{"action":"created","comment":{"url":"https://api.github.com/repos/uw-midsun/firmware/pulls/comments/185691285","pull_request_review_id":117130370,"id":185691285,"diff_hunk":"@@ -0,0 +1,216 @@\n+#include \"sequencer_fsm.h\"\n+\n+#include <stddef.h>\n+#include <string.h>\n+\n+#include \"chaos_events.h\"\n+#include \"event_queue.h\"\n+#include \"fsm.h\"\n+#include \"log.h\"\n+#include \"misc.h\"\n+#include \"power_path.h\"\n+#include \"relay_id.h\"\n+#include \"sequencer.h\"\n+\n+// Statics\n+static FSM s_sequencer_fsm;\n+static SequencerStorage s_storage;\n+\n+// Event order declarations\n+\n+// Emergency State Order:\n+// - Disable DCDC Monitoring\n+// - Open main power relay\n+// - Open solar master rear relay\n+// - Open solar master front relay\n+// - Open battery relay\n+// - Disable all unnecessary GPIO pins\n+static const SequencerEventPair s_emergency_events[] = {\n+  { .raise = { .id = CHAOS_EVENT_MONITOR_DISABLE, .data = POWER_PATH_SOURCE_ID_DCDC },\n+    .response = SEQUENCER_NO_OP },\n+  { .raise = { .id = CHAOS_EVENT_CLOSE_RELAY, .data = RELAY_ID_MAIN_POWER },\n+    .response = { .id = CHAOS_EVENT_RELAY_CLOSED, .data = RELAY_ID_MAIN_POWER } },\n+  { .raise = { .id = CHAOS_EVENT_CLOSE_RELAY, .data = RELAY_ID_SOLAR_MASTER_REAR },\n+    .response = { .id = CHAOS_EVENT_RELAY_CLOSED, .data = RELAY_ID_SOLAR_MASTER_REAR } },\n+  { .raise = { .id = CHAOS_EVENT_CLOSE_RELAY, .data = RELAY_ID_SOLAR_MASTER_FRONT },\n+    .response = { .id = CHAOS_EVENT_RELAY_CLOSED, .data = RELAY_ID_SOLAR_MASTER_FRONT } },\n+  { .raise = { .id = CHAOS_EVENT_CLOSE_RELAY, .data = RELAY_ID_BATTERY },\n+    .response = { .id = CHAOS_EVENT_RELAY_CLOSED, .data = RELAY_ID_BATTERY } },\n+  { .raise = { .id = CHAOS_EVENT_GPIO_EMERGENCY, .data = SEQUENCER_EMPTY_DATA },\n+    .response = SEQUENCER_NO_OP },\n+  { .raise = { .id = CHAOS_EVENT_SEQUENCE_EMERGENCY_DONE, .data = SEQUENCER_EMPTY_DATA },\n+    .response = SEQUENCER_NO_OP },\n+};\n+\n+// Idle State Order:\n+// - Disable DCDC Monitoring\n+// - Open main power relay\n+// - Open solar master rear relay\n+// - Open solar master front relay\n+// - Open battery relay\n+// - Disable all unnecessary GPIO pins\n+static const SequencerEventPair s_idle_events[] = {\n+  { .raise = { .id = CHAOS_EVENT_MONITOR_DISABLE, .data = POWER_PATH_SOURCE_ID_DCDC },\n+    .response = SEQUENCER_NO_OP },\n+  { .raise = { .id = CHAOS_EVENT_CLOSE_RELAY, .data = RELAY_ID_MAIN_POWER },\n+    .response = { .id = CHAOS_EVENT_RELAY_CLOSED, .data = RELAY_ID_MAIN_POWER } },\n+  { .raise = { .id = CHAOS_EVENT_CLOSE_RELAY, .data = RELAY_ID_SOLAR_MASTER_REAR },\n+    .response = { .id = CHAOS_EVENT_RELAY_CLOSED, .data = RELAY_ID_SOLAR_MASTER_REAR } },\n+  { .raise = { .id = CHAOS_EVENT_CLOSE_RELAY, .data = RELAY_ID_SOLAR_MASTER_FRONT },\n+    .response = { .id = CHAOS_EVENT_RELAY_CLOSED, .data = RELAY_ID_SOLAR_MASTER_FRONT } },\n+  { .raise = { .id = CHAOS_EVENT_CLOSE_RELAY, .data = RELAY_ID_BATTERY },\n+    .response = { .id = CHAOS_EVENT_RELAY_CLOSED, .data = RELAY_ID_BATTERY } },\n+  { .raise = { .id = CHAOS_EVENT_GPIO_IDLE, .data = SEQUENCER_EMPTY_DATA },\n+    .response = SEQUENCER_NO_OP },\n+  { .raise = { .id = CHAOS_EVENT_SEQUENCE_IDLE_DONE, .data = SEQUENCER_EMPTY_DATA },\n+    .response = SEQUENCER_NO_OP },\n+};\n+\n+// Charge State Order:\n+// - Turn on charging GPIOs\n+// - Open battery relay\n+// - Open solar master rear relay\n+// - Open solar master front relay\n+// - Open main power relay\n+// - Enable DCDC monitoring\n+static const SequencerEventPair s_charge_events[] = {\n+  { .raise = { .id = CHAOS_EVENT_GPIO_CHARGE, .data = SEQUENCER_EMPTY_DATA },\n+    .response = SEQUENCER_NO_OP },\n+  { .raise = { .id = CHAOS_EVENT_CLOSE_RELAY, .data = RELAY_ID_BATTERY },\n+    .response = { .id = CHAOS_EVENT_RELAY_CLOSED, .data = RELAY_ID_BATTERY } },\n+  { .raise = { .id = CHAOS_EVENT_CLOSE_RELAY, .data = RELAY_ID_SOLAR_MASTER_REAR },\n+    .response = { .id = CHAOS_EVENT_RELAY_CLOSED, .data = RELAY_ID_SOLAR_MASTER_REAR } },\n+  { .raise = { .id = CHAOS_EVENT_CLOSE_RELAY, .data = RELAY_ID_SOLAR_MASTER_FRONT },\n+    .response = { .id = CHAOS_EVENT_RELAY_CLOSED, .data = RELAY_ID_SOLAR_MASTER_FRONT } },\n+  { .raise = { .id = CHAOS_EVENT_CLOSE_RELAY, .data = RELAY_ID_MAIN_POWER },\n+    .response = { .id = CHAOS_EVENT_RELAY_CLOSED, .data = RELAY_ID_MAIN_POWER } },\n+  { .raise = { .id = CHAOS_EVENT_MONITOR_ENABLE, .data = POWER_PATH_SOURCE_ID_DCDC },\n+    .response = SEQUENCER_NO_OP },\n+  { .raise = { .id = CHAOS_EVENT_SEQUENCE_CHARGE_DONE, .data = SEQUENCER_EMPTY_DATA },\n+    .response = SEQUENCER_NO_OP },\n+};\n+\n+// Drive State Order:\n+// - Turn on drive GPIOs\n+// - Open battery relay\n+// - Open solar master rear relay\n+// - Open solar master front relay\n+// - Open main power relay\n+// - Enable DCDC monitoring\n+static const SequencerEventPair s_drive_events[] = {\n+  { .raise = { .id = CHAOS_EVENT_GPIO_DRIVE, .data = SEQUENCER_EMPTY_DATA },\n+    .response = SEQUENCER_NO_OP },\n+  { .raise = { .id = CHAOS_EVENT_CLOSE_RELAY, .data = RELAY_ID_BATTERY },\n+    .response = { .id = CHAOS_EVENT_RELAY_CLOSED, .data = RELAY_ID_BATTERY } },\n+  { .raise = { .id = CHAOS_EVENT_CLOSE_RELAY, .data = RELAY_ID_SOLAR_MASTER_REAR },\n+    .response = { .id = CHAOS_EVENT_RELAY_CLOSED, .data = RELAY_ID_SOLAR_MASTER_REAR } },\n+  { .raise = { .id = CHAOS_EVENT_CLOSE_RELAY, .data = RELAY_ID_SOLAR_MASTER_FRONT },\n+    .response = { .id = CHAOS_EVENT_RELAY_CLOSED, .data = RELAY_ID_SOLAR_MASTER_FRONT } },\n+  { .raise = { .id = CHAOS_EVENT_CLOSE_RELAY, .data = RELAY_ID_MAIN_POWER },\n+    .response = { .id = CHAOS_EVENT_RELAY_CLOSED, .data = RELAY_ID_MAIN_POWER } },\n+  { .raise = { .id = CHAOS_EVENT_MONITOR_ENABLE, .data = POWER_PATH_SOURCE_ID_DCDC },\n+    .response = SEQUENCER_NO_OP },\n+  { .raise = { .id = CHAOS_EVENT_SEQUENCE_DRIVE_DONE, .data = SEQUENCER_EMPTY_DATA },\n+    .response = SEQUENCER_NO_OP },\n+};\n+\n+// FSM Setup\n+FSM_DECLARE_STATE(sequencer_state_emergency);\n+FSM_DECLARE_STATE(sequencer_state_idle);\n+FSM_DECLARE_STATE(sequencer_state_charge);\n+FSM_DECLARE_STATE(sequencer_state_drive);\n+\n+FSM_STATE_TRANSITION(sequencer_state_emergency) {\n+  FSM_ADD_TRANSITION(CHAOS_EVENT_SEQUENCE_IDLE, sequencer_state_idle);\n+  FSM_ADD_TRANSITION(CHAOS_EVENT_SEQUENCE_EMERGENCY, sequencer_state_emergency);\n+  FSM_ADD_TRANSITION(CHAOS_EVENT_SEQUENCE_RESET, sequencer_state_emergency);\n+}\n+\n+FSM_STATE_TRANSITION(sequencer_state_idle) {\n+  FSM_ADD_TRANSITION(CHAOS_EVENT_SEQUENCE_EMERGENCY, sequencer_state_emergency);\n+  FSM_ADD_TRANSITION(CHAOS_EVENT_SEQUENCE_CHARGE, sequencer_state_charge);\n+  FSM_ADD_TRANSITION(CHAOS_EVENT_SEQUENCE_DRIVE, sequencer_state_drive);\n+  FSM_ADD_TRANSITION(CHAOS_EVENT_SEQUENCE_RESET, sequencer_state_idle);\n+}\n+\n+FSM_STATE_TRANSITION(sequencer_state_charge) {\n+  FSM_ADD_TRANSITION(CHAOS_EVENT_SEQUENCE_EMERGENCY, sequencer_state_emergency);\n+  FSM_ADD_TRANSITION(CHAOS_EVENT_SEQUENCE_IDLE, sequencer_state_idle);\n+  FSM_ADD_TRANSITION(CHAOS_EVENT_SEQUENCE_RESET, sequencer_state_charge);\n+}\n+\n+FSM_STATE_TRANSITION(sequencer_state_drive) {\n+  FSM_ADD_TRANSITION(CHAOS_EVENT_SEQUENCE_EMERGENCY, sequencer_state_emergency);\n+  FSM_ADD_TRANSITION(CHAOS_EVENT_SEQUENCE_IDLE, sequencer_state_idle);\n+  FSM_ADD_TRANSITION(CHAOS_EVENT_SEQUENCE_RESET, sequencer_state_drive);\n+}\n+\n+// FSM Transitions\n+static void prv_sequencer_state_emergency(FSM *fsm, const Event *e, void *context) {\n+  (void)fsm;\n+  (void)e;\n+  sequencer_init((SequencerStorage *)context, (SequencerEventPair *)s_emergency_events,\n+                 SIZEOF_ARRAY(s_emergency_events));\n+}\n+\n+static void prv_sequencer_state_idle(FSM *fsm, const Event *e, void *context) {\n+  (void)fsm;\n+  (void)e;\n+  sequencer_init((SequencerStorage *)context, (SequencerEventPair *)s_idle_events,\n+                 SIZEOF_ARRAY(s_idle_events));\n+}\n+\n+static void prv_sequencer_state_charge(FSM *fsm, const Event *e, void *context) {\n+  (void)fsm;\n+  (void)e;\n+  sequencer_init((SequencerStorage *)context, (SequencerEventPair *)s_charge_events,\n+                 SIZEOF_ARRAY(s_charge_events));\n+}\n+\n+static void prv_sequencer_state_drive(FSM *fsm, const Event *e, void *context) {\n+  (void)fsm;\n+  (void)e;\n+  sequencer_init((SequencerStorage *)context, (SequencerEventPair *)s_drive_events,\n+                 SIZEOF_ARRAY(s_drive_events));\n+}\n+\n+// Public interface\n+void sequencer_fsm_init(void) {\n+  memset(&s_storage, 0, sizeof(s_storage));\n+  fsm_state_init(sequencer_state_emergency, prv_sequencer_state_emergency);\n+  fsm_state_init(sequencer_state_idle, prv_sequencer_state_idle);\n+  fsm_state_init(sequencer_state_charge, prv_sequencer_state_charge);\n+  fsm_state_init(sequencer_state_drive, prv_sequencer_state_drive);\n+  fsm_init(&s_sequencer_fsm, \"SequenceFSM\", &sequencer_state_idle, &s_storage);\n+}\n+\n+StatusCode sequencer_fsm_publish_next_event(const Event *previous_event) {\n+  // Filter to only handled events. Those in the range\n+  // |(NUM_CHAOS_EVENTS_CAN, NUM_CHAOS_EVENTS_FSM)|\n+  // in addition to the emergency sequence messages.\n+  if (previous_event->id <= NUM_CHAOS_EVENTS_CAN &&\n+      !(previous_event->id == CHAOS_EVENT_SEQUENCE_EMERGENCY ||\n+        previous_event->id == CHAOS_EVENT_SEQUENCE_EMERGENCY_DONE)) {\n+    // Not in the range of handled events. This isn't necessarily invalid but won't be handled so\n+    // return unknown.\n+    return status_code(STATUS_CODE_UNKNOWN);\n+  } else if (previous_event->id == CHAOS_EVENT_NO_OP) {","path":"projects/chaos/src/sequencer_fsm.c","position":197,"original_position":197,"commit_id":"62e5a3af8e14896c900a2c117689225df10114a0","original_commit_id":"62e5a3af8e14896c900a2c117689225df10114a0","user":{"login":"tituschow","id":5583338,"avatar_url":"https://avatars0.githubusercontent.com/u/5583338?v=4","gravatar_id":"","url":"https://api.github.com/users/tituschow","html_url":"https://github.com/tituschow","followers_url":"https://api.github.com/users/tituschow/followers","following_url":"https://api.github.com/users/tituschow/following{/other_user}","gists_url":"https://api.github.com/users/tituschow/gists{/gist_id}","starred_url":"https://api.github.com/users/tituschow/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tituschow/subscriptions","organizations_url":"https://api.github.com/users/tituschow/orgs","repos_url":"https://api.github.com/users/tituschow/repos","events_url":"https://api.github.com/users/tituschow/events{/privacy}","received_events_url":"https://api.github.com/users/tituschow/received_events","type":"User","site_admin":false},"body":"With the raise/response pairs, I don't think you should ever have a no-op event raised.","created_at":"2018-05-03T03:33:11Z","updated_at":"2018-05-03T03:33:11Z","html_url":"https://github.com/uw-midsun/firmware/pull/163#discussion_r185691285","pull_request_url":"https://api.github.com/repos/uw-midsun/firmware/pulls/163","author_association":"OWNER","_links":{"self":{"href":"https://api.github.com/repos/uw-midsun/firmware/pulls/comments/185691285"},"html":{"href":"https://github.com/uw-midsun/firmware/pull/163#discussion_r185691285"},"pull_request":{"href":"https://api.github.com/repos/uw-midsun/firmware/pulls/163"}}},"pull_request":{"url":"https://api.github.com/repos/uw-midsun/firmware/pulls/163","id":180121240,"html_url":"https://github.com/uw-midsun/firmware/pull/163","diff_url":"https://github.com/uw-midsun/firmware/pull/163.diff","patch_url":"https://github.com/uw-midsun/firmware/pull/163.patch","issue_url":"https://api.github.com/repos/uw-midsun/firmware/issues/163","number":163,"state":"open","locked":false,"title":"ELEC-105: Chaos Sequencer","user":{"login":"ckitagawa","id":9539007,"avatar_url":"https://avatars0.githubusercontent.com/u/9539007?v=4","gravatar_id":"","url":"https://api.github.com/users/ckitagawa","html_url":"https://github.com/ckitagawa","followers_url":"https://api.github.com/users/ckitagawa/followers","following_url":"https://api.github.com/users/ckitagawa/following{/other_user}","gists_url":"https://api.github.com/users/ckitagawa/gists{/gist_id}","starred_url":"https://api.github.com/users/ckitagawa/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ckitagawa/subscriptions","organizations_url":"https://api.github.com/users/ckitagawa/orgs","repos_url":"https://api.github.com/users/ckitagawa/repos","events_url":"https://api.github.com/users/ckitagawa/events{/privacy}","received_events_url":"https://api.github.com/users/ckitagawa/received_events","type":"User","site_admin":false},"body":"This is the Chaos Sequencer module which schedules core FSM events (those dictated by the power state) via the main event loop. This is to avoid a single large FSM. Instead each module acts like a standalone FSM and subscribes to events on the loop. However, in order to enforce a strict ordering on actions (particularly important for power and relay sequencing which may need retries) the sequencer is used to publish the next event required for the transition when the previous event is successfully processed.\r\n\r\nRemaining work after this PR:\r\n\r\n*  Configure Pins\r\n*  Main Loop\r\n*  CAN Handlers for messages from Driver Controls\r\n*  Charger Notification handler module.","created_at":"2018-04-07T19:34:05Z","updated_at":"2018-05-03T03:33:11Z","closed_at":null,"merged_at":null,"merge_commit_sha":"9e406b61b0fb01aedac02f4e9aaf8a83110044aa","assignee":null,"assignees":[],"requested_reviewers":[{"login":"karlding","id":6836385,"avatar_url":"https://avatars2.githubusercontent.com/u/6836385?v=4","gravatar_id":"","url":"https://api.github.com/users/karlding","html_url":"https://github.com/karlding","followers_url":"https://api.github.com/users/karlding/followers","following_url":"https://api.github.com/users/karlding/following{/other_user}","gists_url":"https://api.github.com/users/karlding/gists{/gist_id}","starred_url":"https://api.github.com/users/karlding/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/karlding/subscriptions","organizations_url":"https://api.github.com/users/karlding/orgs","repos_url":"https://api.github.com/users/karlding/repos","events_url":"https://api.github.com/users/karlding/events{/privacy}","received_events_url":"https://api.github.com/users/karlding/received_events","type":"User","site_admin":false}],"requested_teams":[],"labels":[],"milestone":null,"commits_url":"https://api.github.com/repos/uw-midsun/firmware/pulls/163/commits","review_comments_url":"https://api.github.com/repos/uw-midsun/firmware/pulls/163/comments","review_comment_url":"https://api.github.com/repos/uw-midsun/firmware/pulls/comments{/number}","comments_url":"https://api.github.com/repos/uw-midsun/firmware/issues/163/comments","statuses_url":"https://api.github.com/repos/uw-midsun/firmware/statuses/62e5a3af8e14896c900a2c117689225df10114a0","head":{"label":"uw-midsun:elec_105_chaos_sequencer","ref":"elec_105_chaos_sequencer","sha":"62e5a3af8e14896c900a2c117689225df10114a0","user":{"login":"uw-midsun","id":14828575,"avatar_url":"https://avatars1.githubusercontent.com/u/14828575?v=4","gravatar_id":"","url":"https://api.github.com/users/uw-midsun","html_url":"https://github.com/uw-midsun","followers_url":"https://api.github.com/users/uw-midsun/followers","following_url":"https://api.github.com/users/uw-midsun/following{/other_user}","gists_url":"https://api.github.com/users/uw-midsun/gists{/gist_id}","starred_url":"https://api.github.com/users/uw-midsun/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/uw-midsun/subscriptions","organizations_url":"https://api.github.com/users/uw-midsun/orgs","repos_url":"https://api.github.com/users/uw-midsun/repos","events_url":"https://api.github.com/users/uw-midsun/events{/privacy}","received_events_url":"https://api.github.com/users/uw-midsun/received_events","type":"Organization","site_admin":false},"repo":{"id":69197028,"name":"firmware","full_name":"uw-midsun/firmware","owner":{"login":"uw-midsun","id":14828575,"avatar_url":"https://avatars1.githubusercontent.com/u/14828575?v=4","gravatar_id":"","url":"https://api.github.com/users/uw-midsun","html_url":"https://github.com/uw-midsun","followers_url":"https://api.github.com/users/uw-midsun/followers","following_url":"https://api.github.com/users/uw-midsun/following{/other_user}","gists_url":"https://api.github.com/users/uw-midsun/gists{/gist_id}","starred_url":"https://api.github.com/users/uw-midsun/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/uw-midsun/subscriptions","organizations_url":"https://api.github.com/users/uw-midsun/orgs","repos_url":"https://api.github.com/users/uw-midsun/repos","events_url":"https://api.github.com/users/uw-midsun/events{/privacy}","received_events_url":"https://api.github.com/users/uw-midsun/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/uw-midsun/firmware","description":"Firmware 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