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Merge branch 'feature/Add-hierarchical-FSM-capabilities-to-the-FSM' into development

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This commit is contained in:
John Wellbelove 2021-04-25 15:11:25 +01:00
commit 2e115df488
9 changed files with 1323 additions and 93 deletions
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219
include/etl/fsm.h
View File

@ -68,6 +68,7 @@ SOFTWARE.
namespace etl
{
class fsm;
class hfsm;
/// Allow alternative type for state id.
#if !defined(ETL_FSM_STATE_ID_TYPE)
@ -79,6 +80,13 @@ namespace etl
// For internal FSM use.
typedef typename etl::larger_type<etl::message_id_t>::type fsm_internal_id_t;
template <typename TContext, typename TDerived, const etl::fsm_state_id_t STATE_ID_,
typename T1 = void, typename T2 = void, typename T3 = void, typename T4 = void,
typename T5 = void, typename T6 = void, typename T7 = void, typename T8 = void,
typename T9 = void, typename T10 = void, typename T11 = void, typename T12 = void,
typename T13 = void, typename T14 = void, typename T15 = void, typename T16 = void>
class fsm_state;
//***************************************************************************
/// Base exception class for FSM.
//***************************************************************************
@ -144,6 +152,18 @@ namespace etl
}
};
//***************************************************************************
/// Exception for forbidden state chages.
//***************************************************************************
class fsm_state_composite_state_change_forbidden : public etl::fsm_exception
{
public:
fsm_state_composite_state_change_forbidden(string_type file_name_, numeric_type line_number_)
: etl::fsm_exception(ETL_ERROR_TEXT("fsm:change in composite state forbidden", ETL_FSM_FILE_ID"E"), file_name_, line_number_)
{
}
};
//***************************************************************************
/// Interface class for FSM states.
//***************************************************************************
@ -151,8 +171,19 @@ namespace etl
{
public:
// Pass this whenever no state change is desired.
// The highest unsigned value of fsm_state_id_t.
static ETL_CONSTANT fsm_state_id_t No_State_Change = etl::integral_limits<fsm_state_id_t>::max;
/// Allows ifsm_state functions to be private.
friend class etl::fsm;
friend class etl::hfsm;
template <typename, typename, const etl::fsm_state_id_t,
typename, typename, typename, typename,
typename, typename, typename, typename,
typename, typename, typename, typename,
typename, typename, typename, typename >
friend class etl::fsm_state;
//*******************************************
/// Gets the id for this state.
@ -162,6 +193,61 @@ namespace etl
return state_id;
}
//*******************************************
/// Adds a child to this state.
//*******************************************
void add_child_state(etl::ifsm_state& state)
{
ETL_ASSERT(state.p_parent == ETL_NULLPTR, ETL_ERROR(etl::fsm_null_state_exception));
state.p_parent = this;
if (p_default_child == ETL_NULLPTR)
{
p_active_child = &state;
p_default_child = &state;
}
}
//*******************************************
/// Adds a list of child states.
//*******************************************
template <typename TSize>
void set_child_states(etl::ifsm_state** state_list, TSize size)
{
p_active_child = ETL_NULLPTR;
p_default_child = ETL_NULLPTR;
for (TSize i = 0; i < size; ++i)
{
ETL_ASSERT(state_list[i] != ETL_NULLPTR, ETL_ERROR(etl::fsm_null_state_exception));
add_child_state(*state_list[i]);
}
}
//*******************************************
/// Get the parent state for this state.
//*******************************************
etl::ifsm_state* get_parent_state() const
{
return p_parent;
}
//*******************************************
/// Get the active child state for this state.
//*******************************************
etl::ifsm_state* get_active_child_state() const
{
return p_active_child;
}
//*******************************************
/// Get the default child state for this state.
//*******************************************
etl::ifsm_state* get_default_child_state() const
{
return p_default_child;
}
protected:
//*******************************************
@ -169,7 +255,10 @@ namespace etl
//*******************************************
ifsm_state(etl::fsm_state_id_t state_id_)
: state_id(state_id_),
p_context(ETL_NULLPTR)
p_context(ETL_NULLPTR),
p_parent(ETL_NULLPTR),
p_active_child(ETL_NULLPTR),
p_default_child(ETL_NULLPTR)
{
}
@ -190,7 +279,7 @@ namespace etl
virtual fsm_state_id_t process_event(const etl::imessage& message) = 0;
virtual fsm_state_id_t on_enter_state() { return state_id; } // By default, do nothing.
virtual fsm_state_id_t on_enter_state() { return No_State_Change; } // By default, do nothing.
virtual void on_exit_state() {} // By default, do nothing.
//*******************************************
@ -205,6 +294,15 @@ namespace etl
// A pointer to the FSM context.
etl::fsm* p_context;
// A pointer to the parent.
ifsm_state* p_parent;
// A pointer to the active child.
ifsm_state* p_active_child;
// A pointer to the default active child.
ifsm_state* p_default_child;
// Disabled.
ifsm_state(const ifsm_state&);
ifsm_state& operator =(const ifsm_state&);
@ -217,6 +315,7 @@ namespace etl
{
public:
friend etl::hfsm;
using imessage_router::receive;
//*******************************************
@ -240,6 +339,7 @@ namespace etl
number_of_states = etl::fsm_state_id_t(size);
ETL_ASSERT(number_of_states > 0, ETL_ERROR(etl::fsm_state_list_exception));
ETL_ASSERT(number_of_states < ifsm_state::No_State_Change, ETL_ERROR(etl::fsm_state_list_exception));
for (etl::fsm_state_id_t i = 0; i < size; ++i)
{
@ -257,26 +357,29 @@ namespace etl
//*******************************************
void start(bool call_on_enter_state = true)
{
// Can only be started once.
if (p_state == ETL_NULLPTR)
{
p_state = state_list[0];
ETL_ASSERT(p_state != ETL_NULLPTR, ETL_ERROR(etl::fsm_null_state_exception));
// Can only be started once.
if (p_state == ETL_NULLPTR)
{
p_state = state_list[0];
ETL_ASSERT(p_state != ETL_NULLPTR, ETL_ERROR(etl::fsm_null_state_exception));
if (call_on_enter_state)
{
etl::fsm_state_id_t next_state_id;
etl::ifsm_state* p_last_state;
if (call_on_enter_state)
{
etl::fsm_state_id_t next_state_id;
etl::ifsm_state* p_last_state;
do
{
p_last_state = p_state;
next_state_id = p_state->on_enter_state();
p_state = state_list[next_state_id];
} while (p_last_state != p_state);
}
}
do
{
p_last_state = p_state;
next_state_id = p_state->on_enter_state();
if (next_state_id != ifsm_state::No_State_Change)
{
ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
p_state = state_list[next_state_id];
}
} while (p_last_state != p_state);
}
}
}
//*******************************************
@ -284,26 +387,27 @@ namespace etl
//*******************************************
void receive(const etl::imessage& message) ETL_OVERRIDE
{
etl::fsm_state_id_t next_state_id = p_state->process_event(message);
ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
etl::fsm_state_id_t next_state_id = p_state->process_event(message);
if (have_changed_state(next_state_id))
{
ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
etl::ifsm_state* p_next_state = state_list[next_state_id];
// Have we changed state?
if (p_next_state != p_state)
do
{
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))
{
p_state->on_exit_state();
p_state = p_next_state;
next_state_id = p_state->on_enter_state();
ETL_ASSERT(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?
}
}
} while (p_next_state != p_state); // Have we changed state again?
}
}
using imessage_router::accepts;
@ -386,6 +490,13 @@ namespace etl
private:
//********************************************
bool have_changed_state(etl::fsm_state_id_t next_state_id) const
{
return (next_state_id != p_state->get_state_id()) &&
(next_state_id != ifsm_state::No_State_Change);
}
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.
@ -395,10 +506,10 @@ namespace etl
// The definition for all 16 message types.
//***************************************************************************
template <typename TContext, typename TDerived, const etl::fsm_state_id_t STATE_ID_,
typename T1 = void, typename T2 = void, typename T3 = void, typename T4 = void,
typename T5 = void, typename T6 = void, typename T7 = void, typename T8 = void,
typename T9 = void, typename T10 = void, typename T11 = void, typename T12 = void,
typename T13 = void, typename T14 = void, typename T15 = void, typename T16 = void>
typename T1, typename T2, typename T3, typename T4,
typename T5, typename T6, typename T7, typename T8,
typename T9, typename T10, typename T11, typename T12,
typename T13, typename T14, typename T15, typename T16>
class fsm_state : public ifsm_state
{
public:
@ -449,7 +560,7 @@ namespace etl
case T14::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T14&>(message)); break;
case T15::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T15&>(message)); break;
case T16::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T16&>(message)); break;
default: new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message); break;
default: new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message); break;
}
return new_state_id;
@ -513,7 +624,7 @@ namespace etl
case T13::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T13&>(message)); break;
case T14::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T14&>(message)); break;
case T15::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T15&>(message)); break;
default: new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message); break;
default: new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message); break;
}
return new_state_id;
@ -576,7 +687,7 @@ namespace etl
case T12::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T12&>(message)); break;
case T13::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T13&>(message)); break;
case T14::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T14&>(message)); break;
default: new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message); break;
default: new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message); break;
}
return new_state_id;
@ -638,7 +749,7 @@ namespace etl
case T11::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T11&>(message)); break;
case T12::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T12&>(message)); break;
case T13::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T13&>(message)); break;
default: new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message); break;
default: new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message); break;
}
return new_state_id;
@ -698,7 +809,7 @@ namespace etl
case T10::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T10&>(message)); break;
case T11::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T11&>(message)); break;
case T12::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T12&>(message)); break;
default: new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message); break;
default: new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message); break;
}
return new_state_id;
@ -757,7 +868,7 @@ namespace etl
case T9::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T9&>(message)); break;
case T10::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T10&>(message)); break;
case T11::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T11&>(message)); break;
default: new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message); break;
default: new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message); break;
}
return new_state_id;
@ -815,7 +926,7 @@ namespace etl
case T8::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T8&>(message)); break;
case T9::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T9&>(message)); break;
case T10::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T10&>(message)); break;
default: new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message); break;
default: new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message); break;
}
return new_state_id;
@ -872,7 +983,7 @@ namespace etl
case T7::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T7&>(message)); break;
case T8::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T8&>(message)); break;
case T9::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T9&>(message)); break;
default: new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message); break;
default: new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message); break;
}
return new_state_id;
@ -927,7 +1038,7 @@ namespace etl
case T6::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T6&>(message)); break;
case T7::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T7&>(message)); break;
case T8::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T8&>(message)); break;
default: new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message); break;
default: new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message); break;
}
return new_state_id;
@ -981,7 +1092,7 @@ namespace etl
case T5::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T5&>(message)); break;
case T6::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T6&>(message)); break;
case T7::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T7&>(message)); break;
default: new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message); break;
default: new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message); break;
}
return new_state_id;
@ -1034,7 +1145,7 @@ namespace etl
case T4::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T4&>(message)); break;
case T5::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T5&>(message)); break;
case T6::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T6&>(message)); break;
default: new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message); break;
default: new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message); break;
}
return new_state_id;
@ -1086,7 +1197,7 @@ namespace etl
case T3::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T3&>(message)); break;
case T4::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T4&>(message)); break;
case T5::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T5&>(message)); break;
default: new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message); break;
default: new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message); break;
}
return new_state_id;
@ -1136,7 +1247,7 @@ namespace etl
case T2::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T2&>(message)); break;
case T3::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T3&>(message)); break;
case T4::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T4&>(message)); break;
default: new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message); break;
default: new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message); break;
}
return new_state_id;
@ -1185,7 +1296,7 @@ namespace etl
case T1::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T1&>(message)); break;
case T2::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T2&>(message)); break;
case T3::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T3&>(message)); break;
default: new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message); break;
default: new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message); break;
}
return new_state_id;
@ -1233,7 +1344,7 @@ namespace etl
{
case T1::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T1&>(message)); break;
case T2::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T2&>(message)); break;
default: new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message); break;
default: new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message); break;
}
return new_state_id;
@ -1280,7 +1391,7 @@ namespace etl
switch (event_id)
{
case T1::ID: new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T1&>(message)); break;
default: new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message); break;
default: new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message); break;
}
return new_state_id;
@ -1319,7 +1430,7 @@ namespace etl
etl::fsm_state_id_t process_event(const etl::imessage& message)
{
return static_cast<TDerived*>(this)->on_event_unknown(message);
return p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message);
}
};
}

187
include/etl/generators/fsm_generator.h
View File

@ -80,6 +80,7 @@ cog.outl("//********************************************************************
namespace etl
{
class fsm;
class hfsm;
/// Allow alternative type for state id.
#if !defined(ETL_FSM_STATE_ID_TYPE)
@ -91,6 +92,13 @@ namespace etl
// For internal FSM use.
typedef typename etl::larger_type<etl::message_id_t>::type fsm_internal_id_t;
template <typename TContext, typename TDerived, const etl::fsm_state_id_t STATE_ID_,
typename T1 = void, typename T2 = void, typename T3 = void, typename T4 = void,
typename T5 = void, typename T6 = void, typename T7 = void, typename T8 = void,
typename T9 = void, typename T10 = void, typename T11 = void, typename T12 = void,
typename T13 = void, typename T14 = void, typename T15 = void, typename T16 = void>
class fsm_state;
//***************************************************************************
/// Base exception class for FSM.
//***************************************************************************
@ -156,6 +164,18 @@ namespace etl
}
};
//***************************************************************************
/// Exception for forbidden state chages.
//***************************************************************************
class fsm_state_composite_state_change_forbidden : public etl::fsm_exception
{
public:
fsm_state_composite_state_change_forbidden(string_type file_name_, numeric_type line_number_)
: etl::fsm_exception(ETL_ERROR_TEXT("fsm:change in composite state forbidden", ETL_FSM_FILE_ID"E"), file_name_, line_number_)
{
}
};
//***************************************************************************
/// Interface class for FSM states.
//***************************************************************************
@ -163,8 +183,19 @@ namespace etl
{
public:
// Pass this whenever no state change is desired.
// The highest unsigned value of fsm_state_id_t.
static ETL_CONSTANT fsm_state_id_t No_State_Change = etl::integral_limits<fsm_state_id_t>::max;
/// Allows ifsm_state functions to be private.
friend class etl::fsm;
friend class etl::hfsm;
template <typename, typename, const etl::fsm_state_id_t,
typename, typename, typename, typename,
typename, typename, typename, typename,
typename, typename, typename, typename,
typename, typename, typename, typename >
friend class etl::fsm_state;
//*******************************************
/// Gets the id for this state.
@ -174,6 +205,61 @@ namespace etl
return state_id;
}
//*******************************************
/// Adds a child to this state.
//*******************************************
void add_child_state(etl::ifsm_state& state)
{
ETL_ASSERT(state.p_parent == ETL_NULLPTR, ETL_ERROR(etl::fsm_null_state_exception));
state.p_parent = this;
if (p_default_child == ETL_NULLPTR)
{
p_active_child = &state;
p_default_child = &state;
}
}
//*******************************************
/// Adds a list of child states.
//*******************************************
template <typename TSize>
void set_child_states(etl::ifsm_state** state_list, TSize size)
{
p_active_child = ETL_NULLPTR;
p_default_child = ETL_NULLPTR;
for (TSize i = 0; i < size; ++i)
{
ETL_ASSERT(state_list[i] != ETL_NULLPTR, ETL_ERROR(etl::fsm_null_state_exception));
add_child_state(*state_list[i]);
}
}
//*******************************************
/// Get the parent state for this state.
//*******************************************
etl::ifsm_state* get_parent_state() const
{
return p_parent;
}
//*******************************************
/// Get the active child state for this state.
//*******************************************
etl::ifsm_state* get_active_child_state() const
{
return p_active_child;
}
//*******************************************
/// Get the default child state for this state.
//*******************************************
etl::ifsm_state* get_default_child_state() const
{
return p_default_child;
}
protected:
//*******************************************
@ -181,7 +267,10 @@ namespace etl
//*******************************************
ifsm_state(etl::fsm_state_id_t state_id_)
: state_id(state_id_),
p_context(ETL_NULLPTR)
p_context(ETL_NULLPTR),
p_parent(ETL_NULLPTR),
p_active_child(ETL_NULLPTR),
p_default_child(ETL_NULLPTR)
{
}
@ -202,7 +291,7 @@ namespace etl
virtual fsm_state_id_t process_event(const etl::imessage& message) = 0;
virtual fsm_state_id_t on_enter_state() { return state_id; } // By default, do nothing.
virtual fsm_state_id_t on_enter_state() { return No_State_Change; } // By default, do nothing.
virtual void on_exit_state() {} // By default, do nothing.
//*******************************************
@ -217,6 +306,15 @@ namespace etl
// A pointer to the FSM context.
etl::fsm* p_context;
// A pointer to the parent.
ifsm_state* p_parent;
// A pointer to the active child.
ifsm_state* p_active_child;
// A pointer to the default active child.
ifsm_state* p_default_child;
// Disabled.
ifsm_state(const ifsm_state&);
ifsm_state& operator =(const ifsm_state&);
@ -229,6 +327,7 @@ namespace etl
{
public:
friend etl::hfsm;
using imessage_router::receive;
//*******************************************
@ -252,6 +351,7 @@ namespace etl
number_of_states = etl::fsm_state_id_t(size);
ETL_ASSERT(number_of_states > 0, ETL_ERROR(etl::fsm_state_list_exception));
ETL_ASSERT(number_of_states < ifsm_state::No_State_Change, ETL_ERROR(etl::fsm_state_list_exception));
for (etl::fsm_state_id_t i = 0; i < size; ++i)
{
@ -269,26 +369,29 @@ namespace etl
//*******************************************
void start(bool call_on_enter_state = true)
{
// Can only be started once.
if (p_state == ETL_NULLPTR)
{
p_state = state_list[0];
ETL_ASSERT(p_state != ETL_NULLPTR, ETL_ERROR(etl::fsm_null_state_exception));
// Can only be started once.
if (p_state == ETL_NULLPTR)
{
p_state = state_list[0];
ETL_ASSERT(p_state != ETL_NULLPTR, ETL_ERROR(etl::fsm_null_state_exception));
if (call_on_enter_state)
{
etl::fsm_state_id_t next_state_id;
etl::ifsm_state* p_last_state;
if (call_on_enter_state)
{
etl::fsm_state_id_t next_state_id;
etl::ifsm_state* p_last_state;
do
{
p_last_state = p_state;
next_state_id = p_state->on_enter_state();
p_state = state_list[next_state_id];
} while (p_last_state != p_state);
}
}
do
{
p_last_state = p_state;
next_state_id = p_state->on_enter_state();
if (next_state_id != ifsm_state::No_State_Change)
{
ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
p_state = state_list[next_state_id];
}
} while (p_last_state != p_state);
}
}
}
//*******************************************
@ -296,26 +399,27 @@ namespace etl
//*******************************************
void receive(const etl::imessage& message) ETL_OVERRIDE
{
etl::fsm_state_id_t next_state_id = p_state->process_event(message);
ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
etl::fsm_state_id_t next_state_id = p_state->process_event(message);
if (have_changed_state(next_state_id))
{
ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
etl::ifsm_state* p_next_state = state_list[next_state_id];
// Have we changed state?
if (p_next_state != p_state)
do
{
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))
{
p_state->on_exit_state();
p_state = p_next_state;
next_state_id = p_state->on_enter_state();
ETL_ASSERT(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?
}
}
} while (p_next_state != p_state); // Have we changed state again?
}
}
using imessage_router::accepts;
@ -398,6 +502,13 @@ namespace etl
private:
//********************************************
bool have_changed_state(etl::fsm_state_id_t next_state_id) const
{
return (next_state_id != p_state->get_state_id()) &&
(next_state_id != ifsm_state::No_State_Change);
}
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.
@ -414,11 +525,11 @@ namespace etl
cog.outl("template <typename TContext, typename TDerived, const etl::fsm_state_id_t STATE_ID_, ")
cog.out(" ")
for n in range(1, int(Handlers)):
cog.out("typename T%s = void, " % n)
cog.out("typename T%s, " % n)
if n % 4 == 0:
cog.outl("")
cog.out(" ")
cog.outl("typename T%s = void>" % Handlers)
cog.outl("typename T%s>" % Handlers)
cog.outl("class fsm_state : public ifsm_state")
cog.outl("{")
cog.outl("public:")
@ -458,7 +569,7 @@ namespace etl
cog.out(" new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T%d&>(message));" % n)
cog.outl(" break;")
cog.out(" default:")
cog.out(" new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message);")
cog.out(" new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message);")
cog.outl(" break;")
cog.outl(" }")
cog.outl("")
@ -535,7 +646,7 @@ namespace etl
cog.out(" new_state_id = static_cast<TDerived*>(this)->on_event(static_cast<const T%d&>(message));" % n)
cog.outl(" break;")
cog.out(" default:")
cog.out(" new_state_id = static_cast<TDerived*>(this)->on_event_unknown(message);")
cog.out(" new_state_id = p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message);")
cog.outl(" break;")
cog.outl(" }")
cog.outl("")
@ -584,7 +695,7 @@ namespace etl
cog.outl("")
cog.outl(" etl::fsm_state_id_t process_event(const etl::imessage& message)")
cog.outl(" {")
cog.outl(" return static_cast<TDerived*>(this)->on_event_unknown(message);")
cog.outl(" return p_parent ? p_parent->process_event(message) : static_cast<TDerived*>(this)->on_event_unknown(message);")
cog.outl(" }")
cog.outl("};")
]]]*/

208
include/etl/hfsm.h Normal file
View File

@ -0,0 +1,208 @@
/******************************************************************************
The MIT License(MIT)
Embedded Template Library.
https://github.com/ETLCPP/etl
https://www.etlcpp.com
Copyright(c) 2021
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files(the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions :
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
******************************************************************************/
#ifndef ETL_HFSM_INCLUDED
#define ETL_HFSM_INCLUDED
#include "fsm.h"
namespace etl
{
//***************************************************************************
/// The HFSM class.
/// Builds on the FSM class by overriding the receive function and adding
/// state hierarchy walking functions.
//***************************************************************************
class hfsm : public etl::fsm
{
public:
//*******************************************
/// Constructor.
//*******************************************
hfsm(etl::message_router_id_t id)
: fsm(id)
{
}
using fsm::receive;
//*******************************************
/// Top level message handler for the HFSM.
//*******************************************
void receive(const etl::imessage& message) ETL_OVERRIDE
{
etl::fsm_state_id_t next_state_id = p_state->process_event(message);
if (next_state_id != ifsm_state::No_State_Change)
{
ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
etl::ifsm_state* p_next_state = state_list[next_state_id];
// Have we changed state?
if (p_next_state != p_state)
{
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(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
p_state = state_list[next_state_id];
}
}
}
}
private:
//*******************************************
/// Return the first common ancester of the two states.
//*******************************************
static etl::ifsm_state* common_ancestor(etl::ifsm_state* p1, etl::ifsm_state* p2)
{
size_t depth1 = get_depth(p1);
size_t depth2 = get_depth(p2);
// Adjust p1 and p2 to the same depth.
if (depth1 > depth2)
{
p1 = adjust_depth(p1, depth1 - depth2);
}
else
{
p2 = adjust_depth(p2, depth2 - depth1);
}
// Now they're aligned to the same depth they can step towards the root together.
while (p1 != p2)
{
p1 = p1->p_parent;
p2 = p2->p_parent;
}
return p1;
}
//*******************************************
/// Find the depth of the state.
//*******************************************
static size_t get_depth(etl::ifsm_state* p)
{
size_t depth = 0;
while (p != ETL_NULLPTR)
{
p = p->p_parent;
++depth;
}
return depth;
}
//*******************************************
/// Align the depths of the states.
//*******************************************
static etl::ifsm_state* adjust_depth(etl::ifsm_state* p, size_t offset)
{
while (offset != 0U)
{
p = p->p_parent;
--offset;
}
return p;
}
//*******************************************
/// Entering the state.
//*******************************************
static etl::fsm_state_id_t do_enters(const etl::ifsm_state* p_root, etl::ifsm_state* p_target, bool activate_default_children)
{
ETL_ASSERT(p_target != ETL_NULLPTR, ETL_ERROR(etl::fsm_null_state_exception));
// We need to go recursively up the tree if the target and root don't match
if ((p_root != p_target) && (p_target->p_parent != ETL_NULLPTR))
{
if (p_target->p_parent != p_root)
{
// The parent we're calling shouldn't activate its defaults, or this state will be deactivated.
do_enters(p_root, p_target->p_parent, false);
}
// Set us as our parent's active child
p_target->p_parent->p_active_child = p_target;
}
etl::fsm_state_id_t next_state = p_target->on_enter_state();
ETL_ASSERT(ifsm_state::No_State_Change == next_state, ETL_ERROR(etl::fsm_state_composite_state_change_forbidden));
// Activate default child if we need to activate any initial states in an active composite state.
if (activate_default_children)
{
while (p_target->p_default_child != ETL_NULLPTR)
{
p_target = p_target->p_default_child;
p_target->p_parent->p_active_child = p_target;
next_state = p_target->on_enter_state();
ETL_ASSERT(ifsm_state::No_State_Change == next_state, ETL_ERROR(etl::fsm_state_composite_state_change_forbidden));
}
next_state = p_target->get_state_id();
}
return next_state;
}
//*******************************************
/// Exiting the state.
//*******************************************
static void do_exits(const etl::ifsm_state* p_root, etl::ifsm_state* p_source)
{
etl::ifsm_state* p_current = p_source;
// Iterate down to the lowest child
while (p_current->p_active_child != ETL_NULLPTR)
{
p_current = p_current->p_active_child;
}
// Run exit state on all states up to the root
while (p_current != p_root)
{
p_current->on_exit_state();
p_current = p_current->p_parent;
}
}
};
}
#endif

1
meson.build
View File

@ -54,6 +54,7 @@ etl_test_sources = files(
'test/test_fnv_1.cpp',
'test/test_forward_list.cpp',
'test/test_fsm.cpp',
'test/test_hfsm.cpp',
'test/test_functional.cpp',
'test/test_function.cpp',
'test/test_hash.cpp',

1
test/CMakeLists.txt
View File

@ -121,6 +121,7 @@ set(TEST_SOURCE_FILES
test_functional.cpp
test_gamma.cpp
test_hash.cpp
test_hfsm.cpp
test_histogram.cpp
test_indirect_vector.cpp
test_indirect_vector_external_buffer.cpp

2
test/test_fsm.cpp
View File

@ -224,7 +224,7 @@ namespace
etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
{
++get_fsm_context().unknownCount;
return STATE_ID;
return StateId::IDLE; //No_State_Change;
}
//***********************************

790
test/test_hfsm.cpp Normal file
View File

@ -0,0 +1,790 @@
/******************************************************************************
The MIT License(MIT)
Embedded Template Library.
https://github.com/ETLCPP/etl
https://www.etlcpp.com
Copyright(c) 2021
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files(the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions :
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
******************************************************************************/
#include "unit_test_framework.h"
#include "etl/hfsm.h"
#include "etl/enum_type.h"
#include "etl/container.h"
#include "etl/packet.h"
#include "etl/queue.h"
#include <iostream>
// This test implements the following state machine:
// +--------------------------------------------+
// | |
// | O running |
// | | |
// O | v |
// | | +-----------+ +-----------+ |
// v | | |Timeout | | |
// +------+ Start | | windingUp +------->| atSpeed | |
// | idle +-------+--->| | | | |
// +------+ | +------+----+ +------+----+ |
// ^ ^ | | | |
// | | | Stop | | |
// | | | v |Stop |
// | | | +------------------+ | |
// | | Stopped | | | | |
// | +----------+--------+ windingDown |<---+ |
// | | | | |
// | EStop | +------------------+ |
// +-------------+ |
// | |
// +--------------------------------------------+
// Created with asciiflow.com
namespace
{
const etl::message_router_id_t MOTOR_CONTROL = 0;
//***************************************************************************
// Events
struct EventId
{
enum enum_type
{
START,
STOP,
ESTOP,
STOPPED,
SET_SPEED,
RECURSIVE,
TIMEOUT,
UNSUPPORTED
};
ETL_DECLARE_ENUM_TYPE(EventId, etl::message_id_t)
ETL_ENUM_TYPE(START, "Start")
ETL_ENUM_TYPE(STOP, "Stop")
ETL_ENUM_TYPE(ESTOP, "E-Stop")
ETL_ENUM_TYPE(STOPPED, "Stopped")
ETL_ENUM_TYPE(SET_SPEED, "Set Speed")
ETL_ENUM_TYPE(RECURSIVE, "Recursive")
ETL_ENUM_TYPE(TIMEOUT, "Timeout")
ETL_ENUM_TYPE(UNSUPPORTED, "Unsupported")
ETL_END_ENUM_TYPE
};
//***********************************
class Start : public etl::message<EventId::START>
{
};
//***********************************
class Stop : public etl::message<EventId::STOP>
{
};
//***********************************
class EStop : public etl::message<EventId::ESTOP>
{
};
//***********************************
class SetSpeed : public etl::message<EventId::SET_SPEED>
{
public:
SetSpeed(int speed_) : speed(speed_) {}
const int speed;
};
//***********************************
class Stopped : public etl::message<EventId::STOPPED>
{
};
//***********************************
class Recursive : public etl::message<EventId::RECURSIVE>
{
};
//***********************************
class Timeout : public etl::message<EventId::TIMEOUT>
{
};
//***********************************
class Unsupported : public etl::message<EventId::UNSUPPORTED>
{
};
//***************************************************************************
// States
struct StateId
{
enum enum_type
{
IDLE,
RUNNING,
WINDING_UP,
WINDING_DOWN,
AT_SPEED,
NUMBER_OF_STATES
};
ETL_DECLARE_ENUM_TYPE(StateId, etl::fsm_state_id_t)
ETL_ENUM_TYPE(IDLE, "Idle")
ETL_ENUM_TYPE(RUNNING, "Running")
ETL_ENUM_TYPE(WINDING_UP, "Winding Up")
ETL_ENUM_TYPE(WINDING_DOWN, "Winding Down")
ETL_ENUM_TYPE(AT_SPEED, "At Speed")
ETL_END_ENUM_TYPE
};
//***********************************
// The motor control FSM.
//***********************************
class MotorControl : public etl::hfsm
{
public:
MotorControl()
: hfsm(MOTOR_CONTROL)
{
}
//***********************************
void Initialise(etl::ifsm_state** p_states, size_t size)
{
set_states(p_states, size);
ClearStatistics();
}
//***********************************
void ClearStatistics()
{
startCount = 0;
stopCount = 0;
setSpeedCount = 0;
windUpCompleteCount = 0;
windUpStartCount = 0;
unknownCount = 0;
stoppedCount = 0;
isLampOn = false;
speed = 0;
}
//***********************************
void SetSpeedValue(int speed_)
{
speed = speed_;
}
//***********************************
void TurnRunningLampOn()
{
isLampOn = true;
}
//***********************************
void TurnRunningLampOff()
{
isLampOn = false;
}
//***********************************
template <typename T>
void queue_recursive_message(const T& message)
{
messageQueue.emplace(message);
}
typedef etl::largest<Start, Stop, EStop, SetSpeed, Stopped, Recursive, Timeout> Largest_t;
typedef etl::packet<etl::imessage, Largest_t::size, Largest_t::alignment> Packet_t;
etl::queue<Packet_t, 2> messageQueue;
int startCount;
int stopCount;
int windUpCompleteCount;
int windUpStartCount;
int setSpeedCount;
int unknownCount;
int stoppedCount;
bool isLampOn;
int speed;
};
//***********************************
// The idle state.
//***********************************
class Idle : public etl::fsm_state<MotorControl, Idle, StateId::IDLE, Start, Recursive>
{
public:
//***********************************
etl::fsm_state_id_t on_event(const Start&)
{
++get_fsm_context().startCount;
return StateId::RUNNING;
}
//***********************************
etl::fsm_state_id_t on_event(const Recursive&)
{
get_fsm_context().queue_recursive_message(Start());
return StateId::IDLE;
}
//***********************************
etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
{
++get_fsm_context().unknownCount;
return No_State_Change;
}
//***********************************
etl::fsm_state_id_t on_enter_state()
{
get_fsm_context().TurnRunningLampOff();
return No_State_Change;
}
};
//***********************************
// The running state.
//***********************************
class Running : public etl::fsm_state<MotorControl, Running, StateId::RUNNING, EStop>
{
public:
//***********************************
etl::fsm_state_id_t on_event(const EStop& event)
{
++get_fsm_context().stopCount;
return StateId::IDLE;
}
//***********************************
etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
{
++get_fsm_context().unknownCount;
return No_State_Change;
}
//***********************************
etl::fsm_state_id_t on_enter_state()
{
get_fsm_context().TurnRunningLampOn();
return No_State_Change;
}
};
//***********************************
// The winding up state.
//***********************************
class WindingUp : public etl::fsm_state<MotorControl, WindingUp, StateId::WINDING_UP, Stop, Timeout>
{
public:
//***********************************
etl::fsm_state_id_t on_event(const Stop&)
{
++get_fsm_context().stopCount;
return StateId::WINDING_DOWN;
}
//***********************************
etl::fsm_state_id_t on_event(const Timeout&)
{
++get_fsm_context().windUpCompleteCount;
return StateId::AT_SPEED;
}
//***********************************
etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
{
++get_fsm_context().unknownCount;
return No_State_Change;
}
etl::fsm_state_id_t on_enter_state()
{
++get_fsm_context().windUpStartCount;
return No_State_Change;
}
};
//***********************************
// The at speed state.
//***********************************
class AtSpeed : public etl::fsm_state<MotorControl, AtSpeed, StateId::AT_SPEED, SetSpeed, Stop>
{
public:
//***********************************
etl::fsm_state_id_t on_event(const Stop&)
{
++get_fsm_context().stopCount;
return StateId::WINDING_DOWN;
}
//***********************************
etl::fsm_state_id_t on_event(const SetSpeed& event)
{
++get_fsm_context().setSpeedCount;
get_fsm_context().SetSpeedValue(event.speed);
//return No_State_Change;
return this->get_state_id();
}
//***********************************
etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
{
++get_fsm_context().unknownCount;
return No_State_Change;
}
};
//***********************************
// The winding down state.
//***********************************
class WindingDown : public etl::fsm_state<MotorControl, WindingDown, StateId::WINDING_DOWN, Stopped>
{
public:
//***********************************
etl::fsm_state_id_t on_event(const Stopped&)
{
++get_fsm_context().stoppedCount;
return StateId::IDLE;
}
//***********************************
etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
{
++get_fsm_context().unknownCount;
return No_State_Change;
}
};
// The states.
Idle idle;
Running running;
WindingUp windingUp;
WindingDown windingDown;
AtSpeed atSpeed;
etl::ifsm_state* stateList[StateId::NUMBER_OF_STATES] =
{
&idle, &running, &windingUp, &windingDown, &atSpeed
};
etl::ifsm_state* childStates[] =
{
&windingUp, &atSpeed, &windingDown
};
MotorControl motorControl;
SUITE(test_hfsm_states)
{
//*************************************************************************
TEST(test_hfsm)
{
etl::null_message_router nmr;
CHECK(motorControl.is_producer());
CHECK(motorControl.is_consumer());
running.set_child_states(childStates, etl::size(childStates));
motorControl.Initialise(stateList, etl::size(stateList));
motorControl.reset();
motorControl.ClearStatistics();
CHECK(!motorControl.is_started());
// 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()));
CHECK_EQUAL(false, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount);
CHECK_EQUAL(0, motorControl.speed);
CHECK_EQUAL(0, motorControl.startCount);
CHECK_EQUAL(0, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.windUpCompleteCount);
CHECK_EQUAL(0, motorControl.windUpStartCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(0, motorControl.unknownCount);
// Send unhandled events.
motorControl.receive(Stop());
motorControl.receive(Stopped());
motorControl.receive(SetSpeed(10));
CHECK_EQUAL(StateId::IDLE, motorControl.get_state_id());
CHECK_EQUAL(StateId::IDLE, motorControl.get_state().get_state_id());
CHECK_EQUAL(false, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount);
CHECK_EQUAL(0, motorControl.speed);
CHECK_EQUAL(0, motorControl.startCount);
CHECK_EQUAL(0, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(3, motorControl.unknownCount);
CHECK_EQUAL(0, motorControl.windUpCompleteCount);
CHECK_EQUAL(0, motorControl.windUpStartCount);
// Send Start event.
motorControl.receive(Start());
// Now in WindingUp state.
CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(true, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount);
CHECK_EQUAL(0, motorControl.speed);
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(0, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(3, motorControl.unknownCount);
CHECK_EQUAL(0, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
// Send unhandled events.
motorControl.receive(Start());
motorControl.receive(Stopped());
CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(true, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount);
CHECK_EQUAL(0, motorControl.speed);
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(0, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(5, motorControl.unknownCount);
CHECK_EQUAL(0, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
// Send Timeout event
motorControl.receive(Timeout());
CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(true, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount);
CHECK_EQUAL(0, motorControl.speed);
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(0, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(5, motorControl.unknownCount);
CHECK_EQUAL(1, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
// Send SetSpeed event.
motorControl.receive(SetSpeed(100));
// Still in at speed state.
CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(true, motorControl.isLampOn);
CHECK_EQUAL(1, motorControl.setSpeedCount);
CHECK_EQUAL(100, motorControl.speed);
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(0, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(5, motorControl.unknownCount);
CHECK_EQUAL(1, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
// Send Stop event.
motorControl.receive(Stop());
// Now in WindingDown state.
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);
CHECK_EQUAL(100, motorControl.speed);
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(1, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(5, motorControl.unknownCount);
CHECK_EQUAL(1, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
// Send unhandled events.
motorControl.receive(Start());
motorControl.receive(Stop());
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(true, motorControl.isLampOn);
CHECK_EQUAL(1, motorControl.setSpeedCount);
CHECK_EQUAL(100, motorControl.speed);
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(1, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(8, motorControl.unknownCount);
CHECK_EQUAL(1, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
// Send Stopped event.
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()));
CHECK_EQUAL(false, motorControl.isLampOn);
CHECK_EQUAL(1, motorControl.setSpeedCount);
CHECK_EQUAL(100, motorControl.speed);
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(1, motorControl.stopCount);
CHECK_EQUAL(1, motorControl.stoppedCount);
CHECK_EQUAL(8, motorControl.unknownCount);
CHECK_EQUAL(1, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
}
//*************************************************************************
TEST(test_hfsm_emergency_stop_from_winding_up)
{
etl::null_message_router nmr;
motorControl.Initialise(stateList, etl::size(stateList));
motorControl.reset();
motorControl.ClearStatistics();
CHECK(!motorControl.is_started());
// Start the FSM.
motorControl.start(false);
CHECK(motorControl.is_started());
// Now in Idle state.
// Send Start event.
motorControl.receive(Start());
// Now in winding up state.
CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(true, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount);
CHECK_EQUAL(0, motorControl.speed);
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(0, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(0, motorControl.unknownCount);
CHECK_EQUAL(0, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
// Send emergency Stop event.
motorControl.receive(EStop());
// Now in Idle state.
CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(false, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount);
CHECK_EQUAL(0, motorControl.speed);
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(1, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(0, motorControl.unknownCount);
CHECK_EQUAL(0, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
}
//*************************************************************************
TEST(test_hfsm_emergency_stop_from_at_speed)
{
etl::null_message_router nmr;
motorControl.Initialise(stateList, etl::size(stateList));
motorControl.reset();
motorControl.ClearStatistics();
CHECK(!motorControl.is_started());
// Start the FSM.
motorControl.start(false);
CHECK(motorControl.is_started());
// Now in Idle state.
// Send Start event.
motorControl.receive(Start());
motorControl.receive(Timeout());
// Now in at speed state.
CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(true, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount);
CHECK_EQUAL(0, motorControl.speed);
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(0, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(0, motorControl.unknownCount);
CHECK_EQUAL(1, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
// Send emergency Stop event.
motorControl.receive(EStop());
// Now in Idle state.
CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(false, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount);
CHECK_EQUAL(0, motorControl.speed);
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(1, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(0, motorControl.unknownCount);
CHECK_EQUAL(1, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
}
//*************************************************************************
TEST(test_hfsm_recursive_event)
{
etl::null_message_router nmr;
motorControl.Initialise(stateList, etl::size(stateList));
motorControl.reset();
motorControl.ClearStatistics();
motorControl.messageQueue.clear();
// Start the FSM.
motorControl.start(false);
// Now in Idle state.
// Send Start event.
motorControl.receive(Recursive());
CHECK_EQUAL(1U, motorControl.messageQueue.size());
// Send the queued message.
motorControl.receive(motorControl.messageQueue.front().get());
motorControl.messageQueue.pop();
// Now in winding up state.
CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(true, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount);
CHECK_EQUAL(0, motorControl.speed);
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(0, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(0, motorControl.unknownCount);
}
//*************************************************************************
TEST(test_hfsm_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(SetSpeed(0)));
CHECK(motorControl.accepts(Start()));
CHECK(motorControl.accepts(Stop()));
CHECK(motorControl.accepts(Stopped()));
CHECK(motorControl.accepts(Unsupported()));
}
//*************************************************************************
TEST(test_hfsm_no_states)
{
MotorControl mc;
// No states.
etl::ifsm_state** stateList = nullptr;
CHECK_THROW(mc.set_states(stateList, 0U), etl::fsm_state_list_exception);
}
//*************************************************************************
TEST(test_hfsm_null_state)
{
MotorControl mc;
// Null state.
etl::ifsm_state* stateList[StateId::NUMBER_OF_STATES] =
{
&idle, &running, &windingUp, &windingDown, nullptr
};
CHECK_THROW(mc.set_states(stateList, StateId::NUMBER_OF_STATES), etl::fsm_null_state_exception);
}
//*************************************************************************
TEST(test_hfsm_incorrect_state_order)
{
MotorControl mc;
// Incorrect order.
etl::ifsm_state* stateList[StateId::NUMBER_OF_STATES] =
{
&idle, &running, &windingDown, &windingUp, &atSpeed
};
CHECK_THROW(mc.set_states(stateList, StateId::NUMBER_OF_STATES), etl::fsm_state_list_order_exception);
}
};
}

2
test/vs2019/etl.vcxproj
View File

@ -1326,6 +1326,7 @@
<ClInclude Include="..\..\include\etl\generators\type_traits_generator.h" />
<ClInclude Include="..\..\include\etl\generators\variant_pool_generator.h" />
<ClInclude Include="..\..\include\etl\generic_pool.h" />
<ClInclude Include="..\..\include\etl\hfsm.h" />
<ClInclude Include="..\..\include\etl\histogram.h" />
<ClInclude Include="..\..\include\etl\imemory_block_allocator.h" />
<ClInclude Include="..\..\include\etl\indirect_vector.h" />
@ -4481,6 +4482,7 @@
<ClCompile Include="..\test_forward_list_shared_pool.cpp" />
<ClCompile Include="..\test_bit_stream.cpp" />
<ClCompile Include="..\test_gamma.cpp" />
<ClCompile Include="..\test_hfsm.cpp" />
<ClCompile Include="..\test_histogram.cpp" />
<ClCompile Include="..\test_indirect_vector.cpp" />
<ClCompile Include="..\test_indirect_vector_external_buffer.cpp" />

6
test/vs2019/etl.vcxproj.filters
View File

@ -1098,6 +1098,9 @@
<ClInclude Include="..\..\include\etl\rescale.h">
<Filter>ETL\Maths</Filter>
</ClInclude>
<ClInclude Include="..\..\include\etl\hfsm.h">
<Filter>ETL\Frameworks</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<ClCompile Include="..\main.cpp">
@ -2513,6 +2516,9 @@
<ClCompile Include="..\test_atomic_gcc_sync.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="..\test_hfsm.cpp">
<Filter>Source Files</Filter>
</ClCompile>
</ItemGroup>
<ItemGroup>
<None Include="..\..\library.properties">