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Class nebula::drivers::FsmCutInFov

ClassList > nebula > drivers > FsmCutInFov

FSM for scan cutting when the cut angle is within the field of view (360° FoV or cut inside limited FoV). This is the simpler 4-state FSM. More...

  • #include <fsm_cut_in_fov.hpp>

Public Types

Type Name
typedef scan_cutter::AllSame< T > AllSame
typedef scan_cutter::ChannelBufferState ChannelBufferState
typedef scan_cutter::Different Different
enum uint8_t State
typedef scan_cutter::TransitionActions TransitionActions
typedef scan_cutter::buffer_index_t buffer_index_t

Public Static Functions

Type Name
State determine_state (const ChannelBufferState & buffer_state, buffer_index_t current_buffer)
Determine the FSM state from the buffer state and current active buffer.
TransitionActions get_transition_actions (State state_before, State state_after)
Compute the transition actions based on state change.
TransitionActions step (const ChannelBufferState & buffer_state_before, const ChannelBufferState & buffer_state_after, buffer_index_t current_buffer)
Step the FSM and return the actions to perform.

Detailed Description

States: * F0: All channels in buffer 0 (Filled 0) * C0_1: Channels split, transitioning from buffer 0 to buffer 1 (Crossing 0->1) * F1: All channels in buffer 1 (Filled 1) * C1_0: Channels split, transitioning from buffer 1 to buffer 0 (Crossing 1->0)

Transition table (From columns, To rows):

To \ From F0 C0_1 F1 C1_0
F0 - T0, E1 E1
C0_1 T1 - ⛔
F1 T1, E0 E0 -
C1_0 ⛔ T0 -

Public Types Documentation

typedef AllSame

using nebula::drivers::FsmCutInFov::AllSame =  scan_cutter::AllSame<T>;

typedef ChannelBufferState

using nebula::drivers::FsmCutInFov::ChannelBufferState =  scan_cutter::ChannelBufferState;

typedef Different

using nebula::drivers::FsmCutInFov::Different =  scan_cutter::Different;

enum State

enum nebula::drivers::FsmCutInFov::State {
    F0,
    C0_1,
    F1,
    C1_0
};

typedef TransitionActions

using nebula::drivers::FsmCutInFov::TransitionActions =  scan_cutter::TransitionActions;

typedef buffer_index_t

using nebula::drivers::FsmCutInFov::buffer_index_t =  scan_cutter::buffer_index_t;

Public Static Functions Documentation

function determine_state

Determine the FSM state from the buffer state and current active buffer. 

static inline State nebula::drivers::FsmCutInFov::determine_state (
    const ChannelBufferState & buffer_state,
    buffer_index_t current_buffer
)

Parameters:

  • buffer_state The current buffer state (AllSame or Different).
  • current_buffer The current active buffer index.

Returns:

The FSM state.

function get_transition_actions

Compute the transition actions based on state change. 

static inline TransitionActions nebula::drivers::FsmCutInFov::get_transition_actions (
    State state_before,
    State state_after
)

Parameters:

  • state_before The FSM state before the update.
  • state_after The FSM state after the update.

Returns:

The transition actions to perform.

function step

Step the FSM and return the actions to perform. 

static inline TransitionActions nebula::drivers::FsmCutInFov::step (
    const ChannelBufferState & buffer_state_before,
    const ChannelBufferState & buffer_state_after,
    buffer_index_t current_buffer
)

Parameters:

  • buffer_state_before Buffer state before the azimuth update.
  • buffer_state_after Buffer state after the azimuth update.
  • current_buffer The current active buffer index.

Returns:

The transition actions to perform.

The documentation for this class was generated from the following file src/nebula_core/nebula_core_decoders/include/nebula_core_decoders/scan_cutter/fsm_cut_in_fov.hpp