mirror of
https://github.com/ETLCPP/etl.git
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Added support for self transitions
This commit is contained in:
John Wellbelove
parent
2c3fa4a796
commit
27e9e3c1b8
@ -182,6 +182,9 @@ namespace etl
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// Pass this when this event also needs to be passed to the parent.
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static ETL_CONSTANT fsm_state_id_t Pass_To_Parent = No_State_Change - 1U;
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// Pass this when this event should trigger a self transition.
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static ETL_CONSTANT fsm_state_id_t Self_Transition = No_State_Change - 2U;
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};
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template <typename T>
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@ -189,6 +192,9 @@ namespace etl
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template <typename T>
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ETL_CONSTANT fsm_state_id_t ifsm_state_helper<T>::Pass_To_Parent;
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template <typename T>
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ETL_CONSTANT fsm_state_id_t ifsm_state_helper<T>::Self_Transition;
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}
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//***************************************************************************
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@ -204,6 +210,7 @@ namespace etl
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using private_fsm::ifsm_state_helper<>::No_State_Change;
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using private_fsm::ifsm_state_helper<>::Pass_To_Parent;
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using private_fsm::ifsm_state_helper<>::Self_Transition;
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#if ETL_USING_CPP17 && !defined(ETL_FSM_FORCE_CPP03_IMPLEMENTATION) // For C++17 and above
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template <typename, typename, etl::fsm_state_id_t, typename...>
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@ -418,6 +425,11 @@ namespace etl
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}
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} while (p_next_state != p_state); // Have we changed state again?
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}
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else if (is_self_transition(next_state_id))
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{
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p_state->on_exit_state();
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p_state->on_enter_state();
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}
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}
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using imessage_router::accepts;
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@ -504,7 +516,14 @@ namespace etl
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bool have_changed_state(etl::fsm_state_id_t next_state_id) const
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{
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return (next_state_id != p_state->get_state_id()) &&
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(next_state_id != ifsm_state::No_State_Change);
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(next_state_id != ifsm_state::No_State_Change) &&
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(next_state_id != ifsm_state::Self_Transition);
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}
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//********************************************
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bool is_self_transition(etl::fsm_state_id_t next_state_id) const
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{
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return (next_state_id == ifsm_state::Self_Transition);
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}
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etl::ifsm_state* p_state; ///< A pointer to the current state.
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@ -201,6 +201,9 @@ namespace etl
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// Pass this when this event also needs to be passed to the parent.
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static ETL_CONSTANT fsm_state_id_t Pass_To_Parent = No_State_Change - 1U;
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// Pass this when this event should trigger a self transition.
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static ETL_CONSTANT fsm_state_id_t Self_Transition = No_State_Change - 2U;
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};
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template <typename T>
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@ -208,6 +211,9 @@ namespace etl
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template <typename T>
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ETL_CONSTANT fsm_state_id_t ifsm_state_helper<T>::Pass_To_Parent;
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template <typename T>
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ETL_CONSTANT fsm_state_id_t ifsm_state_helper<T>::Self_Transition;
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}
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//***************************************************************************
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@ -223,6 +229,7 @@ namespace etl
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using private_fsm::ifsm_state_helper<>::No_State_Change;
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using private_fsm::ifsm_state_helper<>::Pass_To_Parent;
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using private_fsm::ifsm_state_helper<>::Self_Transition;
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#if ETL_USING_CPP17 && !defined(ETL_FSM_FORCE_CPP03_IMPLEMENTATION) // For C++17 and above
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template <typename, typename, etl::fsm_state_id_t, typename...>
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@ -444,6 +451,11 @@ namespace etl
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}
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} while (p_next_state != p_state); // Have we changed state again?
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}
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else if (is_self_transition(next_state_id))
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{
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p_state->on_exit_state();
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p_state->on_enter_state();
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}
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}
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using imessage_router::accepts;
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@ -530,7 +542,14 @@ namespace etl
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bool have_changed_state(etl::fsm_state_id_t next_state_id) const
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{
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return (next_state_id != p_state->get_state_id()) &&
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(next_state_id != ifsm_state::No_State_Change);
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(next_state_id != ifsm_state::No_State_Change) &&
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(next_state_id != ifsm_state::Self_Transition);
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}
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//********************************************
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bool is_self_transition(etl::fsm_state_id_t next_state_id) const
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{
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return (next_state_id != ifsm_state::Self_Transition);
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}
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etl::ifsm_state* p_state; ///< A pointer to the current state.
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@ -39,7 +39,7 @@ SOFTWARE.
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namespace
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{
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const etl::message_router_id_t MOTOR_CONTROL = 0;
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const etl::message_router_id_t Motor_Control = 0;
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//***************************************************************************
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@ -48,31 +48,33 @@ namespace
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{
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enum enum_type
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{
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START,
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STOP,
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STOPPED,
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SET_SPEED,
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RECURSIVE,
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UNSUPPORTED
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Start,
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Stop,
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Stopped,
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Set_Speed,
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Recursive,
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Self_Transition,
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Unsupported
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};
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ETL_DECLARE_ENUM_TYPE(EventId, etl::message_id_t)
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ETL_ENUM_TYPE(START, "Start")
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ETL_ENUM_TYPE(STOP, "Stop")
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ETL_ENUM_TYPE(STOPPED, "Stopped")
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ETL_ENUM_TYPE(SET_SPEED, "Set Speed")
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ETL_ENUM_TYPE(RECURSIVE, "Recursive")
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ETL_ENUM_TYPE(UNSUPPORTED, "Unsupported")
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ETL_ENUM_TYPE(Start, "Start")
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ETL_ENUM_TYPE(Stop, "Stop")
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ETL_ENUM_TYPE(Stopped, "Stopped")
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ETL_ENUM_TYPE(Set_Speed, "Set Speed")
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ETL_ENUM_TYPE(Recursive, "Recursive")
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ETL_ENUM_TYPE(Self_Transition, "Self Transition")
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ETL_ENUM_TYPE(Unsupported, "Unsupported")
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ETL_END_ENUM_TYPE
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};
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//***********************************
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class Start : public etl::message<EventId::START>
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class Start : public etl::message<EventId::Start>
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{
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};
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//***********************************
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class Stop : public etl::message<EventId::STOP>
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class Stop : public etl::message<EventId::Stop>
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{
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public:
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@ -83,7 +85,7 @@ namespace
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};
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//***********************************
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class SetSpeed : public etl::message<EventId::SET_SPEED>
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class SetSpeed : public etl::message<EventId::Set_Speed>
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{
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public:
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@ -93,17 +95,22 @@ namespace
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};
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//***********************************
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class Stopped : public etl::message<EventId::STOPPED>
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class Stopped : public etl::message<EventId::Stopped>
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{
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};
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//***********************************
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class Recursive : public etl::message<EventId::RECURSIVE>
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class Recursive : public etl::message<EventId::Recursive>
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{
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};
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//***********************************
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class Unsupported : public etl::message<EventId::UNSUPPORTED>
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class SelfTransition : public etl::message<EventId::Self_Transition>
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{
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};
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//***********************************
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class Unsupported : public etl::message<EventId::Unsupported>
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{
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};
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@ -113,18 +120,18 @@ namespace
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{
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enum enum_type
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{
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IDLE,
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RUNNING,
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WINDING_DOWN,
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LOCKED,
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NUMBER_OF_STATES
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Idle,
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Running,
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Winding_Down,
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Locked,
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Number_Of_States
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};
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ETL_DECLARE_ENUM_TYPE(StateId, etl::fsm_state_id_t)
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ETL_ENUM_TYPE(IDLE, "Idle")
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ETL_ENUM_TYPE(RUNNING, "Running")
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ETL_ENUM_TYPE(WINDING_DOWN, "Winding Down")
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ETL_ENUM_TYPE(LOCKED, "Locked")
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ETL_ENUM_TYPE(Idle, "Idle")
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ETL_ENUM_TYPE(Running, "Running")
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ETL_ENUM_TYPE(Winding_Down, "Winding Down")
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ETL_ENUM_TYPE(Locked, "Locked")
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ETL_END_ENUM_TYPE
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};
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@ -136,7 +143,7 @@ namespace
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public:
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MotorControl()
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: fsm(MOTOR_CONTROL)
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: fsm(Motor_Control)
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{
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}
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@ -150,13 +157,15 @@ namespace
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//***********************************
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void ClearStatistics()
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{
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startCount = 0;
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stopCount = 0;
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startCount = 0;
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stopCount = 0;
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setSpeedCount = 0;
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unknownCount = 0;
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stoppedCount = 0;
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isLampOn = false;
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speed = 0;
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unknownCount = 0;
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stoppedCount = 0;
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exited_state = false;
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entered_state = false;
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isLampOn = false;
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speed = 0;
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}
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//***********************************
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@ -184,25 +193,27 @@ namespace
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messageQueue.emplace(message);
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}
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typedef etl::largest<Start, Stop, SetSpeed, Stopped, Recursive> Largest_t;
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typedef etl::largest<Start, Stop, SetSpeed, Stopped, Recursive, SelfTransition> Largest_t;
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typedef etl::packet<etl::imessage, Largest_t::size, Largest_t::alignment> Packet_t;
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etl::queue<Packet_t, 2> messageQueue;
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int startCount;
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int stopCount;
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int setSpeedCount;
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int unknownCount;
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int stoppedCount;
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int startCount;
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int stopCount;
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int setSpeedCount;
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int unknownCount;
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int stoppedCount;
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bool exited_state;
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bool entered_state;
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bool isLampOn;
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int speed;
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int speed;
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};
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//***********************************
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// The idle state.
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//***********************************
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class Idle : public etl::fsm_state<MotorControl, Idle, StateId::IDLE, Start, Recursive>
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class Idle : public etl::fsm_state<MotorControl, Idle, StateId::Idle, Start, Recursive, SelfTransition>
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{
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public:
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@ -210,35 +221,48 @@ namespace
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etl::fsm_state_id_t on_event(const Start&)
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{
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++get_fsm_context().startCount;
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return StateId::RUNNING;
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return StateId::Running;
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}
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//***********************************
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etl::fsm_state_id_t on_event(const Recursive&)
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{
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get_fsm_context().queue_recursive_message(Start());
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return StateId::IDLE;
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return StateId::Idle;
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}
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//***********************************
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etl::fsm_state_id_t on_event(const SelfTransition&)
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{
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return etl::ifsm_state::Self_Transition;
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}
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//***********************************
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etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
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{
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++get_fsm_context().unknownCount;
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return StateId::IDLE; //No_State_Change;
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return StateId::Idle; //No_State_Change;
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}
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//***********************************
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etl::fsm_state_id_t on_enter_state()
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{
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get_fsm_context().TurnRunningLampOff();
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return StateId::LOCKED;
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get_fsm_context().entered_state = true;
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return StateId::Locked;
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}
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//***********************************
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void on_exit_state()
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{
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get_fsm_context().exited_state = true;
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}
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};
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//***********************************
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// The running state.
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//***********************************
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class Running : public etl::fsm_state<MotorControl, Running, StateId::RUNNING, Stop, SetSpeed>
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class Running : public etl::fsm_state<MotorControl, Running, StateId::Running, Stop, SetSpeed>
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{
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public:
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@ -249,11 +273,11 @@ namespace
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if (event.isEmergencyStop)
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{
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return StateId::IDLE;
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return StateId::Idle;
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}
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else
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{
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return StateId::WINDING_DOWN;
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return StateId::Winding_Down;
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}
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}
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@ -284,7 +308,7 @@ namespace
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//***********************************
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// The winding down state.
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//***********************************
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class WindingDown : public etl::fsm_state<MotorControl, WindingDown, StateId::WINDING_DOWN, Stopped>
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class WindingDown : public etl::fsm_state<MotorControl, WindingDown, StateId::Winding_Down, Stopped>
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{
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public:
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@ -292,7 +316,7 @@ namespace
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etl::fsm_state_id_t on_event(const Stopped&)
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{
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++get_fsm_context().stoppedCount;
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return StateId::IDLE;
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return StateId::Idle;
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}
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//***********************************
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@ -306,7 +330,7 @@ namespace
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//***********************************
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// The locked state.
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//***********************************
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class Locked : public etl::fsm_state<MotorControl, Locked, StateId::LOCKED>
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class Locked : public etl::fsm_state<MotorControl, Locked, StateId::Locked>
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{
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public:
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@ -324,7 +348,7 @@ namespace
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WindingDown windingDown;
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Locked locked;
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etl::ifsm_state* stateList[StateId::NUMBER_OF_STATES] =
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etl::ifsm_state* stateList[StateId::Number_Of_States] =
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{
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&idle, &running, &windingDown, &locked
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};
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@ -353,8 +377,8 @@ namespace
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// Now in Idle state.
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CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(false, motorControl.isLampOn);
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CHECK_EQUAL(0, motorControl.setSpeedCount);
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@ -369,8 +393,8 @@ namespace
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motorControl.receive(Stopped());
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motorControl.receive(SetSpeed(10));
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CHECK_EQUAL(StateId::IDLE, motorControl.get_state_id());
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CHECK_EQUAL(StateId::IDLE, motorControl.get_state().get_state_id());
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CHECK_EQUAL(StateId::Idle, motorControl.get_state_id());
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CHECK_EQUAL(StateId::Idle, motorControl.get_state().get_state_id());
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CHECK_EQUAL(false, motorControl.isLampOn);
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CHECK_EQUAL(0, motorControl.setSpeedCount);
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@ -385,8 +409,8 @@ namespace
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// Now in Running state.
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CHECK_EQUAL(StateId::RUNNING, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::RUNNING, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(true, motorControl.isLampOn);
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CHECK_EQUAL(0, motorControl.setSpeedCount);
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@ -400,8 +424,8 @@ namespace
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motorControl.receive(Start());
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motorControl.receive(Stopped());
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CHECK_EQUAL(StateId::RUNNING, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::RUNNING, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(true, motorControl.isLampOn);
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CHECK_EQUAL(0, motorControl.setSpeedCount);
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@ -416,8 +440,8 @@ namespace
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// Still in Running state.
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CHECK_EQUAL(StateId::RUNNING, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::RUNNING, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(true, motorControl.isLampOn);
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CHECK_EQUAL(1, motorControl.setSpeedCount);
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@ -432,8 +456,8 @@ namespace
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// Now in WindingDown state.
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CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(true, motorControl.isLampOn);
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CHECK_EQUAL(1, motorControl.setSpeedCount);
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@ -448,8 +472,8 @@ namespace
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motorControl.receive(Stop());
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motorControl.receive(SetSpeed(100));
|
||||
|
||||
CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.get_state_id()));
|
||||
CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.get_state().get_state_id()));
|
||||
CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state_id()));
|
||||
CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state().get_state_id()));
|
||||
|
||||
CHECK_EQUAL(true, motorControl.isLampOn);
|
||||
CHECK_EQUAL(1, motorControl.setSpeedCount);
|
||||
@ -463,8 +487,8 @@ namespace
|
||||
motorControl.receive(Stopped());
|
||||
|
||||
// Now in Locked state via Idle state.
|
||||
CHECK_EQUAL(StateId::LOCKED, int(motorControl.get_state_id()));
|
||||
CHECK_EQUAL(StateId::LOCKED, int(motorControl.get_state().get_state_id()));
|
||||
CHECK_EQUAL(StateId::Locked, int(motorControl.get_state_id()));
|
||||
CHECK_EQUAL(StateId::Locked, int(motorControl.get_state().get_state_id()));
|
||||
|
||||
CHECK_EQUAL(false, motorControl.isLampOn);
|
||||
CHECK_EQUAL(1, motorControl.setSpeedCount);
|
||||
@ -497,8 +521,8 @@ namespace
|
||||
|
||||
// Now in Running state.
|
||||
|
||||
CHECK_EQUAL(StateId::RUNNING, int(motorControl.get_state_id()));
|
||||
CHECK_EQUAL(StateId::RUNNING, int(motorControl.get_state().get_state_id()));
|
||||
CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
|
||||
CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));
|
||||
|
||||
CHECK_EQUAL(true, motorControl.isLampOn);
|
||||
CHECK_EQUAL(0, motorControl.setSpeedCount);
|
||||
@ -512,8 +536,8 @@ namespace
|
||||
motorControl.receive(Stop(true));
|
||||
|
||||
// Now in Locked state via Idle state.
|
||||
CHECK_EQUAL(StateId::LOCKED, int(motorControl.get_state_id()));
|
||||
CHECK_EQUAL(StateId::LOCKED, int(motorControl.get_state().get_state_id()));
|
||||
CHECK_EQUAL(StateId::Locked, int(motorControl.get_state_id()));
|
||||
CHECK_EQUAL(StateId::Locked, int(motorControl.get_state().get_state_id()));
|
||||
|
||||
CHECK_EQUAL(false, motorControl.isLampOn);
|
||||
CHECK_EQUAL(0, motorControl.setSpeedCount);
|
||||
@ -550,8 +574,8 @@ namespace
|
||||
|
||||
// Now in Running state.
|
||||
|
||||
CHECK_EQUAL(StateId::RUNNING, int(motorControl.get_state_id()));
|
||||
CHECK_EQUAL(StateId::RUNNING, int(motorControl.get_state().get_state_id()));
|
||||
CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
|
||||
CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));
|
||||
|
||||
CHECK_EQUAL(true, motorControl.isLampOn);
|
||||
CHECK_EQUAL(0, motorControl.setSpeedCount);
|
||||
@ -565,11 +589,11 @@ namespace
|
||||
//*************************************************************************
|
||||
TEST(test_fsm_supported)
|
||||
{
|
||||
CHECK(motorControl.accepts(EventId::SET_SPEED));
|
||||
CHECK(motorControl.accepts(EventId::START));
|
||||
CHECK(motorControl.accepts(EventId::STOP));
|
||||
CHECK(motorControl.accepts(EventId::STOPPED));
|
||||
CHECK(motorControl.accepts(EventId::UNSUPPORTED));
|
||||
CHECK(motorControl.accepts(EventId::Set_Speed));
|
||||
CHECK(motorControl.accepts(EventId::Start));
|
||||
CHECK(motorControl.accepts(EventId::Stop));
|
||||
CHECK(motorControl.accepts(EventId::Stopped));
|
||||
CHECK(motorControl.accepts(EventId::Unsupported));
|
||||
|
||||
CHECK(motorControl.accepts(SetSpeed(0)));
|
||||
CHECK(motorControl.accepts(Start()));
|
||||
@ -595,12 +619,12 @@ namespace
|
||||
MotorControl mc;
|
||||
|
||||
// Null state.
|
||||
etl::ifsm_state* stateList[StateId::NUMBER_OF_STATES] =
|
||||
etl::ifsm_state* stateList[StateId::Number_Of_States] =
|
||||
{
|
||||
&idle, &running,& windingDown, nullptr
|
||||
};
|
||||
|
||||
CHECK_THROW(mc.set_states(stateList, StateId::NUMBER_OF_STATES), etl::fsm_null_state_exception);
|
||||
CHECK_THROW(mc.set_states(stateList, StateId::Number_Of_States), etl::fsm_null_state_exception);
|
||||
}
|
||||
|
||||
//*************************************************************************
|
||||
@ -609,12 +633,34 @@ namespace
|
||||
MotorControl mc;
|
||||
|
||||
// Incorrect order.
|
||||
etl::ifsm_state* stateList[StateId::NUMBER_OF_STATES] =
|
||||
etl::ifsm_state* stateList[StateId::Number_Of_States] =
|
||||
{
|
||||
&idle, &windingDown, &running, &locked
|
||||
};
|
||||
|
||||
CHECK_THROW(mc.set_states(stateList, StateId::NUMBER_OF_STATES), etl::fsm_state_list_order_exception);
|
||||
CHECK_THROW(mc.set_states(stateList, StateId::Number_Of_States), etl::fsm_state_list_order_exception);
|
||||
}
|
||||
|
||||
//*************************************************************************
|
||||
TEST(test_fsm_self_transition)
|
||||
{
|
||||
MotorControl motorControl;
|
||||
|
||||
motorControl.Initialise(stateList, ETL_OR_STD17::size(stateList));
|
||||
motorControl.reset();
|
||||
motorControl.ClearStatistics();
|
||||
|
||||
// Start the FSM.
|
||||
motorControl.start(false);
|
||||
|
||||
CHECK_FALSE(motorControl.exited_state);
|
||||
CHECK_FALSE(motorControl.entered_state);
|
||||
|
||||
// Execute self transition.
|
||||
motorControl.receive(SelfTransition());
|
||||
|
||||
CHECK_TRUE(motorControl.exited_state);
|
||||
CHECK_TRUE(motorControl.entered_state);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user