zynq_7010/zynq_7010_code/FsmState.cpp

#include "FsmState.h"
#include "Scanner.h"


Scanner *FsmState::scanner = NULL;

FsmState::FsmState()
{
}

FsmState::~FsmState()
{
}

std::map<std::string, std::shared_ptr<FsmState>> FsmStateManager::fsmStates;

void StandbyState::initial()
{
	printf("INIT FSM:扫描仪准备完成  \n");
	scanner->getPanelLeds().setStatus(LedStatus::Ready);
	doReset();
}

FsmState *StandbyState::on_event(ScanEvent event)
{
	printf("FSM:扫描仪准备完成-->返回状态 %d \n", event);
	if (event == S_EVT_COVER_OPENED)
	{
		return FsmStateManagerEx<CoverOpenState>::GetState();
	}
	else if (event == S_EVT_JAM_OUT)
	{
		return FsmStateManagerEx<ErrorJamState>::GetState();
	}
	else if (event == S_EVT_PAPER_STANDBY)
	{
		if (scanner->getSensor().isPaperStandby())
		{
			return FsmStateManagerEx<PaperReadyState>::GetState();
		}
	}
	else if (event == S_EVT_START_SCAN)
	{
		scanner->getPanelLeds().setStatus(LedStatus::NoPaper);
		std::this_thread::sleep_for(std::chrono::milliseconds(1200));
		scanner->getPanelLeds().setStatus(LedStatus::Ready);
	}
	return this;
}

void StandbyState::doReset()
{
	if (!scanner->isRested)
		scanner->reset();
}

void CoverOpenState::initial()
{
	printf("INIT 状态机检测：设备开盖 \n");

	scanner->getPanelLeds().setStatus(LedStatus::CoverOpen);
}

FsmState *CoverOpenState::on_event(ScanEvent event)
{
	printf("状态机检测：设备开盖--->返回状态: %s %d \n", event == S_EVT_COVER_CLOSED?"关盖":"开盖",event);
	if (event == S_EVT_COVER_CLOSED)
	{
		if (!scanner->getSensor().isPaperAtScan())
		{
			std::this_thread::sleep_for(std::chrono::seconds(1));
			scanner->reset();
			return FsmStateManagerEx<InitState>::GetState();
		}
		else
		{
			return FsmStateManagerEx<ErrorJamState>::GetState();
		}
	}
	else if (event == S_EVT_CLEAR_ERR)
	{
		return FsmStateManagerEx<InitState>::GetState();
	}
	return this;
}

InitState::InitState()
{
}

FsmState *InitState::on_event(ScanEvent event)
{
	if (!(scanner->getSensor().isCoverClosed()))
	{
		printf("FSM:开盖\r\n");
		return FsmStateManagerEx<CoverOpenState>::GetState();
	}
	else if ((scanner->getSensor().isPaperIn()))
	{
	    printf("FSM:卡纸\r\n");
		return FsmStateManagerEx<ErrorJamState>::GetState();
	}
	else if (scanner->getSensor().isPaperStandby())
	{
		printf("FSM:有纸\r\n");
		return FsmStateManagerEx<PaperReadyState>::GetState();
	}

	return FsmStateManagerEx<StandbyState>::GetState();
}

void InitState::initial()
{
	printf("INIT FSM:初始化设备\r\n");
	scanner->put(S_EVT_NORES);
}

void ErrorJamState::initial()
{
	printf("INIT FSM:卡纸\r\n");
	scanner->getPanelLeds().setStatus(LedStatus::Abnormal);
}

void ErrorJamState::doPaper_pullout()
{
	scanner->paper_pullout();
}

FsmState *ErrorJamState::on_event(ScanEvent event)
{
	printf("FSM :卡纸--->返回状态: %d \n",event);
	if (scanner->getSensor().isCoverClosed() && !scanner->getSensor().isPaperStandby() && !scanner->getSensor().isPaperIn())
	{
		return FsmStateManagerEx<StandbyState>::GetState();
	}
	else if (event == S_EVT_COVER_OPENED)
	{
		return FsmStateManagerEx<CoverOpenState>::GetState();
	}
	else if (event == S_EVT_PAPER_PULLOUT) // && scanner->GetIsDoublePaper()
	{
		printf("啥玩意？？？？？？？？？？？？？\r\n");
		scanner->paper_pullout();
		return this;
	}
	else if (event == S_EVT_CLEAR_ERR)
	{
		if (!scanner->getSensor().isCoverClosed())
		{
			return FsmStateManagerEx<CoverOpenState>::GetState();
		}
		else 
		{
			if (!scanner->GetIsDoublePaper() && !scanner->GetIsJamPaper() && !scanner->getSensor().isPaperAtScan())
			{
				if (scanner->getSensor().isPaperStandby())
					return FsmStateManagerEx<PaperReadyState>::GetState();
				else
					return FsmStateManagerEx<StandbyState>::GetState();
			}
		}
	}
	return this;
}

void PaperReadyState::initial()
{
	printf("INIT FSM:设备已放纸\r\n");
	//typeName = "PaperReadyState";
	scanner->getPanelLeds().setStatus(LedStatus::Ready);
}

FsmState *PaperReadyState::on_event(ScanEvent event)
{
	printf("FSM :设备已放纸--->返回状态: %d \n",event);
	if (event == S_EVT_COVER_OPENED)
	{
		return FsmStateManagerEx<CoverOpenState>::GetState();
	}
	else if (event == S_EVT_PAPER_NOT_STANDBY)
	{
		if (!scanner->getSensor().isPaperStandby())
		{
			return FsmStateManagerEx<StandbyState>::GetState();
		}
	}
	else if (event == S_EVT_PAPER_AT_SCAN)
	{
		return FsmStateManagerEx<ErrorState>::GetState();
	}
	else if (event == S_EVT_START_SCAN)
	{
		return FsmStateManagerEx<ScanningState>::GetState();
	}
	return this;
}

void ErrorState::initial()
{
	printf("ErrorState \n");
	//typeName = "ErrorState";
	scanner->getPanelLeds().setStatus(LedStatus::Abnormal);
}

FsmState *ErrorState::on_event(ScanEvent event)
{
	printf("ErrorState on_event %d \n", event);
	if (event == S_EVT_COVER_OPENED)
	{
		return FsmStateManagerEx<CoverOpenState>::GetState();
	}

	if (scanner->getSensor().isCoverClosed() && !scanner->getSensor().isPaperStandby() && scanner->getSensor().isPaperIn())
	{
		return FsmStateManagerEx<StandbyState>::GetState();
	}
	else if (event == S_EVT_PAPER_STANDBY)
	{
		printf("ErrorState on_event S_EVT_PAPER_STANDBY\n");
		if (scanner->getSensor().isPaperStandby()) //有纸 且没卡纸
		{
			return FsmStateManagerEx<PaperReadyState>::GetState();
		}
		else
		{
			scanner->ResetJamIn();
			return FsmStateManagerEx<StandbyState>::GetState();
		}
	}
	else if (event == S_EVT_CLEAR_ERR)
	{
		if (!scanner->getSensor().isCoverClosed()) //没关盖
		{
			return FsmStateManagerEx<CoverOpenState>::GetState();
		}
		else if (!scanner->GetIsJamIn())
		{
			if (scanner->getSensor().isPaperStandby()) //有纸 且没卡纸
			{
				if (!scanner->getSensor().isPaperIn())
					return FsmStateManagerEx<PaperReadyState>::GetState();
			}
			else
			{
				return FsmStateManagerEx<StandbyState>::GetState();
			}
		}
	}
	return this;
}

void ScanningState::initial()
{
	printf("INIT FSM: 正在扫描中\n");
	//typeName = "ScanningState";
	scanner->getPanelLeds().setStatus(LedStatus::Scanning);
	scanner->startScan();
}

FsmState *ScanningState::on_event(ScanEvent event)
{
	printf("FSM: 正在扫描中-->返回状态:%d \n",event);
	if (event == S_EVT_COVER_IN_OPEN)
	{
		return FsmStateManagerEx<CoverOpenState>::GetState();
	}
	else if (event == S_EVT_STOP_SCAN)
	{
		printf("ScanningState call for %d \n", event);
		scanner->getPanelLeds().setStatus(LedStatus::StopScan);
		scanner->stop_scan();
		auto ret = scanner->getSensor().isPaperStandby() ? FsmStateManagerEx<PaperReadyState>::GetState() : FsmStateManagerEx<StandbyState>::GetState();
		return ret;
	}
	else if (event == S_EVT_COVER_OPENED)
	{
		printf("FSM :正在扫描中：开盖状态\r\n");
		scanner->emergency_stop(S_EVT_COVER_OPENED);
		return FsmStateManagerEx<CoverOpenState>::GetState();
	}
	else if (event == S_EVT_DOUBLEPAPER)
	{
		scanner->SetIsDoublePaper(true);
		scanner->emergency_stop(S_EVT_ERROR_DOUBLEPAPER);

		//scanner->stop_scan(); 保留双张就不需要紧急停止
		printf("FSM :正在扫描中: 双张\n");
		return FsmStateManagerEx<ErrorJamState>::GetState();
	}
	else if (event == S_EVT_JAM_IN)
	{
		scanner->emergency_stop(S_EVT_JAM_IN);
		printf("FSM :正在扫描中： 搓纸失败 \n");
		return FsmStateManagerEx<ErrorState>::GetState();
	}
	else if (event == S_EVT_JAM_OUT)
	{
		scanner->emergency_stop(S_EVT_JAM_OUT);
		printf("FSM :正在扫描中： 卡纸 \n");
		return FsmStateManagerEx<ErrorJamState>::GetState();
	}
	else if (event == S_EVT_PAPER_AT_SCAN)
	{
		//ToDo:add notifyAll operation
	}
	else if (event == S_EVT_PAPER_NOT_AT_SCAN)
	{
		//ToDo:add notifyAll operation
	}
	else if (event == S_EVT_SAMPLE_ERR)
	{
		scanner->stop_scan();
		return FsmStateManagerEx<ErrorState>::GetState();
	}
	else if (event == S_EVT_PAPER_NOT_STANDBY)
	{
		std::this_thread::sleep_for(chrono::milliseconds(100));
		if(!scanner->getSensor().isPaperStandby())
		{
			scanner->stop_scan();
			return FsmStateManagerEx<StandbyState>::GetState();
		}
	}
	return this;
}