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Merged
merged 1 commit into from
May 12, 2022
Merged

Base states #113

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136 changes: 136 additions & 0 deletions Firmware/RTK_Surveyor/States.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -306,6 +306,85 @@ void updateSystemState()
}
break;

/*
.-----------------------------------.
startBase() | STATE_BASE_NOT_STARTED |
.------------| Text: 'Base' |
| = false '-----------------------------------'
| |
| Stop WiFi, | startBase() = true
| Stop | Stop WiFi
| Bluetooth | Start Bluetooth
| V
| .-----------------------------------.
| | STATE_BASE_TEMP_SETTLE |
| | Temp Base Icon. Blinking HPA. |
| | "HPA: 7.15" |
| | "SIV: 5" |
| '-----------------------------------'
V |
STATE_BASE_FIXED_NOT_STARTED | horizontalAccuracy > 0.0
(next diagram) | && horizontalAccuracy
| < settings.surveyInStartingAccuracy
| && beginSurveyIn() == true
V
.-----------------------------------.
| STATE_BASE_TEMP_SURVEY_STARTED | svinObservationTime >
| Temp Base Icon blinking | maxSurveyInWait_s
| "Mean: 0.089" |--------------.
| "Time: 36" | |
'-----------------------------------' |
| |
| getSurveyInValid() |
| = true V
| STATE_ROVER_NOT_STARTED
V (Previous diagram)
.-----------------------------------.
| STATE_BASE_TEMP_TRANSMITTING |
| Temp Base Icon solid |
| "Xmitting" |
| "RTCM: 2145" |
'-----------------------------------'
|
| NTRIP enabled = true
V
.-----------------------------------.
| STATE_BASE_TEMP_WIFI_STARTED |
| Blinking WiFi Icon |
| "Xmitting" |
| "RTCM: 0" |
'-----------------------------------'
|
| WiFi connected = true
| radioState = WIFI_CONNECTED
V
.-----------------------------------.
| STATE_BASE_TEMP_WIFI_CONNECTED |
.--------------->| Solid WiFi Icon |
| | "Xmitting" |
| | "RTCM: 2145" |
| '-----------------------------------'
| |
| | Caster enabled
| V
| .-----------------------------------.
| | STATE_BASE_TEMP_CASTER_STARTED |
| Caster failed | Solid WiFi Icon |
+<---------------| "Connecting" |
^ Authorization | "RTCM: 2145" |
| failed '-----------------------------------'
| |
| | Caster connected
| V
| .-----------------------------------.
| Caster failed | STATE_BASE_TEMP_CASTER_CONNECTED |
'----------------| Solid WiFi Icon |
| "Casting" |
| "RTCM: 2145" |
'-----------------------------------'

*/

case (STATE_BASE_NOT_STARTED):
{
if (online.gnss == false)
Expand Down Expand Up @@ -585,6 +664,63 @@ void updateSystemState()
}
break;

/*
.-----------------------------------.
startBase() | STATE_BASE_FIXED_NOT_STARTED |
= false | Text: "Base Started" |
.-------------| |
| '-----------------------------------'
V |
STATE_ROVER_NOT_STARTED | startBase() = true
(Rover diagram) V
.-----------------------------------.
| STATE_BASE_FIXED_TRANSMITTING |
| Castle Base Icon solid |
| "Xmitting" |
| "RTCM: 0" |
'-----------------------------------'
|
| NTRIP enabled = true
| Stop Bluetooth
| Start WiFi
V
.-----------------------------------.
| STATE_BASE_FIXED_WIFI_STARTED |
| Blinking WiFi Icon |
| "Xmitting" |
| "RTCM: 0" |
'-----------------------------------'
|
| WiFi connected
| radioState = WIFI_CONNECTED
V
.-----------------------------------.
| STATE_BASE_FIXED_WIFI_CONNECTED |
.----------->| Solid WiFi Icon |
| | "Xmitting" |
| | "RTCM: 2145" |
| '-----------------------------------'
| |
| | Caster enabled
| V
| .-----------------------------------.
| Caster | STATE_BASE_FIXED_CASTER_STARTED |
| Connection | Solid WiFi Icon |
| Failed | "Xmitting" |
+------------| "RTCM: 2145" |
^ Failed '-----------------------------------'
| Authroization |
| | Caster connected
| V
| .-----------------------------------.
| Caster | STATE_BASE_FIXED_WIFI_CONNECTED |
| Connection | Solid WiFi Icon |
| Failed | "Casting" |
'------------| "RTCM: 2145" |
'-----------------------------------'

*/

//User has set switch to base with fixed option enabled. Let's configure and try to get there.
//If fixed base fails, we'll handle it here
case (STATE_BASE_FIXED_NOT_STARTED):
Expand Down