1120 lines
40 KiB
C
1120 lines
40 KiB
C
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/******************************************************************************
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The MIT License(MIT)
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Embedded Template Library.
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https://github.com/ETLCPP/etl
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https://www.etlcpp.com
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Copyright(c) 2018 John Wellbelove
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files(the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions :
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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******************************************************************************/
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#ifndef ETL_STATE_CHART_INCLUDED
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#define ETL_STATE_CHART_INCLUDED
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#include "platform.h"
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#include "nullptr.h"
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#include "array.h"
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#include "array_view.h"
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#include "utility.h"
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#include <stdint.h>
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namespace etl
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{
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//***************************************************************************
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/// Simple Finite State Machine Types
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//***************************************************************************
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namespace state_chart_traits
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{
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typedef uint_least8_t state_id_t;
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typedef uint_least8_t event_id_t;
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//*************************************************************************
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/// Transition definition
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//*************************************************************************
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template <typename TObject, typename TParameter = void>
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struct transition
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{
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ETL_CONSTEXPR transition(const state_id_t current_state_id_,
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event_id_t event_id_,
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const state_id_t next_state_id_,
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void (TObject::* const action_)(TParameter) = ETL_NULLPTR,
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bool (TObject::* const guard_)() = ETL_NULLPTR)
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: current_state_id(current_state_id_)
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, event_id(event_id_)
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, next_state_id(next_state_id_)
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, action(action_)
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, guard(guard_)
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, from_any_state(false)
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{
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}
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ETL_CONSTEXPR transition(event_id_t event_id_,
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const state_id_t next_state_id_,
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void (TObject::* const action_)(TParameter) = ETL_NULLPTR,
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bool (TObject::* const guard_)() = ETL_NULLPTR)
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: current_state_id(0)
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, event_id(event_id_)
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, next_state_id(next_state_id_)
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, action(action_)
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, guard(guard_)
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, from_any_state(true)
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{
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}
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const state_id_t current_state_id;
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const event_id_t event_id;
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const state_id_t next_state_id;
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void (TObject::* const action)(TParameter);
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bool (TObject::* const guard)();
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const bool from_any_state;
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};
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//*************************************************************************
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/// Transition definition
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/// Specialisation for void parameter
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//*************************************************************************
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template <typename TObject>
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struct transition<TObject, void>
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{
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ETL_CONSTEXPR transition(const state_id_t current_state_id_,
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event_id_t event_id_,
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const state_id_t next_state_id_,
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void (TObject::* const action_)() = ETL_NULLPTR,
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bool (TObject::* const guard_)() = ETL_NULLPTR)
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: current_state_id(current_state_id_)
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, event_id(event_id_)
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, next_state_id(next_state_id_)
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, action(action_)
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, guard(guard_)
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, from_any_state(false)
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{
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}
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ETL_CONSTEXPR transition(event_id_t event_id_,
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const state_id_t next_state_id_,
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void (TObject::* const action_)() = ETL_NULLPTR,
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bool (TObject::* const guard_)() = ETL_NULLPTR)
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: current_state_id(0)
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, event_id(event_id_)
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, next_state_id(next_state_id_)
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, action(action_)
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, guard(guard_)
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, from_any_state(true)
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{
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}
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const state_id_t current_state_id;
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const event_id_t event_id;
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const state_id_t next_state_id;
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void (TObject::* const action)();
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bool (TObject::* const guard)();
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const bool from_any_state;
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};
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//*************************************************************************
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/// State definition
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//*************************************************************************
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template <typename TObject>
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struct state
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{
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ETL_CONSTEXPR state(const state_id_t state_id_,
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void (TObject::* const on_entry_)() = ETL_NULLPTR,
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void (TObject::* const on_exit_)() = ETL_NULLPTR)
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: state_id(state_id_)
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, on_entry(on_entry_)
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, on_exit(on_exit_)
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{
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}
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state_id_t state_id;
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void (TObject::* const on_entry)();
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void (TObject::* const on_exit)();
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};
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}
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//***************************************************************************
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/// For non-void parameter types
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//***************************************************************************
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template <typename TParameter>
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class istate_chart
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{
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public:
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typedef TParameter parameter_t;
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typedef state_chart_traits::state_id_t state_id_t;
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typedef state_chart_traits::event_id_t event_id_t;
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istate_chart(state_id_t initial_state_id)
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: current_state_id(initial_state_id)
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{
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}
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virtual void start(bool on_entry_initial = true) = 0;
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virtual void process_event(event_id_t, parameter_t) = 0;
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virtual ~istate_chart() {}
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//*************************************************************************
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/// Gets the current state id.
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/// \return The current state id.
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//*************************************************************************
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state_id_t get_state_id() const
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{
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return current_state_id;
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}
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protected:
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state_id_t current_state_id; ///< The current state id.
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};
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//***************************************************************************
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/// For void parameter types
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//***************************************************************************
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template <>
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class istate_chart<void>
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{
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public:
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typedef void parameter_t;
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typedef state_chart_traits::state_id_t state_id_t;
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typedef state_chart_traits::event_id_t event_id_t;
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istate_chart(state_id_t initial_state_id)
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: current_state_id(initial_state_id)
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{
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}
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virtual void process_event(event_id_t) = 0;
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virtual void start(bool on_entry_initial = true) = 0;
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virtual ~istate_chart() {}
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//*************************************************************************
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/// Gets the current state id.
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/// \return The current state id.
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//*************************************************************************
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state_id_t get_state_id() const
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{
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return current_state_id;
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}
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protected:
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state_id_t current_state_id; ///< The current state id.
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};
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//***************************************************************************
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/// Simple Finite State Machine
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/// Compile time tables.
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/// Event has no parameter.
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//***************************************************************************
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template <typename TObject,
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TObject& TObject_Ref,
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const etl::state_chart_traits::transition<TObject, void>* Transition_Table_Begin,
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size_t Transition_Table_Size,
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const etl::state_chart_traits::state<TObject>* State_Table_Begin,
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size_t State_Table_Size,
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etl::state_chart_traits::state_id_t Initial_State>
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class state_chart_ct : public istate_chart<void>
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{
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public:
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typedef void parameter_t;
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typedef state_chart_traits::state_id_t state_id_t;
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typedef state_chart_traits::event_id_t event_id_t;
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typedef state_chart_traits::transition<TObject, void> transition;
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typedef state_chart_traits::state<TObject> state;
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//*************************************************************************
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/// Constructor.
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//*************************************************************************
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ETL_CONSTEXPR state_chart_ct()
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: istate_chart<void>(Initial_State)
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, started(false)
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{
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}
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//*************************************************************************
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/// Gets a const reference to the implementation object.
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/// \return Const reference to the implementation object.
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//*************************************************************************
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TObject& get_object()
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{
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return TObject_Ref;
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}
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//*************************************************************************
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/// Gets a const reference to the implementation object.
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/// \return Const reference to the implementation object.
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//*************************************************************************
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const TObject& get_object() const
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{
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return TObject_Ref;
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}
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//*************************************************************************
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/// Start the state chart.
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//*************************************************************************
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virtual void start(bool on_entry_initial = true) ETL_OVERRIDE
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{
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if (!started)
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{
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if (on_entry_initial)
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{
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// See if we have a state item for the initial state.
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const state* s = find_state(this->current_state_id);
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// If the initial state has an 'on_entry' then call it.
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if ((s != (State_Table_Begin + State_Table_Size)) && (s->on_entry != ETL_NULLPTR))
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{
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(TObject_Ref.*(s->on_entry))();
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}
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}
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started = true;
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}
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}
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//*************************************************************************
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/// Processes the specified event.
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/// The state machine will action the <b>first</b> item in the transition table
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/// that satisfies the conditions for executing the action.
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/// \param event_id The id of the event to process.
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//*************************************************************************
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virtual void process_event(event_id_t event_id) ETL_OVERRIDE
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{
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if (started)
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{
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const transition* t = Transition_Table_Begin;
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// Keep looping until we execute a transition or reach the end of the table.
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while (t != (Transition_Table_Begin + Transition_Table_Size))
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{
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// Scan the transition table from the latest position.
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t = etl::find_if(t, (Transition_Table_Begin + Transition_Table_Size), is_transition(event_id, this->current_state_id));
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// Found an entry?
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if (t != (Transition_Table_Begin + Transition_Table_Size))
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{
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// Shall we execute the transition?
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if ((t->guard == ETL_NULLPTR) || ((TObject_Ref.*t->guard)()))
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{
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// Shall we execute the action?
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if (t->action != ETL_NULLPTR)
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{
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(TObject_Ref.*t->action)();
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}
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// Changing state?
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if (this->current_state_id != t->next_state_id)
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{
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const state* s;
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// See if we have a state item for the current state.
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s = find_state(this->current_state_id);
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// If the current state has an 'on_exit' then call it.
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if ((s != (State_Table_Begin + State_Table_Size)) && (s->on_exit != ETL_NULLPTR))
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{
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(TObject_Ref.*(s->on_exit))();
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}
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this->current_state_id = t->next_state_id;
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// See if we have a state item for the new state.
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s = find_state(this->current_state_id);
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// If the new state has an 'on_entry' then call it.
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if ((s != (State_Table_Begin + State_Table_Size)) && (s->on_entry != ETL_NULLPTR))
|
||
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{
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||
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(TObject_Ref.*(s->on_entry))();
|
||
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}
|
||
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}
|
||
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||
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t = (Transition_Table_Begin + Transition_Table_Size);
|
||
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}
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||
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else
|
||
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{
|
||
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// Start the search from the next item in the table.
|
||
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++t;
|
||
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}
|
||
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}
|
||
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}
|
||
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}
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
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//*************************************************************************
|
||
|
|
/// Gets the current state id.
|
||
|
|
/// \return The current state id.
|
||
|
|
//*************************************************************************
|
||
|
|
const state* find_state(state_id_t state_id)
|
||
|
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{
|
||
|
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return etl::find_if(State_Table_Begin, State_Table_Begin + State_Table_Size, is_state(state_id));
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
struct is_transition
|
||
|
|
{
|
||
|
|
is_transition(event_id_t event_id_, state_id_t state_id_)
|
||
|
|
: event_id(event_id_)
|
||
|
|
, state_id(state_id_)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
bool operator()(const transition& t) const
|
||
|
|
{
|
||
|
|
return (t.event_id == event_id) && (t.from_any_state || (t.current_state_id == state_id));
|
||
|
|
}
|
||
|
|
|
||
|
|
const event_id_t event_id;
|
||
|
|
const state_id_t state_id;
|
||
|
|
};
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
struct is_state
|
||
|
|
{
|
||
|
|
is_state(state_id_t state_id_)
|
||
|
|
: state_id(state_id_)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
bool operator()(const state& s) const
|
||
|
|
{
|
||
|
|
return (s.state_id == state_id);
|
||
|
|
}
|
||
|
|
|
||
|
|
const state_id_t state_id;
|
||
|
|
};
|
||
|
|
|
||
|
|
// Disabled
|
||
|
|
state_chart_ct(const state_chart_ct&) ETL_DELETE;
|
||
|
|
state_chart_ct& operator =(const state_chart_ct&) ETL_DELETE;
|
||
|
|
|
||
|
|
bool started; ///< Set if the state chart has been started.
|
||
|
|
};
|
||
|
|
|
||
|
|
//***************************************************************************
|
||
|
|
/// Simple Finite State Machine
|
||
|
|
/// Compile time tables.
|
||
|
|
/// Event has parameter.
|
||
|
|
//***************************************************************************
|
||
|
|
template <typename TObject,
|
||
|
|
typename TParameter,
|
||
|
|
TObject& TObject_Ref,
|
||
|
|
const etl::state_chart_traits::transition<TObject, TParameter>* Transition_Table_Begin,
|
||
|
|
size_t Transition_Table_Size,
|
||
|
|
const etl::state_chart_traits::state<TObject>* State_Table_Begin,
|
||
|
|
size_t State_Table_Size,
|
||
|
|
etl::state_chart_traits::state_id_t Initial_State>
|
||
|
|
class state_chart_ctp : public istate_chart<TParameter>
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
|
||
|
|
typedef TParameter parameter_t;
|
||
|
|
typedef state_chart_traits::state_id_t state_id_t;
|
||
|
|
typedef state_chart_traits::event_id_t event_id_t;
|
||
|
|
typedef state_chart_traits::transition<TObject, parameter_t> transition;
|
||
|
|
typedef state_chart_traits::state<TObject> state;
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Constructor.
|
||
|
|
//*************************************************************************
|
||
|
|
ETL_CONSTEXPR state_chart_ctp()
|
||
|
|
: istate_chart<TParameter>(Initial_State)
|
||
|
|
, started(false)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Gets a const reference to the implementation object.
|
||
|
|
/// \return Const reference to the implementation object.
|
||
|
|
//*************************************************************************
|
||
|
|
TObject& get_object()
|
||
|
|
{
|
||
|
|
return TObject_Ref;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Gets a const reference to the implementation object.
|
||
|
|
/// \return Const reference to the implementation object.
|
||
|
|
//*************************************************************************
|
||
|
|
const TObject& get_object() const
|
||
|
|
{
|
||
|
|
return TObject_Ref;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Start the state chart.
|
||
|
|
//*************************************************************************
|
||
|
|
virtual void start(bool on_entry_initial = true) ETL_OVERRIDE
|
||
|
|
{
|
||
|
|
if (!started)
|
||
|
|
{
|
||
|
|
if (on_entry_initial)
|
||
|
|
{
|
||
|
|
// See if we have a state item for the initial state.
|
||
|
|
const state* s = find_state(this->current_state_id);
|
||
|
|
|
||
|
|
// If the initial state has an 'on_entry' then call it.
|
||
|
|
if ((s != (State_Table_Begin + State_Table_Size)) && (s->on_entry != ETL_NULLPTR))
|
||
|
|
{
|
||
|
|
(TObject_Ref.*(s->on_entry))();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
started = true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Processes the specified event.
|
||
|
|
/// The state machine will action the <b>first</b> item in the transition table
|
||
|
|
/// that satisfies the conditions for executing the action.
|
||
|
|
/// \param event_id The id of the event to process.
|
||
|
|
//*************************************************************************
|
||
|
|
virtual void process_event(event_id_t event_id, parameter_t data) ETL_OVERRIDE
|
||
|
|
{
|
||
|
|
if (started)
|
||
|
|
{
|
||
|
|
const transition* t = Transition_Table_Begin;
|
||
|
|
|
||
|
|
// Keep looping until we execute a transition or reach the end of the table.
|
||
|
|
while (t != (Transition_Table_Begin + Transition_Table_Size))
|
||
|
|
{
|
||
|
|
// Scan the transition table from the latest position.
|
||
|
|
t = etl::find_if(t, (Transition_Table_Begin + Transition_Table_Size), is_transition(event_id, this->current_state_id));
|
||
|
|
|
||
|
|
// Found an entry?
|
||
|
|
if (t != (Transition_Table_Begin + Transition_Table_Size))
|
||
|
|
{
|
||
|
|
// Shall we execute the transition?
|
||
|
|
if ((t->guard == ETL_NULLPTR) || ((TObject_Ref.*t->guard)()))
|
||
|
|
{
|
||
|
|
// Shall we execute the action?
|
||
|
|
if (t->action != ETL_NULLPTR)
|
||
|
|
{
|
||
|
|
#if ETL_USING_CPP11
|
||
|
|
(TObject_Ref.*t->action)(etl::forward<parameter_t>(data));
|
||
|
|
#else
|
||
|
|
(TObject_Ref.*t->action)(data);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
// Changing state?
|
||
|
|
if (this->current_state_id != t->next_state_id)
|
||
|
|
{
|
||
|
|
const state* s;
|
||
|
|
|
||
|
|
// See if we have a state item for the current state.
|
||
|
|
s = find_state(this->current_state_id);
|
||
|
|
|
||
|
|
// If the current state has an 'on_exit' then call it.
|
||
|
|
if ((s != (State_Table_Begin + State_Table_Size)) && (s->on_exit != ETL_NULLPTR))
|
||
|
|
{
|
||
|
|
(TObject_Ref.*(s->on_exit))();
|
||
|
|
}
|
||
|
|
|
||
|
|
this->current_state_id = t->next_state_id;
|
||
|
|
|
||
|
|
// See if we have a state item for the new state.
|
||
|
|
s = find_state(this->current_state_id);
|
||
|
|
|
||
|
|
// If the new state has an 'on_entry' then call it.
|
||
|
|
if ((s != (State_Table_Begin + State_Table_Size)) && (s->on_entry != ETL_NULLPTR))
|
||
|
|
{
|
||
|
|
(TObject_Ref.*(s->on_entry))();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
t = (Transition_Table_Begin + Transition_Table_Size);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// Start the search from the next item in the table.
|
||
|
|
++t;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Gets the current state id.
|
||
|
|
/// \return The current state id.
|
||
|
|
//*************************************************************************
|
||
|
|
const state* find_state(state_id_t state_id)
|
||
|
|
{
|
||
|
|
return etl::find_if(State_Table_Begin, State_Table_Begin + State_Table_Size, is_state(state_id));
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
struct is_transition
|
||
|
|
{
|
||
|
|
is_transition(event_id_t event_id_, state_id_t state_id_)
|
||
|
|
: event_id(event_id_)
|
||
|
|
, state_id(state_id_)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
bool operator()(const transition& t) const
|
||
|
|
{
|
||
|
|
return (t.event_id == event_id) && (t.from_any_state || (t.current_state_id == state_id));
|
||
|
|
}
|
||
|
|
|
||
|
|
const event_id_t event_id;
|
||
|
|
const state_id_t state_id;
|
||
|
|
};
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
struct is_state
|
||
|
|
{
|
||
|
|
is_state(state_id_t state_id_)
|
||
|
|
: state_id(state_id_)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
bool operator()(const state& s) const
|
||
|
|
{
|
||
|
|
return (s.state_id == state_id);
|
||
|
|
}
|
||
|
|
|
||
|
|
const state_id_t state_id;
|
||
|
|
};
|
||
|
|
|
||
|
|
// Disabled
|
||
|
|
state_chart_ctp(const state_chart_ctp&) ETL_DELETE;
|
||
|
|
state_chart_ctp& operator =(const state_chart_ctp&) ETL_DELETE;
|
||
|
|
|
||
|
|
bool started; ///< Set if the state chart has been started.
|
||
|
|
};
|
||
|
|
|
||
|
|
//***************************************************************************
|
||
|
|
/// Simple Finite State Machine
|
||
|
|
/// Runtime tables.
|
||
|
|
/// Event has a parameter.
|
||
|
|
//***************************************************************************
|
||
|
|
template <typename TObject, typename TParameter = void>
|
||
|
|
class state_chart : public istate_chart<TParameter>
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
|
||
|
|
typedef TParameter parameter_t;
|
||
|
|
typedef state_chart_traits::state_id_t state_id_t;
|
||
|
|
typedef state_chart_traits::event_id_t event_id_t;
|
||
|
|
typedef state_chart_traits::transition<TObject, parameter_t> transition;
|
||
|
|
typedef state_chart_traits::state<TObject> state;
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Constructor.
|
||
|
|
/// \param object_ A reference to the implementation object.
|
||
|
|
/// \param transition_table_begin_ The start of the table of transitions.
|
||
|
|
/// \param transition_table_end_ The end of the table of transitions.
|
||
|
|
/// \param state_table_begin_ The start of the state table.
|
||
|
|
/// \param state_table_end_ The end of the state table.
|
||
|
|
/// \param state_id_ The initial state id.
|
||
|
|
//*************************************************************************
|
||
|
|
ETL_CONSTEXPR state_chart(TObject& object_,
|
||
|
|
const transition* transition_table_begin_,
|
||
|
|
const transition* transition_table_end_,
|
||
|
|
const state* state_table_begin_,
|
||
|
|
const state* state_table_end_,
|
||
|
|
const state_id_t state_id_)
|
||
|
|
: istate_chart<TParameter>(state_id_)
|
||
|
|
, object(object_)
|
||
|
|
, transition_table_begin(transition_table_begin_)
|
||
|
|
, state_table_begin(state_table_begin_)
|
||
|
|
, transition_table_size(transition_table_end_ - transition_table_begin_)
|
||
|
|
, state_table_size(state_table_end_ - state_table_begin_)
|
||
|
|
, started(false)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Sets the transition table.
|
||
|
|
/// \param state_table_begin_ The start of the state table.
|
||
|
|
/// \param state_table_end_ The end of the state table.
|
||
|
|
//*************************************************************************
|
||
|
|
void set_transition_table(const transition* transition_table_begin_,
|
||
|
|
const transition* transition_table_end_)
|
||
|
|
{
|
||
|
|
transition_table_begin = transition_table_begin_;
|
||
|
|
transition_table_size = transition_table_end_ - transition_table_begin_;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Sets the state table.
|
||
|
|
/// \param state_table_begin_ The start of the state table.
|
||
|
|
/// \param state_table_end_ The end of the state table.
|
||
|
|
//*************************************************************************
|
||
|
|
void set_state_table(const state* state_table_begin_,
|
||
|
|
const state* state_table_end_)
|
||
|
|
{
|
||
|
|
state_table_begin = state_table_begin_;
|
||
|
|
state_table_size = state_table_end_ - state_table_begin_;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Gets a reference to the implementation object.
|
||
|
|
/// \return Reference to the implementation object.
|
||
|
|
//*************************************************************************
|
||
|
|
TObject& get_object()
|
||
|
|
{
|
||
|
|
return object;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Gets a const reference to the implementation object.
|
||
|
|
/// \return Const reference to the implementation object.
|
||
|
|
//*************************************************************************
|
||
|
|
const TObject& get_object() const
|
||
|
|
{
|
||
|
|
return object;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Start the state chart.
|
||
|
|
//*************************************************************************
|
||
|
|
virtual void start(bool on_entry_initial = true) ETL_OVERRIDE
|
||
|
|
{
|
||
|
|
if (!started)
|
||
|
|
{
|
||
|
|
if (on_entry_initial)
|
||
|
|
{
|
||
|
|
// See if we have a state item for the initial state.
|
||
|
|
const state* s = find_state(this->current_state_id);
|
||
|
|
|
||
|
|
// If the initial state has an 'on_entry' then call it.
|
||
|
|
if ((s != state_table_end()) && (s->on_entry != ETL_NULLPTR))
|
||
|
|
{
|
||
|
|
(object.*(s->on_entry))();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
started = true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Processes the specified event.
|
||
|
|
/// The state machine will action the <b>first</b> item in the transition table
|
||
|
|
/// that satisfies the conditions for executing the action.
|
||
|
|
/// \param event_id The id of the event to process.
|
||
|
|
//*************************************************************************
|
||
|
|
void process_event(event_id_t event_id, parameter_t data) ETL_OVERRIDE
|
||
|
|
{
|
||
|
|
if (started)
|
||
|
|
{
|
||
|
|
const transition* t = transition_table_begin;
|
||
|
|
|
||
|
|
// Keep looping until we execute a transition or reach the end of the table.
|
||
|
|
while (t != transition_table_end())
|
||
|
|
{
|
||
|
|
// Scan the transition table from the latest position.
|
||
|
|
t = etl::find_if(t, transition_table_end(), is_transition(event_id, this->current_state_id));
|
||
|
|
|
||
|
|
// Found an entry?
|
||
|
|
if (t != transition_table_end())
|
||
|
|
{
|
||
|
|
// Shall we execute the transition?
|
||
|
|
if ((t->guard == ETL_NULLPTR) || ((object.*t->guard)()))
|
||
|
|
{
|
||
|
|
// Shall we execute the action?
|
||
|
|
if (t->action != ETL_NULLPTR)
|
||
|
|
{
|
||
|
|
#if ETL_USING_CPP11
|
||
|
|
(object.*t->action)(etl::forward<parameter_t>(data));
|
||
|
|
#else
|
||
|
|
(object.*t->action)(data);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
// Changing state?
|
||
|
|
if (this->current_state_id != t->next_state_id)
|
||
|
|
{
|
||
|
|
const state* s;
|
||
|
|
|
||
|
|
// See if we have a state item for the current state.
|
||
|
|
s = find_state(this->current_state_id);
|
||
|
|
|
||
|
|
// If the current state has an 'on_exit' then call it.
|
||
|
|
if ((s != state_table_end()) && (s->on_exit != ETL_NULLPTR))
|
||
|
|
{
|
||
|
|
(object.*(s->on_exit))();
|
||
|
|
}
|
||
|
|
|
||
|
|
this->current_state_id = t->next_state_id;
|
||
|
|
|
||
|
|
// See if we have a state item for the new state.
|
||
|
|
s = find_state(this->current_state_id);
|
||
|
|
|
||
|
|
// If the new state has an 'on_entry' then call it.
|
||
|
|
if ((s != state_table_end()) && (s->on_entry != ETL_NULLPTR))
|
||
|
|
{
|
||
|
|
(object.*(s->on_entry))();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
t = transition_table_end();
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// Start the search from the next item in the table.
|
||
|
|
++t;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Gets the current state id.
|
||
|
|
/// \return The current state id.
|
||
|
|
//*************************************************************************
|
||
|
|
const state* find_state(state_id_t state_id)
|
||
|
|
{
|
||
|
|
if (state_table_begin == ETL_NULLPTR)
|
||
|
|
{
|
||
|
|
return state_table_end();
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
return etl::find_if(state_table_begin, state_table_end(), is_state(state_id));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
const transition* transition_table_end() const
|
||
|
|
{
|
||
|
|
return transition_table_begin + transition_table_size;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
const state* state_table_end() const
|
||
|
|
{
|
||
|
|
return state_table_begin + state_table_size;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
struct is_transition
|
||
|
|
{
|
||
|
|
is_transition(event_id_t event_id_, state_id_t state_id_)
|
||
|
|
: event_id(event_id_)
|
||
|
|
, state_id(state_id_)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
bool operator()(const transition& t) const
|
||
|
|
{
|
||
|
|
return (t.event_id == event_id) && (t.from_any_state || (t.current_state_id == state_id));
|
||
|
|
}
|
||
|
|
|
||
|
|
const event_id_t event_id;
|
||
|
|
const state_id_t state_id;
|
||
|
|
};
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
struct is_state
|
||
|
|
{
|
||
|
|
is_state(state_id_t state_id_)
|
||
|
|
: state_id(state_id_)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
bool operator()(const state& s) const
|
||
|
|
{
|
||
|
|
return (s.state_id == state_id);
|
||
|
|
}
|
||
|
|
|
||
|
|
const state_id_t state_id;
|
||
|
|
};
|
||
|
|
|
||
|
|
// Disabled
|
||
|
|
state_chart(const state_chart&) ETL_DELETE;
|
||
|
|
state_chart& operator =(const state_chart&) ETL_DELETE;
|
||
|
|
|
||
|
|
TObject& object; ///< The object that supplies guard and action member functions.
|
||
|
|
const transition* transition_table_begin; ///< The start of the table of transitions.
|
||
|
|
const state* state_table_begin; ///< The start of the table of states.
|
||
|
|
uint_least8_t transition_table_size; ///< The size of the table of transitions.
|
||
|
|
uint_least8_t state_table_size; ///< The size of the table of states.
|
||
|
|
bool started; ///< Set if the state chart has been started.
|
||
|
|
};
|
||
|
|
|
||
|
|
//***************************************************************************
|
||
|
|
/// Simple Finite State Machine
|
||
|
|
/// Runtime tables.
|
||
|
|
/// Event has no parameter.
|
||
|
|
//***************************************************************************
|
||
|
|
template <typename TObject>
|
||
|
|
class state_chart<TObject, void> : public istate_chart<void>
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
|
||
|
|
typedef void parameter_t;
|
||
|
|
typedef state_chart_traits::state_id_t state_id_t;
|
||
|
|
typedef state_chart_traits::event_id_t event_id_t;
|
||
|
|
typedef state_chart_traits::transition<TObject, void> transition;
|
||
|
|
typedef state_chart_traits::state<TObject> state;
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Constructor.
|
||
|
|
/// \param object_ A reference to the implementation object.
|
||
|
|
/// \param transition_table_begin_ The start of the table of transitions.
|
||
|
|
/// \param transition_table_end_ The end of the table of transitions.
|
||
|
|
/// \param state_table_begin_ The start of the state table.
|
||
|
|
/// \param state_table_end_ The end of the state table.
|
||
|
|
/// \param state_id_ The initial state id.
|
||
|
|
//*************************************************************************
|
||
|
|
ETL_CONSTEXPR state_chart(TObject& object_,
|
||
|
|
const transition* transition_table_begin_,
|
||
|
|
const transition* transition_table_end_,
|
||
|
|
const state* state_table_begin_,
|
||
|
|
const state* state_table_end_,
|
||
|
|
const state_id_t state_id_)
|
||
|
|
: istate_chart<void>(state_id_)
|
||
|
|
, object(object_)
|
||
|
|
, transition_table_begin(transition_table_begin_)
|
||
|
|
, state_table_begin(state_table_begin_)
|
||
|
|
, transition_table_size(transition_table_end_ - transition_table_begin_)
|
||
|
|
, state_table_size(state_table_end_ - state_table_begin_)
|
||
|
|
, started(false)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Sets the transition table.
|
||
|
|
/// \param state_table_begin_ The start of the state table.
|
||
|
|
/// \param state_table_end_ The end of the state table.
|
||
|
|
//*************************************************************************
|
||
|
|
void set_transition_table(const transition* transition_table_begin_,
|
||
|
|
const transition* transition_table_end_)
|
||
|
|
{
|
||
|
|
transition_table_begin = transition_table_begin_;
|
||
|
|
transition_table_size = transition_table_end_ - transition_table_begin_;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Sets the state table.
|
||
|
|
/// \param state_table_begin_ The start of the state table.
|
||
|
|
/// \param state_table_end_ The end of the state table.
|
||
|
|
//*************************************************************************
|
||
|
|
void set_state_table(const state* state_table_begin_,
|
||
|
|
const state* state_table_end_)
|
||
|
|
{
|
||
|
|
state_table_begin = state_table_begin_;
|
||
|
|
state_table_size = state_table_end_ - state_table_begin_;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Gets a reference to the implementation object.
|
||
|
|
/// \return Reference to the implementation object.
|
||
|
|
//*************************************************************************
|
||
|
|
TObject& get_object()
|
||
|
|
{
|
||
|
|
return object;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Gets a const reference to the implementation object.
|
||
|
|
/// \return Const reference to the implementation object.
|
||
|
|
//*************************************************************************
|
||
|
|
const TObject& get_object() const
|
||
|
|
{
|
||
|
|
return object;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Start the state chart.
|
||
|
|
//*************************************************************************
|
||
|
|
virtual void start(bool on_entry_initial = true) ETL_OVERRIDE
|
||
|
|
{
|
||
|
|
if (!started)
|
||
|
|
{
|
||
|
|
if (on_entry_initial)
|
||
|
|
{
|
||
|
|
// See if we have a state item for the initial state.
|
||
|
|
const state* s = find_state(this->current_state_id);
|
||
|
|
|
||
|
|
// If the initial state has an 'on_entry' then call it.
|
||
|
|
if ((s != state_table_end()) && (s->on_entry != ETL_NULLPTR))
|
||
|
|
{
|
||
|
|
(object.*(s->on_entry))();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
started = true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Processes the specified event.
|
||
|
|
/// The state machine will action the <b>first</b> item in the transition table
|
||
|
|
/// that satisfies the conditions for executing the action.
|
||
|
|
/// \param event_id The id of the event to process.
|
||
|
|
//*************************************************************************
|
||
|
|
void process_event(event_id_t event_id) ETL_OVERRIDE
|
||
|
|
{
|
||
|
|
if (started)
|
||
|
|
{
|
||
|
|
const transition* t = transition_table_begin;
|
||
|
|
|
||
|
|
// Keep looping until we execute a transition or reach the end of the table.
|
||
|
|
while (t != transition_table_end())
|
||
|
|
{
|
||
|
|
// Scan the transition table from the latest position.
|
||
|
|
t = etl::find_if(t, transition_table_end(), is_transition(event_id, this->current_state_id));
|
||
|
|
|
||
|
|
// Found an entry?
|
||
|
|
if (t != transition_table_end())
|
||
|
|
{
|
||
|
|
// Shall we execute the transition?
|
||
|
|
if ((t->guard == ETL_NULLPTR) || ((object.*t->guard)()))
|
||
|
|
{
|
||
|
|
// Shall we execute the action?
|
||
|
|
if (t->action != ETL_NULLPTR)
|
||
|
|
{
|
||
|
|
(object.*t->action)();
|
||
|
|
}
|
||
|
|
|
||
|
|
// Changing state?
|
||
|
|
if (this->current_state_id != t->next_state_id)
|
||
|
|
{
|
||
|
|
const state* s;
|
||
|
|
|
||
|
|
// See if we have a state item for the current state.
|
||
|
|
s = find_state(this->current_state_id);
|
||
|
|
|
||
|
|
// If the current state has an 'on_exit' then call it.
|
||
|
|
if ((s != state_table_end()) && (s->on_exit != ETL_NULLPTR))
|
||
|
|
{
|
||
|
|
(object.*(s->on_exit))();
|
||
|
|
}
|
||
|
|
|
||
|
|
this->current_state_id = t->next_state_id;
|
||
|
|
|
||
|
|
// See if we have a state item for the new state.
|
||
|
|
s = find_state(this->current_state_id);
|
||
|
|
|
||
|
|
// If the new state has an 'on_entry' then call it.
|
||
|
|
if ((s != state_table_end()) && (s->on_entry != ETL_NULLPTR))
|
||
|
|
{
|
||
|
|
(object.*(s->on_entry))();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
t = transition_table_end();
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// Start the search from the next item in the table.
|
||
|
|
++t;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
/// Gets the current state id.
|
||
|
|
/// \return The current state id.
|
||
|
|
//*************************************************************************
|
||
|
|
const state* find_state(state_id_t state_id)
|
||
|
|
{
|
||
|
|
if (state_table_begin == ETL_NULLPTR)
|
||
|
|
{
|
||
|
|
return state_table_end();
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
return etl::find_if(state_table_begin, state_table_end(), is_state(state_id));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
const transition* transition_table_end() const
|
||
|
|
{
|
||
|
|
return transition_table_begin + transition_table_size;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
const state* state_table_end() const
|
||
|
|
{
|
||
|
|
return state_table_begin + state_table_size;
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
struct is_transition
|
||
|
|
{
|
||
|
|
is_transition(event_id_t event_id_, state_id_t state_id_)
|
||
|
|
: event_id(event_id_)
|
||
|
|
, state_id(state_id_)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
bool operator()(const transition& t) const
|
||
|
|
{
|
||
|
|
return (t.event_id == event_id) && (t.from_any_state || (t.current_state_id == state_id));
|
||
|
|
}
|
||
|
|
|
||
|
|
const event_id_t event_id;
|
||
|
|
const state_id_t state_id;
|
||
|
|
};
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
struct is_state
|
||
|
|
{
|
||
|
|
is_state(state_id_t state_id_)
|
||
|
|
: state_id(state_id_)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
bool operator()(const state& s) const
|
||
|
|
{
|
||
|
|
return (s.state_id == state_id);
|
||
|
|
}
|
||
|
|
|
||
|
|
const state_id_t state_id;
|
||
|
|
};
|
||
|
|
|
||
|
|
// Disabled
|
||
|
|
state_chart(const state_chart&) ETL_DELETE;
|
||
|
|
state_chart& operator =(const state_chart&) ETL_DELETE;
|
||
|
|
|
||
|
|
TObject& object; ///< The object that supplies guard and action member functions.
|
||
|
|
const transition* transition_table_begin; ///< The start of the table of transitions.
|
||
|
|
const state* state_table_begin; ///< The start of the table of states.
|
||
|
|
uint_least8_t transition_table_size; ///< The size of the table of transitions.
|
||
|
|
uint_least8_t state_table_size; ///< The size of the table of states.
|
||
|
|
bool started; ///< Set if the state chart has been started.
|
||
|
|
};
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif
|