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HFSM documentation

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This commit is contained in:
John Wellbelove 2021-04-26 13:51:33 +01:00
parent b084913b3f
commit cf9d46810b
3 changed files with 93 additions and 88 deletions
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181
test/test_hfsm.cpp
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@ -61,8 +61,13 @@ SOFTWARE.
// Created with asciiflow.com // Created with asciiflow.com
namespace namespace
{ {
const etl::message_router_id_t MOTOR_CONTROL = 0; struct HFsmId
{
enum
{
Motor_Control
};
};
//*************************************************************************** //***************************************************************************
// Events // Events
@ -70,45 +75,45 @@ namespace
{ {
enum enum_type enum enum_type
{ {
START, Start,
STOP, Stop,
ESTOP, EStop,
STOPPED, Stopped,
SET_SPEED, Set_Speed,
RECURSIVE, Recursive,
TIMEOUT, Timeout,
UNSUPPORTED Unsupported
}; };
ETL_DECLARE_ENUM_TYPE(EventId, etl::message_id_t) ETL_DECLARE_ENUM_TYPE(EventId, etl::message_id_t)
ETL_ENUM_TYPE(START, "Start") ETL_ENUM_TYPE(Start, "Start")
ETL_ENUM_TYPE(STOP, "Stop") ETL_ENUM_TYPE(Stop, "Stop")
ETL_ENUM_TYPE(ESTOP, "E-Stop") ETL_ENUM_TYPE(EStop, "E-Stop")
ETL_ENUM_TYPE(STOPPED, "Stopped") ETL_ENUM_TYPE(Stopped, "Stopped")
ETL_ENUM_TYPE(SET_SPEED, "Set Speed") ETL_ENUM_TYPE(Set_Speed, "Set Speed")
ETL_ENUM_TYPE(RECURSIVE, "Recursive") ETL_ENUM_TYPE(Recursive, "Recursive")
ETL_ENUM_TYPE(TIMEOUT, "Timeout") ETL_ENUM_TYPE(Timeout, "Timeout")
ETL_ENUM_TYPE(UNSUPPORTED, "Unsupported") ETL_ENUM_TYPE(Unsupported, "Unsupported")
ETL_END_ENUM_TYPE ETL_END_ENUM_TYPE
}; };
//*********************************** //***********************************
class Start : public etl::message<EventId::START> class Start : public etl::message<EventId::Start>
{ {
}; };
//*********************************** //***********************************
class Stop : public etl::message<EventId::STOP> class Stop : public etl::message<EventId::Stop>
{ {
}; };
//*********************************** //***********************************
class EStop : public etl::message<EventId::ESTOP> class EStop : public etl::message<EventId::EStop>
{ {
}; };
//*********************************** //***********************************
class SetSpeed : public etl::message<EventId::SET_SPEED> class SetSpeed : public etl::message<EventId::Set_Speed>
{ {
public: public:
@ -118,22 +123,22 @@ namespace
}; };
//*********************************** //***********************************
class Stopped : public etl::message<EventId::STOPPED> class Stopped : public etl::message<EventId::Stopped>
{ {
}; };
//*********************************** //***********************************
class Recursive : public etl::message<EventId::RECURSIVE> class Recursive : public etl::message<EventId::Recursive>
{ {
}; };
//*********************************** //***********************************
class Timeout : public etl::message<EventId::TIMEOUT> class Timeout : public etl::message<EventId::Timeout>
{ {
}; };
//*********************************** //***********************************
class Unsupported : public etl::message<EventId::UNSUPPORTED> class Unsupported : public etl::message<EventId::Unsupported>
{ {
}; };
@ -143,20 +148,20 @@ namespace
{ {
enum enum_type enum enum_type
{ {
IDLE, Idle,
RUNNING, Running,
WINDING_UP, Winding_Up,
WINDING_DOWN, Winding_Down,
AT_SPEED, At_Speed,
NUMBER_OF_STATES Number_Of_States
}; };
ETL_DECLARE_ENUM_TYPE(StateId, etl::fsm_state_id_t) ETL_DECLARE_ENUM_TYPE(StateId, etl::fsm_state_id_t)
ETL_ENUM_TYPE(IDLE, "Idle") ETL_ENUM_TYPE(Idle, "Idle")
ETL_ENUM_TYPE(RUNNING, "Running") ETL_ENUM_TYPE(Running, "Running")
ETL_ENUM_TYPE(WINDING_UP, "Winding Up") ETL_ENUM_TYPE(Winding_Up, "Winding Up")
ETL_ENUM_TYPE(WINDING_DOWN, "Winding Down") ETL_ENUM_TYPE(Winding_Down, "Winding Down")
ETL_ENUM_TYPE(AT_SPEED, "At Speed") ETL_ENUM_TYPE(At_Speed, "At Speed")
ETL_END_ENUM_TYPE ETL_END_ENUM_TYPE
}; };
@ -168,7 +173,7 @@ namespace
public: public:
MotorControl() MotorControl()
: hfsm(MOTOR_CONTROL) : hfsm(HFsmId::Motor_Control)
{ {
} }
@ -238,7 +243,7 @@ namespace
//*********************************** //***********************************
// The idle state. // The idle state.
//*********************************** //***********************************
class Idle : public etl::fsm_state<MotorControl, Idle, StateId::IDLE, Start, Recursive> class Idle : public etl::fsm_state<MotorControl, Idle, StateId::Idle, Start, Recursive>
{ {
public: public:
@ -246,14 +251,14 @@ namespace
etl::fsm_state_id_t on_event(const Start&) etl::fsm_state_id_t on_event(const Start&)
{ {
++get_fsm_context().startCount; ++get_fsm_context().startCount;
return StateId::RUNNING; return StateId::Running;
} }
//*********************************** //***********************************
etl::fsm_state_id_t on_event(const Recursive&) etl::fsm_state_id_t on_event(const Recursive&)
{ {
get_fsm_context().queue_recursive_message(Start()); get_fsm_context().queue_recursive_message(Start());
return StateId::IDLE; return StateId::Idle;
} }
//*********************************** //***********************************
@ -274,7 +279,7 @@ namespace
//*********************************** //***********************************
// The running state. // The running state.
//*********************************** //***********************************
class Running : public etl::fsm_state<MotorControl, Running, StateId::RUNNING, EStop> class Running : public etl::fsm_state<MotorControl, Running, StateId::Running, EStop>
{ {
public: public:
@ -283,7 +288,7 @@ namespace
{ {
++get_fsm_context().stopCount; ++get_fsm_context().stopCount;
return StateId::IDLE; return StateId::Idle;
} }
//*********************************** //***********************************
@ -305,7 +310,7 @@ namespace
//*********************************** //***********************************
// The winding up state. // The winding up state.
//*********************************** //***********************************
class WindingUp : public etl::fsm_state<MotorControl, WindingUp, StateId::WINDING_UP, Stop, Timeout> class WindingUp : public etl::fsm_state<MotorControl, WindingUp, StateId::Winding_Up, Stop, Timeout>
{ {
public: public:
@ -313,14 +318,14 @@ namespace
etl::fsm_state_id_t on_event(const Stop&) etl::fsm_state_id_t on_event(const Stop&)
{ {
++get_fsm_context().stopCount; ++get_fsm_context().stopCount;
return StateId::WINDING_DOWN; return StateId::Winding_Down;
} }
//*********************************** //***********************************
etl::fsm_state_id_t on_event(const Timeout&) etl::fsm_state_id_t on_event(const Timeout&)
{ {
++get_fsm_context().windUpCompleteCount; ++get_fsm_context().windUpCompleteCount;
return StateId::AT_SPEED; return StateId::At_Speed;
} }
//*********************************** //***********************************
@ -341,14 +346,14 @@ namespace
//*********************************** //***********************************
// The at speed state. // The at speed state.
//*********************************** //***********************************
class AtSpeed : public etl::fsm_state<MotorControl, AtSpeed, StateId::AT_SPEED, SetSpeed, Stop> class AtSpeed : public etl::fsm_state<MotorControl, AtSpeed, StateId::At_Speed, SetSpeed, Stop>
{ {
public: public:
//*********************************** //***********************************
etl::fsm_state_id_t on_event(const Stop&) etl::fsm_state_id_t on_event(const Stop&)
{ {
++get_fsm_context().stopCount; ++get_fsm_context().stopCount;
return StateId::WINDING_DOWN; return StateId::Winding_Down;
} }
//*********************************** //***********************************
@ -371,7 +376,7 @@ namespace
//*********************************** //***********************************
// The winding down state. // The winding down state.
//*********************************** //***********************************
class WindingDown : public etl::fsm_state<MotorControl, WindingDown, StateId::WINDING_DOWN, Stopped> class WindingDown : public etl::fsm_state<MotorControl, WindingDown, StateId::Winding_Down, Stopped>
{ {
public: public:
@ -379,7 +384,7 @@ namespace
etl::fsm_state_id_t on_event(const Stopped&) etl::fsm_state_id_t on_event(const Stopped&)
{ {
++get_fsm_context().stoppedCount; ++get_fsm_context().stoppedCount;
return StateId::IDLE; return StateId::Idle;
} }
//*********************************** //***********************************
@ -397,7 +402,7 @@ namespace
WindingDown windingDown; WindingDown windingDown;
AtSpeed atSpeed; AtSpeed atSpeed;
etl::ifsm_state* stateList[StateId::NUMBER_OF_STATES] = etl::ifsm_state* stateList[StateId::Number_Of_States] =
{ {
&idle, &running, &windingUp, &windingDown, &atSpeed &idle, &running, &windingUp, &windingDown, &atSpeed
}; };
@ -433,8 +438,8 @@ namespace
// Now in Idle state. // Now in Idle state.
CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state_id())); CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state().get_state_id())); CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(false, motorControl.isLampOn); CHECK_EQUAL(false, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount); CHECK_EQUAL(0, motorControl.setSpeedCount);
@ -451,8 +456,8 @@ namespace
motorControl.receive(Stopped()); motorControl.receive(Stopped());
motorControl.receive(SetSpeed(10)); motorControl.receive(SetSpeed(10));
CHECK_EQUAL(StateId::IDLE, motorControl.get_state_id()); CHECK_EQUAL(StateId::Idle, motorControl.get_state_id());
CHECK_EQUAL(StateId::IDLE, motorControl.get_state().get_state_id()); CHECK_EQUAL(StateId::Idle, motorControl.get_state().get_state_id());
CHECK_EQUAL(false, motorControl.isLampOn); CHECK_EQUAL(false, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount); CHECK_EQUAL(0, motorControl.setSpeedCount);
@ -469,8 +474,8 @@ namespace
// Now in WindingUp state. // Now in WindingUp state.
CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state_id())); CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state().get_state_id())); CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(true, motorControl.isLampOn); CHECK_EQUAL(true, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount); CHECK_EQUAL(0, motorControl.setSpeedCount);
@ -486,8 +491,8 @@ namespace
motorControl.receive(Start()); motorControl.receive(Start());
motorControl.receive(Stopped()); motorControl.receive(Stopped());
CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state_id())); CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state().get_state_id())); CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(true, motorControl.isLampOn); CHECK_EQUAL(true, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount); CHECK_EQUAL(0, motorControl.setSpeedCount);
@ -502,8 +507,8 @@ namespace
// Send Timeout event // Send Timeout event
motorControl.receive(Timeout()); motorControl.receive(Timeout());
CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state_id())); CHECK_EQUAL(StateId::At_Speed, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state().get_state_id())); CHECK_EQUAL(StateId::At_Speed, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(true, motorControl.isLampOn); CHECK_EQUAL(true, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount); CHECK_EQUAL(0, motorControl.setSpeedCount);
@ -520,8 +525,8 @@ namespace
// Still in at speed state. // Still in at speed state.
CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state_id())); CHECK_EQUAL(StateId::At_Speed, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state().get_state_id())); CHECK_EQUAL(StateId::At_Speed, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(true, motorControl.isLampOn); CHECK_EQUAL(true, motorControl.isLampOn);
CHECK_EQUAL(1, motorControl.setSpeedCount); CHECK_EQUAL(1, motorControl.setSpeedCount);
@ -538,8 +543,8 @@ namespace
// Now in WindingDown state. // Now in WindingDown state.
CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.get_state_id())); CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.get_state().get_state_id())); CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(true, motorControl.isLampOn); CHECK_EQUAL(true, motorControl.isLampOn);
CHECK_EQUAL(1, motorControl.setSpeedCount); CHECK_EQUAL(1, motorControl.setSpeedCount);
@ -556,8 +561,8 @@ namespace
motorControl.receive(Stop()); motorControl.receive(Stop());
motorControl.receive(SetSpeed(100)); motorControl.receive(SetSpeed(100));
CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.get_state_id())); CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.get_state().get_state_id())); CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(true, motorControl.isLampOn); CHECK_EQUAL(true, motorControl.isLampOn);
CHECK_EQUAL(1, motorControl.setSpeedCount); CHECK_EQUAL(1, motorControl.setSpeedCount);
@ -573,8 +578,8 @@ namespace
motorControl.receive(Stopped()); motorControl.receive(Stopped());
// Now in Idle state. // Now in Idle state.
CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state_id())); CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state().get_state_id())); CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(false, motorControl.isLampOn); CHECK_EQUAL(false, motorControl.isLampOn);
CHECK_EQUAL(1, motorControl.setSpeedCount); CHECK_EQUAL(1, motorControl.setSpeedCount);
@ -609,8 +614,8 @@ namespace
// Now in winding up state. // Now in winding up state.
CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state_id())); CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state().get_state_id())); CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(true, motorControl.isLampOn); CHECK_EQUAL(true, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount); CHECK_EQUAL(0, motorControl.setSpeedCount);
@ -626,8 +631,8 @@ namespace
motorControl.receive(EStop()); motorControl.receive(EStop());
// Now in Idle state. // Now in Idle state.
CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state_id())); CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state().get_state_id())); CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(false, motorControl.isLampOn); CHECK_EQUAL(false, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount); CHECK_EQUAL(0, motorControl.setSpeedCount);
@ -663,8 +668,8 @@ namespace
// Now in at speed state. // Now in at speed state.
CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state_id())); CHECK_EQUAL(StateId::At_Speed, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::AT_SPEED, int(motorControl.get_state().get_state_id())); CHECK_EQUAL(StateId::At_Speed, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(true, motorControl.isLampOn); CHECK_EQUAL(true, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount); CHECK_EQUAL(0, motorControl.setSpeedCount);
@ -680,8 +685,8 @@ namespace
motorControl.receive(EStop()); motorControl.receive(EStop());
// Now in Idle state. // Now in Idle state.
CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state_id())); CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state().get_state_id())); CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(false, motorControl.isLampOn); CHECK_EQUAL(false, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount); CHECK_EQUAL(0, motorControl.setSpeedCount);
@ -720,8 +725,8 @@ namespace
// Now in winding up state. // Now in winding up state.
CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state_id())); CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::WINDING_UP, int(motorControl.get_state().get_state_id())); CHECK_EQUAL(StateId::Winding_Up, int(motorControl.get_state().get_state_id()));
CHECK_EQUAL(true, motorControl.isLampOn); CHECK_EQUAL(true, motorControl.isLampOn);
CHECK_EQUAL(0, motorControl.setSpeedCount); CHECK_EQUAL(0, motorControl.setSpeedCount);
@ -735,11 +740,11 @@ namespace
//************************************************************************* //*************************************************************************
TEST(test_hfsm_supported) TEST(test_hfsm_supported)
{ {
CHECK(motorControl.accepts(EventId::SET_SPEED)); CHECK(motorControl.accepts(EventId::Set_Speed));
CHECK(motorControl.accepts(EventId::START)); CHECK(motorControl.accepts(EventId::Start));
CHECK(motorControl.accepts(EventId::STOP)); CHECK(motorControl.accepts(EventId::Stop));
CHECK(motorControl.accepts(EventId::STOPPED)); CHECK(motorControl.accepts(EventId::Stopped));
CHECK(motorControl.accepts(EventId::UNSUPPORTED)); CHECK(motorControl.accepts(EventId::Unsupported));
CHECK(motorControl.accepts(SetSpeed(0))); CHECK(motorControl.accepts(SetSpeed(0)));
CHECK(motorControl.accepts(Start())); CHECK(motorControl.accepts(Start()));
@ -765,12 +770,12 @@ namespace
MotorControl mc; MotorControl mc;
// Null state. // Null state.
etl::ifsm_state* stateList[StateId::NUMBER_OF_STATES] = etl::ifsm_state* stateList[StateId::Number_Of_States] =
{ {
&idle, &running, &windingUp, &windingDown, nullptr &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; MotorControl mc;
// Incorrect order. // Incorrect order.
etl::ifsm_state* stateList[StateId::NUMBER_OF_STATES] = etl::ifsm_state* stateList[StateId::Number_Of_States] =
{ {
&idle, &running, &windingDown, &windingUp, &atSpeed &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);
} }
}; };
} }