/****************************************************************************** PELICAN crossing example* Last Updated for Version: 1.5.00* Date of the Last Update:  Sep 17, 2006** Copyright (C) 2002-2006 Quantum Leaps, LLC. All rights reserved.** This software may be distributed and modified under the terms of the GNU* General Public License version 2 (GPL) as published by the Free Software* Foundation and appearing in the file GPL.TXT included in the packaging of* this file. Please note that GPL Section 2[b] requires that all works based* on this software must also be made publicly available under the terms of* the GPL ("Copyleft").** Alternatively, this software may be distributed and modified under the* terms of Quantum Leaps commercial licenses, which expressly allow the* licensees to retain the proprietary status of their code. The licensees* who use this software under one of Quantum Leaps commercial licenses do* not use this software under the GPL and therefore are not subject to any* of its terms.** Contact information:* Quantum Leaps Web site:  http://www.quantum-leaps.com* Quantum Leaps licensing: http://www.quantum-leaps.com/licensing* Quantum Leaps products:  http://www.quantum-leaps.com/products* e-mail:                  sales@quantum-leaps.com*****************************************************************************/#include "qpn_port.h"#include "bsp.h"#include "pelican.h"/* Pelican class -----------------------------------------------------------*/static QSTATE Pelican_initial(Pelican *me);static QSTATE Pelican_offline(Pelican *me);static QSTATE Pelican_offFlash(Pelican *me);static QSTATE Pelican_offPause(Pelican *me);static QSTATE Pelican_operational(Pelican *me);static QSTATE Pelican_carsEnabled(Pelican *me);static QSTATE Pelican_carsGreen(Pelican *me);static QSTATE Pelican_carsGreenNoPed(Pelican *me);static QSTATE Pelican_carsGreenPedWait(Pelican *me);static QSTATE Pelican_carsGreenInt(Pelican *me);static QSTATE Pelican_carsYellow(Pelican *me);static QSTATE Pelican_pedsEnabled(Pelican *me);static QSTATE Pelican_pedsWalk(Pelican *me);static QSTATE Pelican_pedsFlash(Pelican *me);/*--------------------------------------------------------------------------*/enum PelicanTimeouts {                         /* various timeouts in ticks */    CARS_GREEN_MIN_TOUT = BSP_TICKS_PER_SEC * 8,      /* min green for cars */    CARS_YELLOW_TOUT = BSP_TICKS_PER_SEC * 3,            /* yellow for cars */    PEDS_WALK_TOUT   = BSP_TICKS_PER_SEC * 3,      /* walking time for peds */    PEDS_FLASH_TOUT  = BSP_TICKS_PER_SEC / 5,  /* flashing timeout for peds */    PEDS_FLASH_NUM   = 5*2,                   /* number of flashes for peds */    OFF_FLASH_TOUT   = BSP_TICKS_PER_SEC / 2   /* flashing timeout when off */};/*..........................................................................*/void Pelican_ctor(Pelican *me) {    QActive_ctor(me, &Pelican_initial);}/* HSM definition ----------------------------------------------------------*/QSTATE Pelican_initial(Pelican *me) {    switch (Q_SIG(me)) {        case Q_TOP_INIT_SIG: {            Q_TRAN(&Pelican_operational);            return (QSTATE)0;        }    }    return (QSTATE)&QHsm_top;}/*..........................................................................*/QSTATE Pelican_operational(Pelican *me) {    switch (Q_SIG(me)) {        case Q_ENTRY_SIG: {            BSP_signalCars(CARS_RED);            BSP_signalPeds(PEDS_DONT_WALK);            return (QSTATE)0;        }        case Q_INIT_SIG: {            Q_INIT(&Pelican_carsEnabled);            return (QSTATE)0;        }        case OFF_SIG: {            Q_TRAN(&Pelican_offline);            return (QSTATE)0;        }    }    return (QSTATE)&QHsm_top;}/*..........................................................................*/QSTATE Pelican_carsEnabled(Pelican *me) {    switch (Q_SIG(me)) {        case Q_EXIT_SIG: {            BSP_signalCars(CARS_RED);            return (QSTATE)0;        }        case Q_INIT_SIG: {            Q_INIT(&Pelican_carsGreen);            return (QSTATE)0;        }    }    return (QSTATE)&Pelican_operational;}/*..........................................................................*/QSTATE Pelican_carsGreen(Pelican *me) {    switch (Q_SIG(me)) {        case Q_ENTRY_SIG: {            QActive_arm((QActive *)me, CARS_GREEN_MIN_TOUT);            BSP_signalCars(CARS_GREEN);            return (QSTATE)0;        }        case Q_INIT_SIG: {            Q_INIT(&Pelican_carsGreenNoPed);            return (QSTATE)0;        }        case Q_TIMEOUT_SIG: {            Q_TRAN(&Pelican_carsGreenInt);            return (QSTATE)0;        }    }    return (QSTATE)&Pelican_carsEnabled;}/*..........................................................................*/QSTATE Pelican_carsGreenNoPed(Pelican *me) {    switch (Q_SIG(me)) {        case Q_ENTRY_SIG: {            BSP_showState(PELICAN_PRIO, "carsGreenNoPed");            return (QSTATE)0;        }        case PEDS_WAITING_SIG: {            Q_TRAN(&Pelican_carsGreenPedWait);            return (QSTATE)0;        }    }    return (QSTATE)&Pelican_carsGreen;}/*..........................................................................*/QSTATE Pelican_carsGreenPedWait(Pelican *me) {    switch (Q_SIG(me)) {        case Q_ENTRY_SIG: {            BSP_showState(PELICAN_PRIO, "carsGreenPedWait");            return (QSTATE)0;        }        case Q_TIMEOUT_SIG: {            Q_TRAN(&Pelican_carsYellow);            return (QSTATE)0;        }    }    return (QSTATE)&Pelican_carsGreen;}/*..........................................................................*/QSTATE Pelican_carsGreenInt(Pelican *me) {    switch (Q_SIG(me)) {        case Q_ENTRY_SIG: {            BSP_showState(PELICAN_PRIO, "carsGreenInt");            return (QSTATE)0;        }        case PEDS_WAITING_SIG: {            Q_TRAN(&Pelican_carsYellow);            return (QSTATE)0;        }    }    return (QSTATE)&Pelican_carsEnabled;}/*..........................................................................*/QSTATE Pelican_carsYellow(Pelican *me) {    switch (Q_SIG(me)) {        case Q_ENTRY_SIG: {            BSP_showState(PELICAN_PRIO, "carsYellow");            QActive_arm((QActive *)me, CARS_YELLOW_TOUT);            BSP_signalCars(CARS_YELLOW);            return (QSTATE)0;        }        case Q_TIMEOUT_SIG: {            Q_TRAN(&Pelican_pedsEnabled);            return (QSTATE)0;        }    }    return (QSTATE)&Pelican_carsEnabled;}/*..........................................................................*/QSTATE Pelican_pedsEnabled(Pelican *me) {    switch (Q_SIG(me)) {        case Q_EXIT_SIG: {            BSP_signalPeds(PEDS_DONT_WALK);            return (QSTATE)0;        }        case Q_INIT_SIG: {            Q_INIT(&Pelican_pedsWalk);            return (QSTATE)0;        }    }    return (QSTATE)&Pelican_operational;}/*..........................................................................*/QSTATE Pelican_pedsWalk(Pelican *me) {    switch (Q_SIG(me)) {        case Q_ENTRY_SIG: {            BSP_showState(PELICAN_PRIO, "pedsWalk");            QActive_arm((QActive *)me, PEDS_WALK_TOUT);            BSP_signalPeds(PEDS_WALK);            return (QSTATE)0;        }        case Q_TIMEOUT_SIG: {            Q_TRAN(&Pelican_pedsFlash);            return (QSTATE)0;        }    }    return (QSTATE)&Pelican_pedsEnabled;}/*..........................................................................*/QSTATE Pelican_pedsFlash(Pelican *me) {    switch (Q_SIG(me)) {        case Q_ENTRY_SIG: {            BSP_showState(PELICAN_PRIO, "pedsWalk");            QActive_arm((QActive *)me, PEDS_FLASH_TOUT);            me->pedFlashCtr__ = PEDS_FLASH_NUM*2 + 1;            return (QSTATE)0;        }        case Q_TIMEOUT_SIG: {            if (me->pedFlashCtr__ != 0) {                /* still flashing? */                if ((me->pedFlashCtr__ & 1) == 0) {        /* even counter? */                    BSP_signalPeds(PEDS_DONT_WALK);                }                else {                               /* must be odd counter */                    BSP_signalPeds(PEDS_BLANK);                }                --me->pedFlashCtr__;                QActive_arm((QActive *)me, PEDS_FLASH_TOUT);            }            else {                                         /* done flashing */                Q_TRAN(&Pelican_carsEnabled);            }            return (QSTATE)0;        }    }    return (QSTATE)&Pelican_pedsEnabled;}/*..........................................................................*/QSTATE Pelican_offline(Pelican *me) {    switch (Q_SIG(me)) {        case Q_INIT_SIG: {            Q_INIT(&Pelican_offFlash);            return (QSTATE)0;        }        case ON_SIG: {            Q_TRAN(&Pelican_operational);            return (QSTATE)0;        }    }    return (QSTATE)&QHsm_top;}/*..........................................................................*/QSTATE Pelican_offFlash(Pelican *me) {    switch (Q_SIG(me)) {        case Q_ENTRY_SIG: {            BSP_showState(PELICAN_PRIO, "offFlash");            QActive_arm((QActive *)me, OFF_FLASH_TOUT);            BSP_signalCars(CARS_YELLOW);            BSP_signalPeds(PEDS_DONT_WALK);            return (QSTATE)0;        }        case Q_TIMEOUT_SIG: {            Q_TRAN(&Pelican_offPause);            return (QSTATE)0;        }    }    return (QSTATE)&Pelican_offline;}/*..........................................................................*/QSTATE Pelican_offPause(Pelican *me) {    switch (Q_SIG(me)) {        case Q_ENTRY_SIG: {            BSP_showState(PELICAN_PRIO, "offPause");            QActive_arm((QActive *)me, OFF_FLASH_TOUT);            BSP_signalCars(CARS_OFF);            BSP_signalPeds(PEDS_BLANK);            return (QSTATE)0;        }        case Q_TIMEOUT_SIG: {            Q_TRAN(&Pelican_offFlash);            return (QSTATE)0;        }    }    return (QSTATE)&Pelican_offline;}