16_t *SPP_CORE_FSM_getErrorsBit(void);
/**
* @brief    Initialize the FSM.
* @param    p_halPorts  Pointer to the HAL ports.
* @param    p_transitiontable Pointer to the FSM table for operation.
* @param    tableSize Size of the table.
*/
SPP_RetVal_t FSM_init(const FSM_Transition_t *p_transitionTable, const spp_uint8_t tableSize);
/**
 * @brief Evaluate the transition table and advance the FSM if a guard passes.
 *        Call this once per superloop tick.
 */
void FSM_tick(void);
 
 
#endif /* SPP_CORE_FSM_H */