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Added support for self transition to etl::hfsm

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Changed all instances of 'return STATE_ID' to 'return No_State_Change'
This commit is contained in:
John Wellbelove 2025-05-27 16:05:46 +01:00
parent 0abd618271
commit ffc17160da
3 changed files with 88 additions and 41 deletions
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17
include/etl/hfsm.h
View File

@ -103,13 +103,13 @@ namespace etl
etl::fsm_state_id_t next_state_id = p_state->process_event(message);
if (next_state_id != ifsm_state::No_State_Change)
{
ETL_ASSERT_OR_RETURN(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
etl::ifsm_state* p_next_state = state_list[next_state_id];
// Have we changed state?
if (p_next_state != p_state)
{
if (have_changed_state(next_state_id))
{
ETL_ASSERT_OR_RETURN(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
etl::ifsm_state* p_next_state = state_list[next_state_id];
etl::ifsm_state* p_root = common_ancestor(p_state, p_next_state);
do_exits(p_root, p_state);
@ -123,6 +123,11 @@ namespace etl
p_state = state_list[next_state_id];
}
}
else if (is_self_transition(next_state_id))
{
p_state->on_exit_state();
p_state->on_enter_state();
}
}
}
else

10
test/test_fsm.cpp
View File

@ -293,14 +293,14 @@ namespace
{
++get_fsm_context().setSpeedCount;
get_fsm_context().SetSpeedValue(event.speed);
return STATE_ID;
return No_State_Change;
}
//***********************************
etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
{
++get_fsm_context().unknownCount;
return STATE_ID;
return No_State_Change;
}
//***********************************
@ -308,7 +308,7 @@ namespace
{
get_fsm_context().TurnRunningLampOn();
return STATE_ID;
return No_State_Change;
}
};
@ -330,7 +330,7 @@ namespace
etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
{
++get_fsm_context().unknownCount;
return STATE_ID;
return No_State_Change;
}
};
@ -345,7 +345,7 @@ namespace
etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
{
++get_fsm_context().unknownCount;
return STATE_ID;
return No_State_Change;
}
};

102
test/test_hfsm.cpp
View File

@ -82,19 +82,21 @@ namespace
Stopped,
Set_Speed,
Recursive,
Self_Transition,
Timeout,
Unsupported
};
ETL_DECLARE_ENUM_TYPE(EventId, etl::message_id_t)
ETL_ENUM_TYPE(Start, "Start")
ETL_ENUM_TYPE(Stop, "Stop")
ETL_ENUM_TYPE(EStop, "E-Stop")
ETL_ENUM_TYPE(Stopped, "Stopped")
ETL_ENUM_TYPE(Set_Speed, "Set Speed")
ETL_ENUM_TYPE(Recursive, "Recursive")
ETL_ENUM_TYPE(Timeout, "Timeout")
ETL_ENUM_TYPE(Unsupported, "Unsupported")
ETL_ENUM_TYPE(Start, "Start")
ETL_ENUM_TYPE(Stop, "Stop")
ETL_ENUM_TYPE(EStop, "E-Stop")
ETL_ENUM_TYPE(Stopped, "Stopped")
ETL_ENUM_TYPE(Set_Speed, "Set Speed")
ETL_ENUM_TYPE(Recursive, "Recursive")
ETL_ENUM_TYPE(Self_Transition, "Self_Transition")
ETL_ENUM_TYPE(Timeout, "Timeout")
ETL_ENUM_TYPE(Unsupported, "Unsupported")
ETL_END_ENUM_TYPE
};
@ -133,6 +135,11 @@ namespace
{
};
//***********************************
class SelfTransition : public etl::message<EventId::Self_Transition>
{
};
//***********************************
class Timeout : public etl::message<EventId::Timeout>
{
@ -195,6 +202,7 @@ namespace
windUpStartCount = 0;
unknownCount = 0;
stoppedCount = 0;
selfTransitionCount = 0;
isLampOn = false;
speed = 0;
@ -240,6 +248,7 @@ namespace
int setSpeedCount;
int unknownCount;
int stoppedCount;
int selfTransitionCount;
bool isLampOn;
int speed;
@ -297,7 +306,7 @@ namespace
//***********************************
// 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, SetSpeed, SelfTransition>
{
public:
@ -326,6 +335,22 @@ namespace
return No_State_Change;
}
//***********************************
etl::fsm_state_id_t on_event(const SetSpeed& event)
{
++get_fsm_context().setSpeedCount;
get_fsm_context().SetSpeedValue(event.speed);
return No_State_Change;
}
//***********************************
etl::fsm_state_id_t on_event(const SelfTransition&)
{
++get_fsm_context().selfTransitionCount;
return Self_Transition;
}
//***********************************
void on_exit_state()
{
@ -383,7 +408,7 @@ namespace
//***********************************
// 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, Stop>
{
public:
//***********************************
@ -393,15 +418,6 @@ namespace
return StateId::Winding_Down;
}
//***********************************
etl::fsm_state_id_t on_event(const SetSpeed& event)
{
++get_fsm_context().setSpeedCount;
get_fsm_context().SetSpeedValue(event.speed);
//return No_State_Change;
return this->get_state_id();
}
//***********************************
etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
{
@ -504,7 +520,6 @@ namespace
// Send unhandled events.
motorControl.receive(Stop());
motorControl.receive(Stopped());
motorControl.receive(SetSpeed(10));
CHECK_EQUAL(StateId::Idle, motorControl.get_state_id());
CHECK_EQUAL(StateId::Idle, motorControl.get_state().get_state_id());
@ -515,7 +530,7 @@ namespace
CHECK_EQUAL(0, motorControl.startCount);
CHECK_EQUAL(0, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(3, motorControl.unknownCount);
CHECK_EQUAL(2, motorControl.unknownCount);
CHECK_EQUAL(0, motorControl.windUpCompleteCount);
CHECK_EQUAL(0, motorControl.windUpStartCount);
@ -533,7 +548,7 @@ namespace
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(0, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(3, motorControl.unknownCount);
CHECK_EQUAL(2, motorControl.unknownCount);
CHECK_EQUAL(0, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
@ -550,7 +565,7 @@ namespace
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(0, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(5, motorControl.unknownCount);
CHECK_EQUAL(4, motorControl.unknownCount);
CHECK_EQUAL(0, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
@ -566,7 +581,7 @@ namespace
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(0, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(5, motorControl.unknownCount);
CHECK_EQUAL(4, motorControl.unknownCount);
CHECK_EQUAL(1, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
@ -584,7 +599,7 @@ namespace
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(0, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(5, motorControl.unknownCount);
CHECK_EQUAL(4, motorControl.unknownCount);
CHECK_EQUAL(1, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
@ -602,14 +617,13 @@ namespace
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(1, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(5, motorControl.unknownCount);
CHECK_EQUAL(4, motorControl.unknownCount);
CHECK_EQUAL(1, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
// Send unhandled events.
motorControl.receive(Start());
motorControl.receive(Stop());
motorControl.receive(SetSpeed(100));
CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state_id()));
CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state().get_state_id()));
@ -620,7 +634,7 @@ namespace
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(1, motorControl.stopCount);
CHECK_EQUAL(0, motorControl.stoppedCount);
CHECK_EQUAL(8, motorControl.unknownCount);
CHECK_EQUAL(6, motorControl.unknownCount);
CHECK_EQUAL(1, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
@ -637,7 +651,7 @@ namespace
CHECK_EQUAL(1, motorControl.startCount);
CHECK_EQUAL(1, motorControl.stopCount);
CHECK_EQUAL(1, motorControl.stoppedCount);
CHECK_EQUAL(8, motorControl.unknownCount);
CHECK_EQUAL(6, motorControl.unknownCount);
CHECK_EQUAL(1, motorControl.windUpCompleteCount);
CHECK_EQUAL(1, motorControl.windUpStartCount);
}
@ -980,11 +994,39 @@ namespace
}
//*************************************************************************
TEST(test_fsm_no_states_and_no_start)
TEST(test_hfsm_no_states_and_no_start)
{
MotorControl mc;
CHECK_THROW(mc.receive(Start()), etl::fsm_not_started);
}
//*************************************************************************
TEST(test_hfsm_self_transition)
{
MotorControl motorControl;
motorControl.Initialise(stateList, ETL_OR_STD17::size(stateList));
motorControl.reset();
motorControl.ClearStatistics();
// Start the FSM.
motorControl.start(false);
// Send Start event.
motorControl.receive(Start());
// Send Timeout event
motorControl.receive(Timeout());
// Now in AtSpeed state.
CHECK_EQUAL(0, motorControl.selfTransitionCount);
// Execute self transition.
// Handled by the parent Running state.
motorControl.receive(SelfTransition());
CHECK_EQUAL(1, motorControl.selfTransitionCount);
}
};
}