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HFSM documentation
This commit is contained in:
John Wellbelove
parent
b084913b3f
commit
cf9d46810b
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support/hfsm.docx
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support/hfsm.docx
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support/hfsm.png
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support/hfsm.png
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After Width: | Height: | Size: 30 KiB |
@ -61,8 +61,13 @@ SOFTWARE.
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// Created with asciiflow.com
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namespace
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{
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const etl::message_router_id_t MOTOR_CONTROL = 0;
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struct HFsmId
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{
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enum
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{
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Motor_Control
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};
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};
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//***************************************************************************
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// Events
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@ -70,45 +75,45 @@ namespace
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{
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enum enum_type
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{
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START,
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STOP,
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ESTOP,
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STOPPED,
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SET_SPEED,
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RECURSIVE,
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TIMEOUT,
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UNSUPPORTED
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Start,
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Stop,
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EStop,
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Stopped,
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Set_Speed,
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Recursive,
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Timeout,
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Unsupported
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};
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ETL_DECLARE_ENUM_TYPE(EventId, etl::message_id_t)
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ETL_ENUM_TYPE(START, "Start")
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ETL_ENUM_TYPE(STOP, "Stop")
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ETL_ENUM_TYPE(ESTOP, "E-Stop")
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ETL_ENUM_TYPE(STOPPED, "Stopped")
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ETL_ENUM_TYPE(SET_SPEED, "Set Speed")
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ETL_ENUM_TYPE(RECURSIVE, "Recursive")
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ETL_ENUM_TYPE(TIMEOUT, "Timeout")
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ETL_ENUM_TYPE(UNSUPPORTED, "Unsupported")
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ETL_ENUM_TYPE(Start, "Start")
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ETL_ENUM_TYPE(Stop, "Stop")
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ETL_ENUM_TYPE(EStop, "E-Stop")
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ETL_ENUM_TYPE(Stopped, "Stopped")
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ETL_ENUM_TYPE(Set_Speed, "Set Speed")
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ETL_ENUM_TYPE(Recursive, "Recursive")
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ETL_ENUM_TYPE(Timeout, "Timeout")
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ETL_ENUM_TYPE(Unsupported, "Unsupported")
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ETL_END_ENUM_TYPE
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};
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//***********************************
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class Start : public etl::message<EventId::START>
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class Start : public etl::message<EventId::Start>
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{
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};
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//***********************************
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class Stop : public etl::message<EventId::STOP>
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class Stop : public etl::message<EventId::Stop>
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{
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};
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//***********************************
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class EStop : public etl::message<EventId::ESTOP>
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class EStop : public etl::message<EventId::EStop>
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{
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};
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//***********************************
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class SetSpeed : public etl::message<EventId::SET_SPEED>
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class SetSpeed : public etl::message<EventId::Set_Speed>
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{
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public:
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@ -118,22 +123,22 @@ namespace
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};
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//***********************************
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class Stopped : public etl::message<EventId::STOPPED>
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class Stopped : public etl::message<EventId::Stopped>
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{
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};
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//***********************************
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class Recursive : public etl::message<EventId::RECURSIVE>
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class Recursive : public etl::message<EventId::Recursive>
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{
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};
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//***********************************
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class Timeout : public etl::message<EventId::TIMEOUT>
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class Timeout : public etl::message<EventId::Timeout>
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{
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};
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//***********************************
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class Unsupported : public etl::message<EventId::UNSUPPORTED>
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class Unsupported : public etl::message<EventId::Unsupported>
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{
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};
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@ -143,20 +148,20 @@ namespace
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{
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enum enum_type
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{
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IDLE,
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RUNNING,
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WINDING_UP,
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WINDING_DOWN,
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AT_SPEED,
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NUMBER_OF_STATES
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Idle,
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Running,
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Winding_Up,
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Winding_Down,
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At_Speed,
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Number_Of_States
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};
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ETL_DECLARE_ENUM_TYPE(StateId, etl::fsm_state_id_t)
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ETL_ENUM_TYPE(IDLE, "Idle")
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ETL_ENUM_TYPE(RUNNING, "Running")
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ETL_ENUM_TYPE(WINDING_UP, "Winding Up")
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ETL_ENUM_TYPE(WINDING_DOWN, "Winding Down")
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ETL_ENUM_TYPE(AT_SPEED, "At Speed")
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ETL_ENUM_TYPE(Idle, "Idle")
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ETL_ENUM_TYPE(Running, "Running")
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ETL_ENUM_TYPE(Winding_Up, "Winding Up")
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ETL_ENUM_TYPE(Winding_Down, "Winding Down")
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ETL_ENUM_TYPE(At_Speed, "At Speed")
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ETL_END_ENUM_TYPE
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};
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@ -168,7 +173,7 @@ namespace
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public:
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MotorControl()
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: hfsm(MOTOR_CONTROL)
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: hfsm(HFsmId::Motor_Control)
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{
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}
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@ -238,7 +243,7 @@ namespace
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//***********************************
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// The idle state.
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//***********************************
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class Idle : public etl::fsm_state<MotorControl, Idle, StateId::IDLE, Start, Recursive>
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class Idle : public etl::fsm_state<MotorControl, Idle, StateId::Idle, Start, Recursive>
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{
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public:
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@ -246,14 +251,14 @@ namespace
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etl::fsm_state_id_t on_event(const Start&)
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{
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++get_fsm_context().startCount;
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return StateId::RUNNING;
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return StateId::Running;
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}
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//***********************************
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etl::fsm_state_id_t on_event(const Recursive&)
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{
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get_fsm_context().queue_recursive_message(Start());
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return StateId::IDLE;
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return StateId::Idle;
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}
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//***********************************
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@ -274,7 +279,7 @@ namespace
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//***********************************
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// The running state.
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//***********************************
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class Running : public etl::fsm_state<MotorControl, Running, StateId::RUNNING, EStop>
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class Running : public etl::fsm_state<MotorControl, Running, StateId::Running, EStop>
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{
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public:
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@ -283,7 +288,7 @@ namespace
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{
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++get_fsm_context().stopCount;
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return StateId::IDLE;
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return StateId::Idle;
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}
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//***********************************
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@ -305,7 +310,7 @@ namespace
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//***********************************
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// The winding up state.
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//***********************************
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class WindingUp : public etl::fsm_state<MotorControl, WindingUp, StateId::WINDING_UP, Stop, Timeout>
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class WindingUp : public etl::fsm_state<MotorControl, WindingUp, StateId::Winding_Up, Stop, Timeout>
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{
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public:
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@ -313,14 +318,14 @@ namespace
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etl::fsm_state_id_t on_event(const Stop&)
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{
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++get_fsm_context().stopCount;
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return StateId::WINDING_DOWN;
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return StateId::Winding_Down;
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}
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//***********************************
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etl::fsm_state_id_t on_event(const Timeout&)
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{
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++get_fsm_context().windUpCompleteCount;
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return StateId::AT_SPEED;
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return StateId::At_Speed;
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}
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//***********************************
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@ -341,14 +346,14 @@ namespace
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//***********************************
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// The at speed state.
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//***********************************
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class AtSpeed : public etl::fsm_state<MotorControl, AtSpeed, StateId::AT_SPEED, SetSpeed, Stop>
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class AtSpeed : public etl::fsm_state<MotorControl, AtSpeed, StateId::At_Speed, SetSpeed, Stop>
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{
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public:
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//***********************************
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etl::fsm_state_id_t on_event(const Stop&)
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{
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++get_fsm_context().stopCount;
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return StateId::WINDING_DOWN;
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return StateId::Winding_Down;
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}
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//***********************************
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@ -371,7 +376,7 @@ namespace
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//***********************************
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// The winding down state.
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//***********************************
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class WindingDown : public etl::fsm_state<MotorControl, WindingDown, StateId::WINDING_DOWN, Stopped>
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class WindingDown : public etl::fsm_state<MotorControl, WindingDown, StateId::Winding_Down, Stopped>
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{
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public:
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@ -379,7 +384,7 @@ namespace
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etl::fsm_state_id_t on_event(const Stopped&)
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{
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++get_fsm_context().stoppedCount;
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return StateId::IDLE;
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return StateId::Idle;
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}
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//***********************************
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@ -397,7 +402,7 @@ namespace
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WindingDown windingDown;
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AtSpeed atSpeed;
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etl::ifsm_state* stateList[StateId::NUMBER_OF_STATES] =
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etl::ifsm_state* stateList[StateId::Number_Of_States] =
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{
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&idle, &running, &windingUp, &windingDown, &atSpeed
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};
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@ -433,8 +438,8 @@ namespace
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// Now in Idle state.
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CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(false, motorControl.isLampOn);
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CHECK_EQUAL(0, motorControl.setSpeedCount);
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@ -451,8 +456,8 @@ namespace
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motorControl.receive(Stopped());
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motorControl.receive(SetSpeed(10));
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CHECK_EQUAL(StateId::IDLE, motorControl.get_state_id());
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CHECK_EQUAL(StateId::IDLE, motorControl.get_state().get_state_id());
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CHECK_EQUAL(StateId::Idle, motorControl.get_state_id());
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CHECK_EQUAL(StateId::Idle, motorControl.get_state().get_state_id());
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CHECK_EQUAL(false, motorControl.isLampOn);
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CHECK_EQUAL(0, motorControl.setSpeedCount);
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@ -469,8 +474,8 @@ namespace
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// Now in WindingUp state.
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CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(true, motorControl.isLampOn);
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CHECK_EQUAL(0, motorControl.setSpeedCount);
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@ -486,8 +491,8 @@ namespace
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motorControl.receive(Start());
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motorControl.receive(Stopped());
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CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(true, motorControl.isLampOn);
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CHECK_EQUAL(0, motorControl.setSpeedCount);
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@ -502,8 +507,8 @@ namespace
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// Send Timeout event
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motorControl.receive(Timeout());
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CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::At_Speed, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::At_Speed, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(true, motorControl.isLampOn);
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CHECK_EQUAL(0, motorControl.setSpeedCount);
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@ -520,8 +525,8 @@ namespace
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// Still in at speed state.
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CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::At_Speed, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::At_Speed, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(true, motorControl.isLampOn);
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CHECK_EQUAL(1, motorControl.setSpeedCount);
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@ -538,8 +543,8 @@ namespace
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// Now in WindingDown state.
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CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(true, motorControl.isLampOn);
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CHECK_EQUAL(1, motorControl.setSpeedCount);
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@ -556,8 +561,8 @@ namespace
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motorControl.receive(Stop());
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motorControl.receive(SetSpeed(100));
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CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(true, motorControl.isLampOn);
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CHECK_EQUAL(1, motorControl.setSpeedCount);
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@ -573,8 +578,8 @@ namespace
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motorControl.receive(Stopped());
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// Now in Idle state.
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CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(false, motorControl.isLampOn);
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CHECK_EQUAL(1, motorControl.setSpeedCount);
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@ -609,8 +614,8 @@ namespace
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// Now in winding up state.
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CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(true, motorControl.isLampOn);
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CHECK_EQUAL(0, motorControl.setSpeedCount);
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@ -626,8 +631,8 @@ namespace
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motorControl.receive(EStop());
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// Now in Idle state.
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CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(false, motorControl.isLampOn);
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CHECK_EQUAL(0, motorControl.setSpeedCount);
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@ -663,8 +668,8 @@ namespace
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// Now in at speed state.
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CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::At_Speed, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::At_Speed, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(true, motorControl.isLampOn);
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CHECK_EQUAL(0, motorControl.setSpeedCount);
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@ -680,8 +685,8 @@ namespace
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motorControl.receive(EStop());
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// Now in Idle state.
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CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(false, motorControl.isLampOn);
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CHECK_EQUAL(0, motorControl.setSpeedCount);
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@ -720,8 +725,8 @@ namespace
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// Now in winding up state.
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CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(true, motorControl.isLampOn);
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CHECK_EQUAL(0, motorControl.setSpeedCount);
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@ -735,11 +740,11 @@ namespace
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//*************************************************************************
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TEST(test_hfsm_supported)
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{
|
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CHECK(motorControl.accepts(EventId::SET_SPEED));
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CHECK(motorControl.accepts(EventId::START));
|
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CHECK(motorControl.accepts(EventId::STOP));
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CHECK(motorControl.accepts(EventId::STOPPED));
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CHECK(motorControl.accepts(EventId::UNSUPPORTED));
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CHECK(motorControl.accepts(EventId::Set_Speed));
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CHECK(motorControl.accepts(EventId::Start));
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CHECK(motorControl.accepts(EventId::Stop));
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CHECK(motorControl.accepts(EventId::Stopped));
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CHECK(motorControl.accepts(EventId::Unsupported));
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CHECK(motorControl.accepts(SetSpeed(0)));
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CHECK(motorControl.accepts(Start()));
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@ -765,12 +770,12 @@ namespace
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MotorControl mc;
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||||
|
||||
// Null state.
|
||||
etl::ifsm_state* stateList[StateId::NUMBER_OF_STATES] =
|
||||
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);
|
||||
CHECK_THROW(mc.set_states(stateList, StateId::Number_Of_States), etl::fsm_null_state_exception);
|
||||
}
|
||||
|
||||
//*************************************************************************
|
||||
@ -779,12 +784,12 @@ namespace
|
||||
MotorControl mc;
|
||||
|
||||
// Incorrect order.
|
||||
etl::ifsm_state* stateList[StateId::NUMBER_OF_STATES] =
|
||||
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);
|
||||
CHECK_THROW(mc.set_states(stateList, StateId::Number_Of_States), etl::fsm_state_list_order_exception);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user