fsfw/contrib/fsfw_contrib/etl-20.39.4/examples/QueuedFSM/QueuedFSM.cpp

/******************************************************************************
The MIT License(MIT)

Embedded Template Library.
https://github.com/ETLCPP/etl
https://www.etlcpp.com

Copyright(c) 2020 jwellbelove

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******************************************************************************/

//*****************************************************************************
// This example demonstrates the basic method to queue messages to an etl::fsm
// derived class.
//*****************************************************************************

#include "etl/queue.h"
#include "etl/fsm.h"
#include "etl/message_packet.h"

#include <iostream>
#include <string>

//*****************************************************************************
// The messages.
//*****************************************************************************
struct Message1 : public etl::message<1>
{
  Message1(int i_)
    : i(i_)
  {
  }

  int i;
};

struct Message2 : public etl::message<2>
{
  Message2(double d_)
    : d(d_)
  {
  }

  double d;
};

struct Message3 : public etl::message<3>
{
  Message3(const std::string& s_)
    : s(s_)
  {
  }

  std::string s;
};

struct Message4 : public etl::message<4>
{
};

enum
{
  STATE1,
  STATE2
};

//*****************************************************************************
// The Finite State Machine.
//*****************************************************************************
class Fsm : public etl::fsm
{
public:

  //***************************************************************************
  // Constructor.
  //***************************************************************************
  Fsm()
    : fsm(1)
  {
  }

  //***************************************************************************
  // The overridden virtual receive function.
  //***************************************************************************
  void receive(const etl::imessage& msg_) override
  {
    if (accepts(msg_))
    {
      // Place in queue.
      queue.emplace(msg_);

      std::cout << "Queueing message " << int(msg_.get_message_id()) << std::endl;
    }
    else
    {
      std::cout << "Ignoring message " << int(msg_.get_message_id()) << std::endl;
    }
  }

  //***************************************************************************
  // The method to call to handle any queued messages.
  //***************************************************************************
  void process_queue()
  {
    while (!queue.empty())
    {
      message_packet& packet = queue.front();
      etl::imessage& msg = packet.get();
      std::cout << "Processing message " << int(msg.get_message_id()) << std::endl;

      // Call the base class's receive function.
      // This will route it to the correct 'on_event' handler.
      etl::fsm::receive(msg);

      queue.pop();
    }
  }

private:

  typedef etl::message_packet< Message1, Message2, Message3, Message4> message_packet;

  // The queue of message items.
  etl::queue<message_packet, 10> queue;
};

//*****************************************************************************
// State 1.
//*****************************************************************************
class State1 : public etl::fsm_state<Fsm, State1, STATE1, Message1, Message2, Message3>
{
public:

  //***************************************************************************
  // When we enter this state.
  //***************************************************************************
  etl::fsm_state_id_t on_enter_state() override
  {
    std::cout << "  S1 : Enter state" << std::endl;
    return STATE1;
  }

  //***************************************************************************
  void on_exit_state() override
  {
    std::cout << "  S1 : Exit state" << std::endl;
  }

  //***************************************************************************
  etl::fsm_state_id_t on_event(const Message1& msg)
  {
    std::cout << "  S1 : Received message " << int(msg.get_message_id()) << " : '" << msg.i << "'" << std::endl;
    std::cout.flush();
    return STATE1;
  }

  //***************************************************************************
  etl::fsm_state_id_t on_event(const Message2& msg)
  {
    std::cout << "  S1 : Received message " << int(msg.get_message_id()) << " : '" << msg.d << "'" << std::endl;
    std::cout.flush();
    return STATE1;
  }

  //***************************************************************************
  etl::fsm_state_id_t on_event(const Message3& msg)
  {
    std::cout << "  S1 : Received message " << int(msg.get_message_id()) << " : '" << msg.s << "'" << std::endl;
    std::cout.flush();
    return STATE1;
  }

  //***************************************************************************
  etl::fsm_state_id_t on_event_unknown(const etl::imessage& msg)
  {
    std::cout << "  S1 : Received unknown message " << int(msg.get_message_id()) << std::endl;
    std::cout.flush();
    return STATE2;
  }
};

//*****************************************************************************
// State 2.
//*****************************************************************************
class State2 : public etl::fsm_state<Fsm, State2, STATE2, Message1, Message2, Message3>
{
public:

  //***************************************************************************
  etl::fsm_state_id_t on_enter_state() override
  {
    std::cout << "  S2 : Enter state" << std::endl;
    return STATE2;
  }

  //***************************************************************************
  // When we enter this state.
  //***************************************************************************
  void on_exit_state() override
  {
    std::cout << "  S2 : Exit state" << std::endl;
  }

  //***************************************************************************
  etl::fsm_state_id_t on_event(const Message1& msg)
  {
    std::cout << "  S2 : Received message " << int(msg.get_message_id()) << " : '" << msg.i << "'" << std::endl;
    return STATE2;
  }

  //***************************************************************************
  etl::fsm_state_id_t on_event(const Message2& msg)
  {
    std::cout << "  S2 : Received message " << int(msg.get_message_id()) << " : '" << msg.d << "'" << std::endl;
    return STATE2;
  }

  //***************************************************************************
  etl::fsm_state_id_t on_event(const Message3& msg)
  {
    std::cout << "  S2 : Received message " << int(msg.get_message_id()) << " : '" << msg.s << "'" << std::endl;
    return STATE2;
  }

  //***************************************************************************
  etl::fsm_state_id_t on_event_unknown(const etl::imessage& msg)
  {
    std::cout << "  S2 : Received unknown message " << int(msg.get_message_id()) << std::endl;
    return STATE1;
  }
};

//*****************************************************************************
// The test application.
//*****************************************************************************
int main()
{
  Fsm fsm;

  State1 state1;
  State2 state2;

  // The list of states.
  etl::ifsm_state* state_list[] = { &state1, &state2 };

  // Define some messages.
  Message1 m1(1);
  Message2 m2(1.2);
  Message3 m3("Hello");

  // Set up the FSM
  fsm.set_states(state_list, 2);
  fsm.start();

  // Queue all of the messages.
  etl::send_message(fsm, m1);
  etl::send_message(fsm, Message1(2));
  etl::send_message(fsm, m2);
  etl::send_message(fsm, Message2(3.4));
  etl::send_message(fsm, m3);
  etl::send_message(fsm, Message3("World"));
  etl::send_message(fsm, Message4());

  std::cout << std::endl;

  // De-queue them
  fsm.process_queue();

  return 0;
}