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Added transition_to member function to change state

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Pulled out the core state change code to process_state_change
This commit is contained in:
John Wellbelove 2025-08-05 18:48:15 +01:00
parent 2ae0a422cd
commit 2de4057021
4 changed files with 185 additions and 60 deletions
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73
include/etl/fsm.h
View File

@ -508,30 +508,7 @@ namespace etl
{
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));
etl::ifsm_state* p_next_state = state_list[next_state_id];
do
{
p_state->on_exit_state();
p_state = p_next_state;
next_state_id = p_state->on_enter_state();
if (have_changed_state(next_state_id))
{
ETL_ASSERT_OR_RETURN(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
p_next_state = state_list[next_state_id];
}
} while (p_next_state != p_state); // Have we changed state again?
}
else if (is_self_transition(next_state_id))
{
p_state->on_exit_state();
p_state->on_enter_state();
}
process_state_change(next_state_id);
}
else
{
@ -539,6 +516,21 @@ namespace etl
}
}
//*******************************************
/// Invoke a state transition.
//*******************************************
etl::fsm_state_id_t transition_to(etl::fsm_state_id_t new_state_id)
{
if (is_started())
{
return process_state_change(new_state_id);
}
else
{
return ifsm_state::No_State_Change;
}
}
using imessage_router::accepts;
//*******************************************
@ -633,6 +625,39 @@ namespace etl
return (next_state_id == ifsm_state::Self_Transition);
}
//*******************************************
/// Core function to process a state change.
//*******************************************
virtual etl::fsm_state_id_t process_state_change(etl::fsm_state_id_t next_state_id)
{
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];
do
{
p_state->on_exit_state();
p_state = p_next_state;
next_state_id = p_state->on_enter_state();
if (have_changed_state(next_state_id))
{
ETL_ASSERT_OR_RETURN(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
p_next_state = state_list[next_state_id];
}
} while (p_next_state != p_state); // Have we changed state again?
}
else if (is_self_transition(next_state_id))
{
p_state->on_exit_state();
p_state->on_enter_state();
}
return p_state->get_state_id();
}
etl::ifsm_state* p_state; ///< A pointer to the current state.
etl::ifsm_state** state_list; ///< The list of added states.
etl::fsm_state_id_t number_of_states; ///< The number of states.

63
include/etl/hfsm.h
View File

@ -91,42 +91,6 @@ namespace etl
p_state = ETL_NULLPTR;
}
using fsm::receive;
//*******************************************
/// Top level message handler for the HFSM.
//*******************************************
void receive(const etl::imessage& message) ETL_OVERRIDE
{
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));
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_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
{
ETL_ASSERT_FAIL(ETL_ERROR(etl::fsm_not_started));
}
}
private:
//*******************************************
@ -247,6 +211,33 @@ namespace etl
p_current = p_current->p_parent;
}
}
//*******************************************
/// Core function to process a state change.
//*******************************************
etl::fsm_state_id_t process_state_change(etl::fsm_state_id_t next_state_id) ETL_OVERRIDE
{
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_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();
}
return p_state->get_state_id();
}
};
}
#endif

50
test/test_fsm.cpp
View File

@ -730,5 +730,55 @@ namespace
CHECK_EQUAL(StateId::Locked, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::Locked, int(motorControl.get_state().get_state_id()));
}
//*************************************************************************
TEST(test_fsm_force_state_changes)
{
MotorControl motorControl;
etl::fsm_state_pack<Idle, Running, WindingDown, Locked> statePack;
motorControl.Initialise(statePack);
motorControl.reset();
motorControl.ClearStatistics();
// Start the FSM.
motorControl.start(false);
CHECK(motorControl.is_started());
// Now in Idle state.
CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));
auto id1 = motorControl.transition_to(StateId::Running);
// Now in Running state.
CHECK_EQUAL(StateId::Running, int(id1));
CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));
auto id2 = motorControl.transition_to(StateId::Idle);
// Now in Locked state.
CHECK_EQUAL(StateId::Locked, int(id2));
CHECK_EQUAL(StateId::Locked, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::Locked, int(motorControl.get_state().get_state_id()));
auto id3 = motorControl.transition_to(StateId::Winding_Down);
// Now in Locked state.
CHECK_EQUAL(StateId::Winding_Down, int(id3));
CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state().get_state_id()));
// Send a normal event message to make sure the FSM is still working.
// Now send a Stopped event message.
motorControl.receive(Stopped());
// Now in Idle state.
CHECK_EQUAL(StateId::Locked, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::Locked, int(motorControl.get_state().get_state_id()));
}
};
}

59
test/test_hfsm.cpp
View File

@ -192,6 +192,14 @@ namespace
ClearStatistics();
}
//***********************************
template <typename... TStates>
void Initialise(etl::fsm_state_pack<TStates...>& state_pack)
{
set_states(state_pack);
ClearStatistics();
}
//***********************************
void ClearStatistics()
{
@ -1028,5 +1036,56 @@ namespace
CHECK_EQUAL(1, motorControl.selfTransitionCount);
}
//*************************************************************************
TEST(test_fsm_force_state_changes)
{
MotorControl motorControl;
etl::fsm_state_pack<Idle, Running, WindingUp, WindingDown, AtSpeed> statePack;
motorControl.Initialise(statePack);
motorControl.reset();
motorControl.ClearStatistics();
// Start the FSM.
motorControl.start(false);
CHECK(motorControl.is_started());
// Now in Idle state.
CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));
auto id1 = motorControl.transition_to(StateId::Winding_Up);
// Now in Winding_Up state.
CHECK_EQUAL(StateId::Winding_Up, int(id1));
CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state().get_state_id()));
auto id2 = motorControl.transition_to(StateId::At_Speed);
// Now in At_Speed state.
CHECK_EQUAL(StateId::At_Speed, int(id2));
CHECK_EQUAL(StateId::At_Speed, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::At_Speed, int(motorControl.get_state().get_state_id()));
// Send some normal event messages to make sure the HFSM is still working.
// Now send a Stop event message.
motorControl.receive(Stop());
CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state().get_state_id()));
// Now send a Stopped event message.
motorControl.receive(Stopped());
// Now in Idle state.
CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));
}
};
}