mirror of
https://github.com/ETLCPP/etl.git
synced 2026-04-30 19:09:10 +08:00
Integrated FSM and message router classes.
Fixed GCC compatibility issue. Added on_enter_state() return tests.
This commit is contained in:
John Wellbelove
parent
48e016d208
commit
73da59ad17
97
src/fsm.h
97
src/fsm.h
@ -127,7 +127,7 @@ namespace etl
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etl::fsm_state_id_t get_state_id() const
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{
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return state_id;
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}
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}
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protected:
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@ -143,7 +143,7 @@ namespace etl
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virtual fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message) = 0;
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virtual void on_enter_state() {}; // By default, do nothing.
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virtual fsm_state_id_t on_enter_state() { return state_id; }; // By default, do nothing.
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virtual void on_exit_state() {}; // By default, do nothing.
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// The state id.
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@ -171,13 +171,13 @@ namespace etl
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}
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//*******************************************
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inline void on_enter_state(etl::ifsm_state &state)
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inline fsm_state_id_t on_enter_state(etl::ifsm_state& state)
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{
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state.on_enter_state();
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return state.on_enter_state();
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}
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//*******************************************
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inline void on_exit_state(etl::ifsm_state &state)
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inline void on_exit_state(etl::ifsm_state& state)
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{
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state.on_exit_state();
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}
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@ -259,26 +259,33 @@ namespace etl
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//*******************************************
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void receive(const etl::imessage& message)
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{
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receive(etl::null_message_router(), message);
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etl::null_message_router nmr;
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receive(nmr, message);
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}
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//*******************************************
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void receive(etl::imessage_router& source, const etl::imessage& message)
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{
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{
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etl::fsm_state_id_t next_state_id = fsm_helper::process_event(*p_state, source, message);
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ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
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etl::ifsm_state* p_next_state = state_list[next_state_id];
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// Have we changed state?
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if (next_state_id != p_state->get_state_id())
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if (p_next_state != p_state)
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{
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//p_state->on_exit_state();
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fsm_helper::on_exit_state(*p_state);
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do
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{
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fsm_helper::on_exit_state(*p_state);
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p_state = state_list[next_state_id];
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ETL_ASSERT(p_state != nullptr, ETL_ERROR(etl::fsm_null_state_exception));
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p_state = p_next_state;
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next_state_id = fsm_helper::on_enter_state(*p_state);
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ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
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fsm_helper::on_enter_state(*p_state);
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p_next_state = state_list[next_state_id];
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} while (p_next_state != p_state); // Have we changed state again?
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}
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}
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@ -373,12 +380,12 @@ namespace etl
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// To generate to header file, run this at the command line.
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// Note: You will need Python and COG installed.
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//
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// python -m cogapp -d -e -ofsm.h -DHandlers=<n> fsm_generator.h
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// python -m cogapp -d -e -ofsm.h -DHandlers=<n> fsm_generator.h
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// Where <n> is the number of messages to support.
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//
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// e.g.
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// To generate handlers for up to 16 events...
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// python -m cogapp -d -e -ofsm.h -DHandlers=16 fsm_generator.h
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// python -m cogapp -d -e -ofsm.h -DHandlers=16 fsm_generator.h
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//
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// See CreateFSM.bat
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//***************************************************************************
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@ -409,6 +416,8 @@ namespace etl
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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etl::fsm_state_id_t new_state_id;
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@ -461,6 +470,8 @@ namespace etl
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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etl::fsm_state_id_t new_state_id;
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@ -512,6 +523,8 @@ namespace etl
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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etl::fsm_state_id_t new_state_id;
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@ -562,6 +575,8 @@ namespace etl
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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etl::fsm_state_id_t new_state_id;
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@ -610,6 +625,8 @@ namespace etl
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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etl::fsm_state_id_t new_state_id;
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@ -657,6 +674,8 @@ namespace etl
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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etl::fsm_state_id_t new_state_id;
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@ -703,6 +722,8 @@ namespace etl
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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etl::fsm_state_id_t new_state_id;
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@ -748,6 +769,8 @@ namespace etl
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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etl::fsm_state_id_t new_state_id;
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@ -791,6 +814,8 @@ namespace etl
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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etl::fsm_state_id_t new_state_id;
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@ -833,6 +858,8 @@ namespace etl
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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etl::fsm_state_id_t new_state_id;
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@ -874,6 +901,8 @@ namespace etl
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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etl::fsm_state_id_t new_state_id;
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@ -914,6 +943,8 @@ namespace etl
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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etl::fsm_state_id_t new_state_id;
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@ -952,6 +983,8 @@ namespace etl
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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etl::fsm_state_id_t new_state_id;
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@ -989,6 +1022,8 @@ namespace etl
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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etl::fsm_state_id_t new_state_id;
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@ -1025,6 +1060,8 @@ namespace etl
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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etl::fsm_state_id_t new_state_id;
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@ -1060,6 +1097,8 @@ namespace etl
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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etl::fsm_state_id_t new_state_id;
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@ -1074,6 +1113,32 @@ namespace etl
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return new_state_id;
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}
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};
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//***************************************************************************
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// Specialisation for 0 message types.
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//***************************************************************************
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template <typename TState, const etl::fsm_state_id_t STATE_ID_>
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class fsm_state<TState, STATE_ID_, void, void, void, void, void, void, void, void, void, void, void, void, void, void, void, void> : public ifsm_state
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{
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public:
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enum
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{
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STATE_ID = STATE_ID_
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};
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fsm_state()
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: ifsm_state(STATE_ID)
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{
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}
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private:
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etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)
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{
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return static_cast<TState*>(this)->on_event_unknown(source, message);
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}
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};
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}
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#undef ETL_FILE
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@ -171,13 +171,13 @@ namespace etl
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}
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//*******************************************
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inline fsm_state_id_t on_enter_state(etl::ifsm_state &state)
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inline fsm_state_id_t on_enter_state(etl::ifsm_state& state)
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{
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return state.on_enter_state();
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}
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//*******************************************
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inline void on_exit_state(etl::ifsm_state &state)
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inline void on_exit_state(etl::ifsm_state& state)
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{
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state.on_exit_state();
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}
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@ -253,7 +253,8 @@ namespace etl
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//*******************************************
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void receive(const etl::imessage& message)
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{
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receive(etl::null_message_router(), message);
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etl::null_message_router nmr;
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receive(nmr, message);
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}
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//*******************************************
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@ -424,6 +425,8 @@ namespace etl
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cog.outl(" {")
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cog.outl(" }")
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cog.outl("")
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cog.outl("private:")
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cog.outl("")
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cog.outl(" etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)")
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cog.outl(" {")
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cog.outl(" etl::fsm_state_id_t new_state_id;")
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@ -488,6 +491,8 @@ namespace etl
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cog.outl(" {")
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cog.outl(" }")
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cog.outl("")
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cog.outl("private:")
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cog.outl("")
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cog.outl(" etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)")
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cog.outl(" {")
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cog.outl(" etl::fsm_state_id_t new_state_id;")
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@ -507,6 +512,41 @@ namespace etl
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cog.outl(" return new_state_id;")
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cog.outl(" }")
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cog.outl("};")
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####################################
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# Specialisation for zero messages.
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####################################
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cog.outl("")
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cog.outl("//***************************************************************************")
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cog.outl("// Specialisation for 0 message types.")
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cog.outl("//***************************************************************************")
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cog.outl("template <typename TState, const etl::fsm_state_id_t STATE_ID_>")
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cog.out("class fsm_state<TState, STATE_ID_, ")
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for t in range(1, int(Handlers)):
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cog.out("void, ")
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if t % 16 == 0:
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cog.outl("")
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cog.out(" ")
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cog.outl("void> : public ifsm_state")
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cog.outl("{")
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cog.outl("public:")
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cog.outl("")
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cog.outl(" enum")
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cog.outl(" {")
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cog.outl(" STATE_ID = STATE_ID_")
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cog.outl(" };")
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cog.outl("")
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cog.outl(" fsm_state()")
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cog.outl(" : ifsm_state(STATE_ID)")
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cog.outl(" {")
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cog.outl(" }")
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cog.outl("")
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cog.outl("private:")
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cog.outl("")
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cog.outl(" etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)")
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cog.outl(" {")
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cog.outl(" return static_cast<TState*>(this)->on_event_unknown(source, message);")
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cog.outl(" }")
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cog.outl("};")
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]]]*/
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/*[[[end]]]*/
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}
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@ -162,7 +162,8 @@ namespace etl
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void receive(const etl::imessage& msg)
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{
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receive(etl::null_message_router(), msg);
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etl::null_message_router nmr;
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receive(nmr, msg);
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}
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void receive(etl::imessage_router& source, const etl::imessage& msg)
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@ -219,7 +220,8 @@ namespace etl
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void receive(const etl::imessage& msg)
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{
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receive(etl::null_message_router(), msg);
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etl::null_message_router nmr;
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receive(nmr, msg);
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}
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void receive(etl::imessage_router& source, const etl::imessage& msg)
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@ -275,7 +277,8 @@ namespace etl
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void receive(const etl::imessage& msg)
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{
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receive(etl::null_message_router(), msg);
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etl::null_message_router nmr;
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receive(nmr, msg);
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}
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void receive(etl::imessage_router& source, const etl::imessage& msg)
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@ -330,7 +333,8 @@ namespace etl
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void receive(const etl::imessage& msg)
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{
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receive(etl::null_message_router(), msg);
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etl::null_message_router nmr;
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receive(nmr, msg);
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}
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void receive(etl::imessage_router& source, const etl::imessage& msg)
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@ -383,7 +387,8 @@ namespace etl
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void receive(const etl::imessage& msg)
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{
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receive(etl::null_message_router(), msg);
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etl::null_message_router nmr;
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receive(nmr, msg);
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}
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void receive(etl::imessage_router& source, const etl::imessage& msg)
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@ -435,7 +440,8 @@ namespace etl
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void receive(const etl::imessage& msg)
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{
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receive(etl::null_message_router(), msg);
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etl::null_message_router nmr;
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receive(nmr, msg);
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}
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void receive(etl::imessage_router& source, const etl::imessage& msg)
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@ -486,7 +492,8 @@ namespace etl
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void receive(const etl::imessage& msg)
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{
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receive(etl::null_message_router(), msg);
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etl::null_message_router nmr;
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receive(nmr, msg);
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}
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void receive(etl::imessage_router& source, const etl::imessage& msg)
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@ -536,7 +543,8 @@ namespace etl
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void receive(const etl::imessage& msg)
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{
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receive(etl::null_message_router(), msg);
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etl::null_message_router nmr;
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receive(nmr, msg);
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}
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void receive(etl::imessage_router& source, const etl::imessage& msg)
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@ -584,7 +592,8 @@ namespace etl
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void receive(const etl::imessage& msg)
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{
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receive(etl::null_message_router(), msg);
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etl::null_message_router nmr;
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receive(nmr, msg);
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}
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void receive(etl::imessage_router& source, const etl::imessage& msg)
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@ -631,7 +640,8 @@ namespace etl
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void receive(const etl::imessage& msg)
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{
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receive(etl::null_message_router(), msg);
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etl::null_message_router nmr;
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receive(nmr, msg);
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}
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void receive(etl::imessage_router& source, const etl::imessage& msg)
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@ -676,7 +686,8 @@ namespace etl
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void receive(const etl::imessage& msg)
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{
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receive(etl::null_message_router(), msg);
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etl::null_message_router nmr;
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receive(nmr, msg);
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}
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void receive(etl::imessage_router& source, const etl::imessage& msg)
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@ -720,7 +731,8 @@ namespace etl
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||||
|
||||
void receive(const etl::imessage& msg)
|
||||
{
|
||||
receive(etl::null_message_router(), msg);
|
||||
etl::null_message_router nmr;
|
||||
receive(nmr, msg);
|
||||
}
|
||||
|
||||
void receive(etl::imessage_router& source, const etl::imessage& msg)
|
||||
@ -762,7 +774,8 @@ namespace etl
|
||||
|
||||
void receive(const etl::imessage& msg)
|
||||
{
|
||||
receive(etl::null_message_router(), msg);
|
||||
etl::null_message_router nmr;
|
||||
receive(nmr, msg);
|
||||
}
|
||||
|
||||
void receive(etl::imessage_router& source, const etl::imessage& msg)
|
||||
@ -803,7 +816,8 @@ namespace etl
|
||||
|
||||
void receive(const etl::imessage& msg)
|
||||
{
|
||||
receive(etl::null_message_router(), msg);
|
||||
etl::null_message_router nmr;
|
||||
receive(nmr, msg);
|
||||
}
|
||||
|
||||
void receive(etl::imessage_router& source, const etl::imessage& msg)
|
||||
@ -843,7 +857,8 @@ namespace etl
|
||||
|
||||
void receive(const etl::imessage& msg)
|
||||
{
|
||||
receive(etl::null_message_router(), msg);
|
||||
etl::null_message_router nmr;
|
||||
receive(nmr, msg);
|
||||
}
|
||||
|
||||
void receive(etl::imessage_router& source, const etl::imessage& msg)
|
||||
@ -882,7 +897,8 @@ namespace etl
|
||||
|
||||
void receive(const etl::imessage& msg)
|
||||
{
|
||||
receive(etl::null_message_router(), msg);
|
||||
etl::null_message_router nmr;
|
||||
receive(nmr, msg);
|
||||
}
|
||||
|
||||
void receive(etl::imessage_router& source, const etl::imessage& msg)
|
||||
|
||||
@ -172,7 +172,8 @@ namespace etl
|
||||
cog.outl("")
|
||||
cog.outl(" void receive(const etl::imessage& msg)")
|
||||
cog.outl(" {")
|
||||
cog.outl(" receive(etl::null_message_router(), msg);")
|
||||
cog.outl(" etl::null_message_router nmr;")
|
||||
cog.outl(" receive(nmr, msg);")
|
||||
cog.outl(" }")
|
||||
cog.outl("")
|
||||
cog.outl(" void receive(etl::imessage_router& source, const etl::imessage& msg)")
|
||||
@ -245,7 +246,8 @@ namespace etl
|
||||
cog.outl("")
|
||||
cog.outl(" void receive(const etl::imessage& msg)")
|
||||
cog.outl(" {")
|
||||
cog.outl(" receive(etl::null_message_router(), msg);")
|
||||
cog.outl(" etl::null_message_router nmr;")
|
||||
cog.outl(" receive(nmr, msg);")
|
||||
cog.outl(" }")
|
||||
cog.outl("")
|
||||
cog.outl(" void receive(etl::imessage_router& source, const etl::imessage& msg)")
|
||||
|
||||
@ -103,6 +103,7 @@ namespace
|
||||
IDLE,
|
||||
RUNNING,
|
||||
WINDING_DOWN,
|
||||
LOCKED,
|
||||
NUMBER_OF_STATES
|
||||
};
|
||||
|
||||
@ -110,6 +111,7 @@ namespace
|
||||
ETL_ENUM_TYPE(IDLE, "Idle")
|
||||
ETL_ENUM_TYPE(RUNNING, "Running")
|
||||
ETL_ENUM_TYPE(WINDING_DOWN, "Winding Down")
|
||||
ETL_ENUM_TYPE(LOCKED, "Locked")
|
||||
ETL_END_ENUM_TYPE
|
||||
};
|
||||
|
||||
@ -195,9 +197,11 @@ namespace
|
||||
}
|
||||
|
||||
//***********************************
|
||||
void on_enter_state()
|
||||
etl::fsm_state_id_t on_enter_state()
|
||||
{
|
||||
common.TurnRunningLampOff();
|
||||
|
||||
return StateId::LOCKED;
|
||||
}
|
||||
|
||||
Common& common;
|
||||
@ -246,9 +250,12 @@ namespace
|
||||
return STATE_ID;
|
||||
}
|
||||
|
||||
void on_enter_state()
|
||||
//***********************************
|
||||
etl::fsm_state_id_t on_enter_state()
|
||||
{
|
||||
common.TurnRunningLampOn();
|
||||
|
||||
return STATE_ID;
|
||||
}
|
||||
|
||||
Common& common;
|
||||
@ -284,6 +291,29 @@ namespace
|
||||
Common& common;
|
||||
};
|
||||
|
||||
//***********************************
|
||||
// The locked state.
|
||||
//***********************************
|
||||
class Locked : public etl::fsm_state<Locked, StateId::LOCKED>
|
||||
{
|
||||
public:
|
||||
|
||||
//***********************************
|
||||
Locked(Common& common)
|
||||
: common(common)
|
||||
{
|
||||
}
|
||||
|
||||
//***********************************
|
||||
etl::fsm_state_id_t on_event_unknown(etl::imessage_router& source, const etl::imessage& event)
|
||||
{
|
||||
++common.unknownCount;
|
||||
return STATE_ID;
|
||||
}
|
||||
|
||||
Common& common;
|
||||
};
|
||||
|
||||
//***********************************
|
||||
// The motor control FSM.
|
||||
//***********************************
|
||||
@ -294,7 +324,8 @@ namespace
|
||||
MotorControl()
|
||||
: idle(common),
|
||||
running(common),
|
||||
windingDown(common)
|
||||
windingDown(common),
|
||||
locked(common)
|
||||
{
|
||||
set_states(stateList, etl::size(stateList));
|
||||
}
|
||||
@ -307,10 +338,11 @@ namespace
|
||||
Idle idle;
|
||||
Running running;
|
||||
WindingDown windingDown;
|
||||
Locked locked;
|
||||
|
||||
etl::ifsm_state* stateList[StateId::NUMBER_OF_STATES] =
|
||||
{
|
||||
&idle, &running, &windingDown
|
||||
&idle, &running, &windingDown, &locked
|
||||
};
|
||||
};
|
||||
|
||||
@ -321,6 +353,8 @@ namespace
|
||||
//*************************************************************************
|
||||
TEST(test_fsm)
|
||||
{
|
||||
etl::null_message_router nmr;
|
||||
|
||||
motorControl.reset();
|
||||
motorControl.common.ClearStatistics();
|
||||
|
||||
@ -344,9 +378,9 @@ namespace
|
||||
CHECK_EQUAL(0, motorControl.common.unknownCount);
|
||||
|
||||
// Send unhandled events.
|
||||
motorControl.receive(etl::null_message_router(), Stop());
|
||||
motorControl.receive(etl::null_message_router(), Stopped());
|
||||
motorControl.receive(etl::null_message_router(), SetSpeed(10));
|
||||
motorControl.receive(nmr, Stop());
|
||||
motorControl.receive(nmr, Stopped());
|
||||
motorControl.receive(nmr, SetSpeed(10));
|
||||
|
||||
CHECK_EQUAL(StateId::IDLE, motorControl.get_state_id());
|
||||
CHECK_EQUAL(StateId::IDLE, motorControl.get_state().get_state_id());
|
||||
@ -360,7 +394,7 @@ namespace
|
||||
CHECK_EQUAL(3, motorControl.common.unknownCount);
|
||||
|
||||
// Send Start event.
|
||||
motorControl.receive(etl::null_message_router(), Start());
|
||||
motorControl.receive(nmr, Start());
|
||||
|
||||
// Now in Running state.
|
||||
|
||||
@ -376,8 +410,8 @@ namespace
|
||||
CHECK_EQUAL(3, motorControl.common.unknownCount);
|
||||
|
||||
// Send unhandled events.
|
||||
motorControl.receive(etl::null_message_router(), Start());
|
||||
motorControl.receive(etl::null_message_router(), Stopped());
|
||||
motorControl.receive(nmr, Start());
|
||||
motorControl.receive(nmr, Stopped());
|
||||
|
||||
CHECK_EQUAL(StateId::RUNNING, int(motorControl.get_state_id()));
|
||||
CHECK_EQUAL(StateId::RUNNING, int(motorControl.get_state().get_state_id()));
|
||||
@ -391,7 +425,7 @@ namespace
|
||||
CHECK_EQUAL(5, motorControl.common.unknownCount);
|
||||
|
||||
// Send SetSpeed event.
|
||||
motorControl.receive(etl::null_message_router(), SetSpeed(100));
|
||||
motorControl.receive(nmr, SetSpeed(100));
|
||||
|
||||
// Still in Running state.
|
||||
|
||||
@ -407,7 +441,7 @@ namespace
|
||||
CHECK_EQUAL(5, motorControl.common.unknownCount);
|
||||
|
||||
// Send Stop event.
|
||||
motorControl.receive(etl::null_message_router(), Stop());
|
||||
motorControl.receive(nmr, Stop());
|
||||
|
||||
// Now in WindingDown state.
|
||||
|
||||
@ -423,9 +457,9 @@ namespace
|
||||
CHECK_EQUAL(5, motorControl.common.unknownCount);
|
||||
|
||||
// Send unhandled events.
|
||||
motorControl.receive(etl::null_message_router(), Start());
|
||||
motorControl.receive(etl::null_message_router(), Stop());
|
||||
motorControl.receive(etl::null_message_router(), SetSpeed(100));
|
||||
motorControl.receive(nmr, Start());
|
||||
motorControl.receive(nmr, Stop());
|
||||
motorControl.receive(nmr, SetSpeed(100));
|
||||
|
||||
CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.get_state_id()));
|
||||
CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.get_state().get_state_id()));
|
||||
@ -439,12 +473,11 @@ namespace
|
||||
CHECK_EQUAL(8, motorControl.common.unknownCount);
|
||||
|
||||
// Send Stopped event.
|
||||
motorControl.receive(etl::null_message_router(), Stopped());
|
||||
motorControl.receive(nmr, 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()));
|
||||
// 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(false, motorControl.common.isLampOn);
|
||||
CHECK_EQUAL(1, motorControl.common.setSpeedCount);
|
||||
@ -458,6 +491,8 @@ namespace
|
||||
//*************************************************************************
|
||||
TEST(test_fsm_emergency_stop)
|
||||
{
|
||||
etl::null_message_router nmr;
|
||||
|
||||
motorControl.reset();
|
||||
motorControl.common.ClearStatistics();
|
||||
|
||||
@ -470,7 +505,7 @@ namespace
|
||||
// Now in Idle state.
|
||||
|
||||
// Send Start event.
|
||||
motorControl.receive(etl::null_message_router(), Start());
|
||||
motorControl.receive(nmr, Start());
|
||||
|
||||
// Now in Running state.
|
||||
|
||||
@ -486,12 +521,11 @@ namespace
|
||||
CHECK_EQUAL(0, motorControl.common.unknownCount);
|
||||
|
||||
// Send emergency Stop event.
|
||||
motorControl.receive(etl::null_message_router(), Stop(true));
|
||||
motorControl.receive(nmr, Stop(true));
|
||||
|
||||
// Now in Idle state.
|
||||
|
||||
CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state_id()));
|
||||
CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state().get_state_id()));
|
||||
// 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(false, motorControl.common.isLampOn);
|
||||
CHECK_EQUAL(0, motorControl.common.setSpeedCount);
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user