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| 1 | +from gs.backend.state_machine.state_enums import StateMachineStates |
| 2 | +from gs.backend.state_machine.state_transition_enums import StateTransition |
| 3 | + |
| 4 | + |
| 5 | +class StateMachine: |
| 6 | + """ |
| 7 | + Ground station state machine. |
| 8 | + """ |
| 9 | + |
| 10 | + def __init__(self, default_state: StateMachineStates) -> None: |
| 11 | + """ |
| 12 | + Initialize the state machine and sets the default state and default transitional state |
| 13 | +
|
| 14 | + :params default_state: default state which must come from one of the enums in StateMachineStates |
| 15 | + """ |
| 16 | + self.state = default_state |
| 17 | + self.transitional_state: StateTransition = StateTransition.NO_TRANSITION_TRIGGERED |
| 18 | + |
| 19 | + def switch_state(self, transitional_state: StateTransition) -> None: |
| 20 | + """ |
| 21 | + :params transitional_state: The transitional state of the state machine, used to update state |
| 22 | + """ |
| 23 | + self.transitional_state = transitional_state |
| 24 | + |
| 25 | + match self.state: |
| 26 | + case StateMachineStates.DISCONNECTED: |
| 27 | + match self.transitional_state: |
| 28 | + case StateTransition.ENTER_EMERGENCY: |
| 29 | + self.state = StateMachineStates.ENTERING_EMERGENCY |
| 30 | + case StateTransition.BEGIN_UPLINK: |
| 31 | + self.state = StateMachineStates.ATTEMPTING_CONNECTION |
| 32 | + case _: |
| 33 | + self.state = StateMachineStates.SERVER_SIDE_ERROR |
| 34 | + |
| 35 | + case StateMachineStates.ATTEMPTING_CONNECTION: |
| 36 | + match self.transitional_state: |
| 37 | + case StateTransition.CONNECTION_ESTABLISHED: |
| 38 | + self.state = StateMachineStates.AWAITING_ACK |
| 39 | + case StateTransition.ERROR: |
| 40 | + self.state = StateMachineStates.DISCONNECTED |
| 41 | + case _: |
| 42 | + self.state = StateMachineStates.SERVER_SIDE_ERROR |
| 43 | + |
| 44 | + case StateMachineStates.AWAITING_ACK: |
| 45 | + match self.transitional_state: |
| 46 | + case StateTransition.ACK_RECEIVED: |
| 47 | + self.state = StateMachineStates.UPLINKING |
| 48 | + case StateTransition.ERROR: |
| 49 | + self.state = StateMachineStates.DISCONNECTED |
| 50 | + case _: |
| 51 | + self.state = StateMachineStates.SERVER_SIDE_ERROR |
| 52 | + |
| 53 | + case StateMachineStates.UPLINKING: |
| 54 | + match self.transitional_state: |
| 55 | + case StateTransition.UPLINK_FINISHED: |
| 56 | + self.state = StateMachineStates.DOWNLINKING |
| 57 | + case StateTransition.DISCONNECTING: |
| 58 | + self.state = StateMachineStates.AWAITING_DISCONNECT |
| 59 | + case StateTransition.ERROR: |
| 60 | + self.state = StateMachineStates.DISCONNECTED |
| 61 | + case _: |
| 62 | + self.state = StateMachineStates.SERVER_SIDE_ERROR |
| 63 | + |
| 64 | + case StateMachineStates.AWAITING_DISCONNECT: |
| 65 | + match self.transitional_state: |
| 66 | + case StateTransition.DISCONNECT_CMD_RECEIVED: |
| 67 | + self.state = StateMachineStates.SEND_DISCONNECT_ACK |
| 68 | + case StateTransition.ERROR: |
| 69 | + self.state = StateMachineStates.DISCONNECTED |
| 70 | + case _: |
| 71 | + self.state = StateMachineStates.SERVER_SIDE_ERROR |
| 72 | + |
| 73 | + case StateMachineStates.SEND_DISCONNECT_ACK: |
| 74 | + match self.transitional_state: |
| 75 | + case StateTransition.DISCONNECT_COMPLETE: |
| 76 | + self.state = StateMachineStates.DISCONNECTED |
| 77 | + case StateTransition.ERROR: |
| 78 | + self.state = StateMachineStates.DISCONNECTED |
| 79 | + case _: |
| 80 | + self.state = StateMachineStates.SERVER_SIDE_ERROR |
| 81 | + |
| 82 | + case StateMachineStates.DOWNLINKING: |
| 83 | + match self.transitional_state: |
| 84 | + case StateTransition.DOWNLINKING_FINISHED: |
| 85 | + self.state = StateMachineStates.UPLINKING |
| 86 | + case StateTransition.ERROR: |
| 87 | + self.state = StateMachineStates.DISCONNECTED |
| 88 | + case _: |
| 89 | + self.state = StateMachineStates.SERVER_SIDE_ERROR |
| 90 | + |
| 91 | + case StateMachineStates.ENTERING_EMERGENCY: |
| 92 | + match self.transitional_state: |
| 93 | + case StateTransition.EMERGENCY_INITIATED: |
| 94 | + self.state = StateMachineStates.AWAITING_CONNECTION |
| 95 | + case StateTransition.ERROR: |
| 96 | + self.state = StateMachineStates.DISCONNECTED |
| 97 | + case _: |
| 98 | + self.state = StateMachineStates.SERVER_SIDE_ERROR |
| 99 | + |
| 100 | + case StateMachineStates.AWAITING_CONNECTION: |
| 101 | + match self.transitional_state: |
| 102 | + case StateTransition.CONNECTION_RECEIVED: |
| 103 | + self.state = StateMachineStates.SEND_CONNECTION_ACK |
| 104 | + case StateTransition.ERROR: |
| 105 | + self.state = StateMachineStates.DISCONNECTED |
| 106 | + case _: |
| 107 | + self.state = StateMachineStates.SERVER_SIDE_ERROR |
| 108 | + |
| 109 | + case StateMachineStates.SEND_CONNECTION_ACK: |
| 110 | + match self.transitional_state: |
| 111 | + case StateTransition.CONNECTION_ACK_SENT: |
| 112 | + self.state = StateMachineStates.EMERGENCY_UPLINK |
| 113 | + case StateTransition.ERROR: |
| 114 | + self.state = StateMachineStates.DISCONNECTED |
| 115 | + case _: |
| 116 | + self.state = StateMachineStates.SERVER_SIDE_ERROR |
| 117 | + |
| 118 | + case StateMachineStates.EMERGENCY_UPLINK: |
| 119 | + match self.transitional_state: |
| 120 | + case StateTransition.EMERGENCY_UPLINK_FINISHED: |
| 121 | + self.state = StateMachineStates.DISCONNECTED |
| 122 | + case StateTransition.ERROR: |
| 123 | + self.state = StateMachineStates.DISCONNECTED |
| 124 | + case _: |
| 125 | + self.state = StateMachineStates.SERVER_SIDE_ERROR |
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