Class SystemState

Manages the overall state of the system. More...

#include <state.h>

Public Attributes

Type	Name
const fixed	angleToStep = `{0.1125}` Conversion factor from angle to motor steps.
ConfigParameters	config Runtime configuration parameters.
std::array< Target, 32 >	cvTarget
const int	h_max = `500` Maximum horizontal position.
const int	h_min = `-500` Minimum horizontal position.
std::array< Target, 3 >	radarTarget
Target *	selectedTarget = `&staticTarget`
Target	staticTarget
const int	stepFraction = `16` Microstep fraction for the stepper motors.
AccelStepper	stepperA Stepper motor A instance.
AccelStepper	stepperB Stepper motor B instance.
TargetSource	target_source
const int	v_max = `1000` Maximum vertical position.
const int	v_min = `-1000` Minimum vertical position.

Public Functions

Type	Name
	SystemState ()
void	actualizeState () Updates the physical state of the system to match the desired state.
void	clearFire (bool active)
const fixed	currentPitch ()
TurretStrategy	currentStrategy () const
Target *	currentTarget ()
std::span< Target >	currentTargetArray () Return the current target array, based on which target system is active.
const fixed	currentYaw ()
uint8_t	fetchNearestTarget2dIdx (const PositionVector & point)
uint8_t	fetchNearestTargetIdx (const PositionVector & point)
Target &	fetchTarget (const uint8_t idx)
bool	getFireState ()
bool	getMoveState ()
void	processCommandQueue () Processes the command queue, executing any commands that are due.
void	queueCeaseFire (uint16_t milliseconds)
void	queueFire (uint16_t milliseconds)
void	queueSelectTarget (TargetSource source, uint8_t index)
void	setFire (bool active)
void	setMove (bool active)
void	setStance (TurretStance stance)
void	setStrategy (TurretStrategy strategy)
void	setTarget (TargetSource source, uint8_t index, uint8_t speed=0xFF)
bool	shouldCheckFiringConditions ()
bool	shouldCheckTargetValidity ()
size_t	size ()
bool	targetIsPotentiallyValid ()
fixed	targetTravelDistance ()
void	updateConfig (cerializer::Config * config)
void	updateNearestTarget (const bool valid, PositionVector & newPosition, const uint16_t indifferenceMargin=0)
void	updateNearestTarget2d (const bool valid, PositionVector & newPosition, const uint16_t indifferenceMargin=0)
void	updateTarget (auto & targetArray, const uint8_t idx, const bool valid, PositionVector & newPosition, const uint16_t indifferenceMargin=0)
void	updateTargetById (auto & targetArray, const uint8_t id, const bool valid, PositionVector & newPosition, const uint16_t indifferenceMargin=0)

Detailed Description

This class encapsulates all system components, including motors, targets, and the command queue. It provides an interface for updating and controlling the system's behavior.

Public Attributes Documentation

variable angleToStep

Conversion factor from angle to motor steps.

const fixed SystemState::angleToStep;

variable config

Runtime configuration parameters.

ConfigParameters SystemState::config;

variable cvTarget

std::array<Target, 32> SystemState::cvTarget;

variable h_max

Maximum horizontal position.

const int SystemState::h_max;

variable h_min

Minimum horizontal position.

const int SystemState::h_min;

variable radarTarget

std::array<Target, 3> SystemState::radarTarget;

variable selectedTarget

Target* SystemState::selectedTarget;

variable staticTarget

Target SystemState::staticTarget;

variable stepFraction

Microstep fraction for the stepper motors.

const int SystemState::stepFraction;

variable stepperA

Stepper motor A instance.

AccelStepper SystemState::stepperA;

variable stepperB

Stepper motor B instance.

AccelStepper SystemState::stepperB;

variable target_source

TargetSource SystemState::target_source;

variable v_max

Maximum vertical position.

const int SystemState::v_max;

variable v_min

Minimum vertical position.

const int SystemState::v_min;

Public Functions Documentation

function SystemState

SystemState::SystemState ()

function actualizeState

Updates the physical state of the system to match the desired state.

void SystemState::actualizeState ()

function clearFire

void SystemState::clearFire (
    bool active
)

function currentPitch

inline const fixed SystemState::currentPitch ()

function currentStrategy

inline TurretStrategy SystemState::currentStrategy () const

function currentTarget

Target * SystemState::currentTarget ()

function currentTargetArray

Return the current target array, based on which target system is active.

std::span< Target > SystemState::currentTargetArray ()

Returns:

a span of targets, referencing the correct target buffer.

function currentYaw

inline const fixed SystemState::currentYaw ()

function fetchNearestTarget2dIdx

inline uint8_t SystemState::fetchNearestTarget2dIdx (
    const PositionVector & point
)

function fetchNearestTargetIdx

inline uint8_t SystemState::fetchNearestTargetIdx (
    const PositionVector & point
)

function fetchTarget

inline Target & SystemState::fetchTarget (
    const uint8_t idx
)

function getFireState

bool SystemState::getFireState ()

function getMoveState

bool SystemState::getMoveState ()

function processCommandQueue

Processes the command queue, executing any commands that are due.

void SystemState::processCommandQueue ()

function queueCeaseFire

void SystemState::queueCeaseFire (
    uint16_t milliseconds
)

function queueFire

void SystemState::queueFire (
    uint16_t milliseconds
)

function queueSelectTarget

void SystemState::queueSelectTarget (
    TargetSource source,
    uint8_t index
)

function setFire

void SystemState::setFire (
    bool active
)

function setMove

void SystemState::setMove (
    bool active
)

function setStance

void SystemState::setStance (
    TurretStance stance
)

function setStrategy

void SystemState::setStrategy (
    TurretStrategy strategy
)

function setTarget

void SystemState::setTarget (
    TargetSource source,
    uint8_t index,
    uint8_t speed=0xFF
)

function shouldCheckFiringConditions

bool SystemState::shouldCheckFiringConditions ()

function shouldCheckTargetValidity

bool SystemState::shouldCheckTargetValidity ()

function size

inline size_t SystemState::size ()

function targetIsPotentiallyValid

inline bool SystemState::targetIsPotentiallyValid ()

function targetTravelDistance

fixed SystemState::targetTravelDistance ()

function updateConfig

void SystemState::updateConfig (
    cerializer::Config * config
)

function updateNearestTarget

void SystemState::updateNearestTarget (
    const bool valid,
    PositionVector & newPosition,
    const uint16_t indifferenceMargin=0
)

function updateNearestTarget2d

void SystemState::updateNearestTarget2d (
    const bool valid,
    PositionVector & newPosition,
    const uint16_t indifferenceMargin=0
)

function updateTarget

inline void SystemState::updateTarget (
    auto & targetArray,
    const uint8_t idx,
    const bool valid,
    PositionVector & newPosition,
    const uint16_t indifferenceMargin=0
)

function updateTargetById

inline void SystemState::updateTargetById (
    auto & targetArray,
    const uint8_t id,
    const bool valid,
    PositionVector & newPosition,
    const uint16_t indifferenceMargin=0
)

The documentation for this class was generated from the following file state.h