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Tested and working... NI libraries were missin

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This commit is contained in:
ferrog
2025-11-20 13:17:59 +00:00
parent aa587514f4
commit 4c02c7d591
47 changed files with 6672 additions and 1510 deletions
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147
EC-GN-JA-PCF-IN/src/main/c++/GAMs/JASDNRTStateMachineGAM/JASDNRTStateMachineGAM.cpp
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@@ -36,7 +36,10 @@
/*---------------------------------------------------------------------------*/
/* Static definitions */
/*---------------------------------------------------------------------------*/
static MARTe::uint64 getCurrentTimeUs() {
using namespace MARTe;
return static_cast<uint64>(HighResolutionTimer::Counter() * HighResolutionTimer::Period() * 1e6f + 0.5f);
}
/*---------------------------------------------------------------------------*/
/* Method definitions */
/*---------------------------------------------------------------------------*/
@@ -64,7 +67,9 @@ JASDNRTStateMachineGAM::JASDNRTStateMachineGAM() {
triggerDelay_shotlen = NULL_PTR(MARTe::uint32 *);
stopRequest = NULL_PTR(MARTe::uint32 *);
modePulseLengthLimit = NULL_PTR(MARTe::uint32 *);
sdnCommand = NULL_PTR(MARTe::uint16 *);
Command = NULL_PTR(MARTe::uint16 *);
Command2 = NULL_PTR(MARTe::uint16 *);
sdnStatus = NULL_PTR(MARTe::uint8 *);
// write out target.
outputSignal = NULL_PTR(MARTe::uint32 *);
@@ -81,6 +86,17 @@ JASDNRTStateMachineGAM::JASDNRTStateMachineGAM() {
aps_swon_is_on = false;
bps_hvon_is_on = false;
bps_swon_is_on = false;
sdnCommand = 0;
groupFix = 0;
apsSwonHighResolutionTime = 0;
aps_hvon_state=0;
aps_swon_state=0;
mhvps_hvon_state=0;
bps_hvon_state=0;
bps_swon_state=0;
}
JASDNRTStateMachineGAM::~JASDNRTStateMachineGAM() {
@@ -135,21 +151,21 @@ bool JASDNRTStateMachineGAM::PrepareNextState(const MARTe::char8 * const current
bool JASDNRTStateMachineGAM::Setup() {
using namespace MARTe;
bool ok = (numberOfInputSignals == 11u);
bool ok = (numberOfInputSignals == 13u);
if (ok) {
ok = (numberOfOutputSignals == 8u);
ok = (numberOfOutputSignals == 15u);
if (!ok) {
REPORT_ERROR(MARTe::ErrorManagement::ParametersError, "Seven output signals shall be defined");
REPORT_ERROR(MARTe::ErrorManagement::ParametersError, "15 output signals shall be defined");
}
}
else {
REPORT_ERROR(MARTe::ErrorManagement::ParametersError, "Nine input signals shall be defined");
REPORT_ERROR(MARTe::ErrorManagement::ParametersError, "13 input signals shall be defined");
}
if (ok) {
uint32 c;
for (c = 0u; c < numberOfInputSignals; c++) {
TypeDescriptor inputType = GetSignalType(InputSignals, c);
ok = (inputType == UnsignedInteger32Bit || inputType == UnsignedInteger16Bit);
ok = (inputType == UnsignedInteger32Bit || inputType == UnsignedInteger16Bit || inputType == UnsignedInteger8Bit);
if (!ok) {
StreamString signalName;
(void) GetSignalName(InputSignals, c, signalName);
@@ -162,7 +178,7 @@ bool JASDNRTStateMachineGAM::Setup() {
uint32 c;
for (c = 0u; c < numberOfOutputSignals; c++) {
TypeDescriptor outputType = GetSignalType(OutputSignals, c);
ok = (outputType == UnsignedInteger32Bit);
ok = (outputType == UnsignedInteger32Bit || outputType == UnsignedInteger8Bit);
if (!ok) {
StreamString signalName;
(void) GetSignalName(InputSignals, c, signalName);
@@ -181,7 +197,9 @@ bool JASDNRTStateMachineGAM::Setup() {
triggerDelay_shotlen = reinterpret_cast<uint32 *>(GetInputSignalMemory(7));
stopRequest = reinterpret_cast<uint32 *>(GetInputSignalMemory(8));
modePulseLengthLimit = reinterpret_cast<uint32 *>(GetInputSignalMemory(9));
sdnCommand = reinterpret_cast<uint16 *>(GetInputSignalMemory(10));
Command = reinterpret_cast<uint16 *>(GetInputSignalMemory(10));
Command2 = reinterpret_cast<uint16 *>(GetInputSignalMemory(11));
sdnStatus = reinterpret_cast<uint8 *>(GetInputSignalMemory(12));
outputSignal = reinterpret_cast<uint32 *>(GetOutputSignalMemory(0));
outputBeamON = reinterpret_cast<uint32 *>(GetOutputSignalMemory(1));
@@ -191,6 +209,15 @@ bool JASDNRTStateMachineGAM::Setup() {
outputBeamONTime = reinterpret_cast<uint32 *>(GetOutputSignalMemory(5));
outputRFONTime = reinterpret_cast<uint32 *>(GetOutputSignalMemory(6));
shotCounter = reinterpret_cast<uint32 *>(GetOutputSignalMemory(7));
outputAPSHVON = reinterpret_cast<uint32 *>(GetOutputSignalMemory(8));
outputAPSSWON = reinterpret_cast<uint32 *>(GetOutputSignalMemory(9));
outputBPSHVON = reinterpret_cast<uint32 *>(GetOutputSignalMemory(10));
outputBPSSWON = reinterpret_cast<uint32 *>(GetOutputSignalMemory(11));
outputMHVPSON = reinterpret_cast<uint32 *>(GetOutputSignalMemory(12));
outputSignalNI6528P3 = reinterpret_cast<uint8 *>(GetOutputSignalMemory(13));
outputSignalNI6528P4 = reinterpret_cast<uint8 *>(GetOutputSignalMemory(14));
*shotCounter = 0;
}
return ok;
@@ -198,11 +225,19 @@ bool JASDNRTStateMachineGAM::Setup() {
bool JASDNRTStateMachineGAM::Execute() {
using namespace MARTe;
if (!groupFix && (*triggerSignal != false)) {
sdnCommand = (1 - *sdnStatus)*(*Command) + (*sdnStatus)*(*Command2);
groupFix = 1;
sdnStatusFix = *sdnStatus;
}
else {
sdnCommand = (1 - sdnStatusFix)*(*Command) + sdnStatusFix*(*Command2);
}
if (currentState == WaitTrigger) {
//State Transition condition
if ((*triggerSignal == conditionTrigger)) {
REPORT_ERROR(ErrorManagement::Debug, "Start beam-on sequence in SDN mode.");
//REPORT_ERROR(ErrorManagement::Debug, "Start beam-on sequence in SDN mode.");
plcOnTime = *currentTime; //Save pulse start time.
*outputBeamON = 0;
//State transition.
@@ -213,20 +248,22 @@ bool JASDNRTStateMachineGAM::Execute() {
//Actions in this state.
if (*stopRequest != 0 || *triggerSignal != conditionTrigger) {
*outputSignal -= aps_swon;
*outputSignal = 0;
currentState = HVTerminate;
}
if (*currentTime >= (plcOnTime + *triggerDelay_bps_hvon) && bps_hvon_is_on == false){
//Do action
*outputSignal += bps_hvon;
bps_hvon_is_on = true;
REPORT_ERROR(ErrorManagement::Debug, "bps_hvon was set to outputSignal at %d.", *currentTime);
bps_hvon_is_on = true; bps_hvon_state=1;
//REPORT_ERROR(ErrorManagement::Debug, "bps_hvon was set to outputSignal at %d.", *currentTime);
*outputBPSHVON=1;
}
if (*currentTime >= (plcOnTime + *triggerDelay_aps_hvon) && aps_hvon_is_on == false) {
//Do action
*outputSignal += aps_hvon;
aps_hvon_is_on = true;
REPORT_ERROR(ErrorManagement::Debug, "aps_hvon was set to outputSignal.");
aps_hvon_is_on = true; aps_hvon_state=1;
//REPORT_ERROR(ErrorManagement::Debug, "aps_hvon was set to outputSignal.");
*outputAPSHVON=1;
}
*outputBeamONTime = *currentTime - plcOnTime; //Save RFON start time.
@@ -242,7 +279,7 @@ bool JASDNRTStateMachineGAM::Execute() {
*outputBeamONTime = *currentTime - plcOnTime; //Save RFON start time.
// State change conditions
if (*sdnCommand == 1){
if (sdnCommand == 1){
sdnTriggerTime = *currentTime;
currentState = SwitchingHVPS_SWON;
}
@@ -262,68 +299,80 @@ bool JASDNRTStateMachineGAM::Execute() {
if (*currentTime >= (sdnTriggerTime + *triggerDelay_bps_swon) && bps_swon_is_on==false){
//Do action
*outputSignal += bps_swon;
bps_swon_is_on = true;
REPORT_ERROR(ErrorManagement::Debug, "bps_swon was set to outputSignal at %d.", *currentTime);
bps_swon_is_on = true; bps_swon_state=1;
//REPORT_ERROR(ErrorManagement::Debug, "bps_swon was set to outputSignal at %d.", *currentTime);
*outputBPSSWON=1;
}
if (*currentTime >= (sdnTriggerTime + *triggerDelay_mhvps_hvon) && mhvps_hvon_is_on==false) {
//Do action
*outputSignal += mhvps_hvon;
mhvps_hvon_is_on = true;
REPORT_ERROR(ErrorManagement::Debug, "mhvps_hvon was set to outputSignal at %d.", *currentTime);
mhvps_hvon_is_on = true; mhvps_hvon_state=1;
//REPORT_ERROR(ErrorManagement::Debug, "mhvps_hvon was set to outputSignal at %d.", *currentTime);
*outputMHVPSON=1;
}
if (bps_swon_is_on && mhvps_hvon_is_on && *currentTime >= (sdnTriggerTime + *triggerDelay_aps_swon)){
//Do action
*outputSignal += aps_swon;
aps_swon_is_on = true;
aps_swon_is_on = true; aps_swon_state=1;
apsSwonHighResolutionTime = getCurrentTimeUs();
apsSwonTime = *currentTime;
REPORT_ERROR(ErrorManagement::Debug, "aps_swon was set to outputSignal at %d.", *currentTime);
//REPORT_ERROR(ErrorManagement::Debug, "aps_swon was set to outputSignal at %d.", *currentTime);
*outputAPSSWON=1;
}
*outputBeamONTime = *currentTime - plcOnTime; //Save RFON start time.
if (bps_swon_is_on || mhvps_hvon_is_on){
*outputHVInjection = 0;
*outputHVInjection = 1;
}
//State transition condition
if (aps_swon_is_on){
currentState = RFON;
*outputRFON = 0;
*outputBeamON = 1;
*shotCounter += 1;
REPORT_ERROR(ErrorManagement::Debug, "state was changed to RFON");
//REPORT_ERROR(ErrorManagement::Debug, "state was changed to RFON");
}
}
else if (currentState == RFON) {
//SDN command processing.
if (*sdnCommand == 4 && aps_swon_is_on) {
if (sdnCommand == 4 && aps_swon_is_on) {
*outputSignal -= aps_swon;
aps_swon_is_on = false;
REPORT_ERROR(ErrorManagement::Debug, "sdn command was 4");
aps_swon_is_on = false; aps_swon_state=0;
//REPORT_ERROR(ErrorManagement::Debug, "sdn command was 4");
*outputAPSSWON=0;
}
if (*sdnCommand == 3 && !aps_swon_is_on) {
if (sdnCommand == 3 && !aps_swon_is_on) {
*outputSignal += aps_swon;
aps_swon_is_on = true;
REPORT_ERROR(ErrorManagement::Debug, "sdn command was 3");
aps_swon_is_on = true; aps_swon_state=0;
//REPORT_ERROR(ErrorManagement::Debug, "sdn command was 3");
*outputAPSSWON=1;
}
//Action in this state.
if ((*sdnCommand == 2) || (*modePulseLengthLimit == 1u) || (*currentTime >= (sdnTriggerTime + *triggerDelay_aps_swon + *triggerDelay_shotlen))) {
REPORT_ERROR(ErrorManagement::Debug, "shotlen: %d", *triggerDelay_shotlen);
if (*sdnCommand == 2) {
REPORT_ERROR(ErrorManagement::Information, "sdn command was 2");
if ((sdnCommand == 2) || (*modePulseLengthLimit == 1u) || (*currentTime >= (sdnTriggerTime + *triggerDelay_aps_swon + *triggerDelay_shotlen))) {
//REPORT_ERROR(ErrorManagement::Debug, "shotlen: %d", *triggerDelay_shotlen);
if (sdnCommand == 2) {
//REPORT_ERROR(ErrorManagement::Information, "sdn command was 2");
} else if (*currentTime >= (sdnTriggerTime + *triggerDelay_aps_swon + *triggerDelay_shotlen)){
REPORT_ERROR(ErrorManagement::Information, "pulse length reached setpoint.");
//REPORT_ERROR(ErrorManagement::Information, "pulse length reached setpoint.");
}
//Do action
*outputSignal -= aps_swon; //Turn off only aps_swon
mhvps_hvon_is_on = false;
aps_hvon_is_on = false;
aps_swon_is_on = false;
aps_swon_is_on = false; aps_swon_state=0;
bps_hvon_is_on = false;
bps_swon_is_on = false;
REPORT_ERROR(ErrorManagement::Debug, "0 was set to outputSignal at %d.", *currentTime);
*outputAPSHVON=0;
*outputAPSSWON=0;
*outputBPSHVON=0;
*outputBPSSWON=0;
*outputMHVPSON=0;
//REPORT_ERROR(ErrorManagement::Debug, "0 was set to outputSignal at %d.", *currentTime);
}
*outputRFON = 0;
*outputRFON = 1;
*outputBeamONTime = *currentTime - plcOnTime;
*outputRFONTime = *currentTime - apsSwonTime;
@@ -332,29 +381,37 @@ bool JASDNRTStateMachineGAM::Execute() {
if (!aps_swon_is_on && !bps_swon_is_on && !mhvps_hvon_is_on) {
currentState = HVTerminate;
apsSwoffTime = *currentTime;
REPORT_ERROR(ErrorManagement::Information, "state was changed to HVTerminate");
//REPORT_ERROR(ErrorManagement::Information, "state was changed to HVTerminate");
}
}
else if (currentState == HVTerminate) {
//Action in this state.
*outputBeamON = 1;
*outputHVArmed = 1;
*outputHVInjection = 1;
*outputRFON = 1;
*outputBeamON = 0;
*outputHVArmed = 0;
*outputHVInjection = 0;
*outputRFON = 0;
// State transition condition.
if (*currentTime - apsSwoffTime >= turn_off_delay){
*outputSignal = 0;
mhvps_hvon_state=0;
aps_hvon_state=0;
bps_hvon_state=0;
bps_swon_state=0;
}
if (*triggerSignal == false){
//Check PLC_ON is reset
currentState = WaitTrigger;
*outputSignal = 0;
REPORT_ERROR(ErrorManagement::Debug, "state was changed to WaitTrigger");
groupFix = 0;
//REPORT_ERROR(ErrorManagement::Debug, "state was changed to WaitTrigger");
}
}
p3Value = 1*aps_hvon_state +2*aps_swon_state + 8*bps_hvon_state +16*bps_swon_state + 64*(*outputBeamON);
*outputSignalNI6528P3 = ~p3Value;
p4Value = 8*mhvps_hvon_state;
*outputSignalNI6528P4 = ~p4Value;
return true;
}