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Refactored hfsm receive function

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This commit is contained in:
John Wellbelove 2025-05-27 16:47:27 +01:00
parent e0ef2da603
commit 2d3a80e2b7
1 changed files with 16 additions and 25 deletions
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41
include/etl/hfsm.h
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@ -101,33 +101,24 @@ namespace etl
if (is_started())
{
etl::fsm_state_id_t next_state_id = p_state->process_event(message);
if (have_changed_state(next_state_id))
{
ETL_ASSERT_OR_RETURN(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
if (next_state_id != ifsm_state::No_State_Change)
{
if (have_changed_state(next_state_id))
{
ETL_ASSERT_OR_RETURN(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
etl::ifsm_state* p_next_state = state_list[next_state_id];
etl::ifsm_state* p_root = common_ancestor(p_state, p_next_state);
do_exits(p_root, p_state);
next_state_id = do_enters(p_root, p_next_state, true);
etl::ifsm_state* p_next_state = state_list[next_state_id];
etl::ifsm_state* p_root = common_ancestor(p_state, p_next_state);
do_exits(p_root, p_state);
p_state = p_next_state;
next_state_id = do_enters(p_root, p_next_state, true);
if (next_state_id != ifsm_state::No_State_Change)
{
ETL_ASSERT_OR_RETURN(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
p_state = state_list[next_state_id];
}
}
else if (is_self_transition(next_state_id))
{
p_state->on_exit_state();
p_state->on_enter_state();
}
ETL_ASSERT_OR_RETURN(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
p_state = state_list[next_state_id];
}
else if (is_self_transition(next_state_id))
{
p_state->on_exit_state();
p_state->on_enter_state();
}
}
else