feature/31 implement start conditions for PosTable entry (step 1)

[yeu-degroot]

This implements step 1 of #31.

It adds the possibility to set "start conditions" for a PosTable entry. These are defined as a bit pattern (array, size set by global constant).

In this step 1, if there are start conditions programmed for an entry, PosTable will always schedule a standstill (state 5) and go to the new waiting state (even if conditions are already met). See the diagram below.

Code changes

Add CONDITIONS_UBOUND global constant

This is used for setting the array sizes for the start conditions mechanism. Users can easily scale the number of start conditions to their needs.

Update McePosTableEntry data type

• Add startConditions (array of n bools) This is where the user defines the start conditions for an entry. It only checks for TRUE states.

Update McePosTableIO data type

• input: add conditions (array of n bools)
  This is where the user connects the signals which are used as start condition.
• Output: add missingConditions (array of n bools) This informs the user which of the start conditions are not met for the current entry (entry[index])

Add McePosTableCheckConditions function

This function shall check the conditions for a given entry. It will return a McePosTableConditions struct. It will be useful to determine which conditions are holding the trajectory.

• input: index
• input: posTableSize
• input: conditions
• in_out: PosTable

Add McePosTableConditions data type

• hasConditions (bool) TRUE if the entry requires a condition
• conditionsOk (bool)
  TRUE if all programmed start conditions for the entry are satisfied
• missingCondition (array of n bools)
  Indicates which of the conditions are not yet satisfied

Update McePosTableRemainingEntries

• Next valid entry with conditions is processed as a "stop entry"

Update McePosTableRecalcQA

• Next valid entry with conditions is processed as a "stop entry"
• Return a waitEntry boolean

Update McePosTable

• Add a new state "5: Wait for conditions"
• Add a waitEntry bit (like stopEntry or lastEntry)