etl/test/test_fsm.cpp

/******************************************************************************
The MIT License(MIT)

Embedded Template Library.
https://github.com/ETLCPP/etl
https://www.etlcpp.com

Copyright(c) 2017 John Wellbelove

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files(the "Software"), to deal
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
******************************************************************************/

#include "unit_test_framework.h"

#include "etl/fsm.h"
#include "etl/enum_type.h"
#include "etl/container.h"
#include "etl/packet.h"
#include "etl/queue.h"

#include <iostream>
#include <limits>

namespace
{
  const etl::message_router_id_t Motor_Control = 0;


  //***************************************************************************
  // Events
  struct EventId
  {
    enum enum_type
    {
      Start,
      Stop,
      Stopped,
      Set_Speed,
      Recursive,
      Self_Transition,
      Unsupported
    };

    ETL_DECLARE_ENUM_TYPE(EventId, etl::message_id_t)
    ETL_ENUM_TYPE(Start,           "Start")
    ETL_ENUM_TYPE(Stop,            "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(Unsupported,     "Unsupported")
    ETL_END_ENUM_TYPE
  };

  //***********************************
  class Start : public etl::message<EventId::Start>
  {
  };

  //***********************************
  class Stop : public etl::message<EventId::Stop>
  {
  public:

    Stop() : isEmergencyStop(false) {}
    Stop(bool emergency) : isEmergencyStop(emergency) {}

    const bool isEmergencyStop;
  };

  //***********************************
  class SetSpeed : public etl::message<EventId::Set_Speed>
  {
  public:

    SetSpeed(int speed_) : speed(speed_) {}

    const int speed;
  };

  //***********************************
  class Stopped : public etl::message<EventId::Stopped>
  {
  };

  //***********************************
  class Recursive : public etl::message<EventId::Recursive>
  {
  };

  //***********************************
  class SelfTransition : public etl::message<EventId::Self_Transition>
  {
  };

  //***********************************
  class Unsupported : public etl::message<EventId::Unsupported>
  {
  };

  //***************************************************************************
  // States
  struct StateId
  {
    enum enum_type
    {
      Idle,
      Running,
      Winding_Down,
      Locked,
      Number_Of_States
    };

    ETL_DECLARE_ENUM_TYPE(StateId, etl::fsm_state_id_t)
    ETL_ENUM_TYPE(Idle,         "Idle")
    ETL_ENUM_TYPE(Running,      "Running")
    ETL_ENUM_TYPE(Winding_Down, "Winding Down")
    ETL_ENUM_TYPE(Locked,       "Locked")
    ETL_END_ENUM_TYPE
  };

  //***********************************
  // The motor control FSM.
  //***********************************
  class MotorControl : public etl::fsm
  {
  public:

    MotorControl()
      : fsm(Motor_Control)
    {
    }

    //***********************************
    void Initialise(etl::ifsm_state** p_states, size_t size)
    {
      set_states(p_states, size);
      ClearStatistics();
    }

    //***********************************
    void ClearStatistics()
    {
      startCount    = 0;
      stopCount     = 0;
      setSpeedCount = 0;
      unknownCount  = 0;
      stoppedCount  = 0;
      exited_state  = false;
      entered_state = false;
      isLampOn      = false;
      speed         = 0;

      last_event_id          = std::numeric_limits<etl::message_id_t>::max();
      last_returned_state_id = std::numeric_limits<etl::fsm_state_id_t>::max();
    }

    //***********************************
    void SetSpeedValue(int speed_)
    {
      speed = speed_;
    }

    //***********************************
    void TurnRunningLampOn()
    {
      isLampOn = true;
    }

    //***********************************
    void TurnRunningLampOff()
    {
      isLampOn = false;
    }

    //***********************************
    template <typename T>
    void queue_recursive_message(const T& message)
    {
      messageQueue.emplace(message);
    }

    typedef etl::largest<Start, Stop, SetSpeed, Stopped, Recursive, SelfTransition> Largest_t;

    typedef etl::packet<etl::imessage, Largest_t::size, Largest_t::alignment> Packet_t;

    etl::queue<Packet_t, 2> messageQueue;

    int  startCount;
    int  stopCount;
    int  setSpeedCount;
    int  unknownCount;
    int  stoppedCount;
    bool exited_state;
    bool entered_state;
    bool isLampOn;
    int  speed;
    etl::message_id_t   last_event_id;
    etl::fsm_state_id_t last_returned_state_id;
  };

  //***********************************
  // The idle state.
  //***********************************
  class Idle : public etl::fsm_state<MotorControl, Idle, StateId::Idle, Start, Recursive, SelfTransition>
  {
  public:

    //***********************************
    etl::fsm_state_id_t on_event(const Start&)
    {
      ++get_fsm_context().startCount;
      return StateId::Running;
    }

    //***********************************
    etl::fsm_state_id_t on_event(const Recursive&)
    {
      get_fsm_context().queue_recursive_message(Start());
      return StateId::Idle;
    }

    //***********************************
    etl::fsm_state_id_t on_event(const SelfTransition&)
    {
      get_fsm_context().last_event_id          = SelfTransition::ID;
      get_fsm_context().last_returned_state_id = etl::ifsm_state::Self_Transition;
      return etl::ifsm_state::Self_Transition;
    }

    //***********************************
    etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
    {
      ++get_fsm_context().unknownCount;
      return StateId::Idle; //No_State_Change;
    }

    //***********************************
    etl::fsm_state_id_t on_enter_state()
    {
      get_fsm_context().TurnRunningLampOff();
      get_fsm_context().entered_state = true;
      return StateId::Locked;
    }

    //***********************************
    void on_exit_state()
    {
      get_fsm_context().exited_state = true;
    }
  };

  //***********************************
  // The running state.
  //***********************************
  class Running : public etl::fsm_state<MotorControl, Running, StateId::Running, Stop, SetSpeed>
  {
  public:

    //***********************************
    etl::fsm_state_id_t on_event(const Stop& event)
    {
      ++get_fsm_context().stopCount;

      if (event.isEmergencyStop)
      {
        return StateId::Idle;
      }
      else
      {
        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 STATE_ID;
    }

    //***********************************
    etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
    {
      ++get_fsm_context().unknownCount;
      return STATE_ID;
    }

    //***********************************
    etl::fsm_state_id_t on_enter_state()
    {
      get_fsm_context().TurnRunningLampOn();

      return STATE_ID;
    }
  };

  //***********************************
  // The winding down state.
  //***********************************
  class WindingDown : public etl::fsm_state<MotorControl, WindingDown, StateId::Winding_Down, Stopped>
  {
  public:

    //***********************************
    etl::fsm_state_id_t on_event(const Stopped&)
    {
      ++get_fsm_context().stoppedCount;
      return StateId::Idle;
    }

    //***********************************
    etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
    {
      ++get_fsm_context().unknownCount;
      return STATE_ID;
    }
  };

  //***********************************
  // The locked state.
  //***********************************
  class Locked : public etl::fsm_state<MotorControl, Locked, StateId::Locked>
  {
  public:

    //***********************************
    etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
    {
      ++get_fsm_context().unknownCount;
      return STATE_ID;
    }
  };

  // The states.
  Idle        idle;
  Running     running;
  WindingDown windingDown;
  Locked      locked;

  etl::ifsm_state* stateList[StateId::Number_Of_States] =
  {
    &idle, &running, &windingDown, &locked
  };

  MotorControl motorControl;

  SUITE(test_fsm_states)
  {
    //*************************************************************************
    TEST(test_fsm)
    {
      etl::null_message_router nmr;

      CHECK(motorControl.is_producer());
      CHECK(motorControl.is_consumer());

      motorControl.Initialise(stateList, ETL_OR_STD17::size(stateList));
      motorControl.reset();
      motorControl.ClearStatistics();

      CHECK(!motorControl.is_started());

      // Start the FSM.
      motorControl.start(false);
      CHECK(motorControl.is_started());

      // Now in Idle state.

      CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
      CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));

      CHECK_EQUAL(false, motorControl.isLampOn);
      CHECK_EQUAL(0, motorControl.setSpeedCount);
      CHECK_EQUAL(0, motorControl.speed);
      CHECK_EQUAL(0, motorControl.startCount);
      CHECK_EQUAL(0, motorControl.stopCount);
      CHECK_EQUAL(0, motorControl.stoppedCount);
      CHECK_EQUAL(0, motorControl.unknownCount);

      // Send unhandled events.
      motorControl.receive(Stop());
      motorControl.receive(Stopped());
      motorControl.receive(SetSpeed(10));

      CHECK_EQUAL(StateId::Idle, motorControl.get_state_id());
      CHECK_EQUAL(StateId::Idle, motorControl.get_state().get_state_id());

      CHECK_EQUAL(false, motorControl.isLampOn);
      CHECK_EQUAL(0, motorControl.setSpeedCount);
      CHECK_EQUAL(0, motorControl.speed);
      CHECK_EQUAL(0, motorControl.startCount);
      CHECK_EQUAL(0, motorControl.stopCount);
      CHECK_EQUAL(0, motorControl.stoppedCount);
      CHECK_EQUAL(3, motorControl.unknownCount);

      // Send Start event.
      motorControl.receive(Start());

      // Now in Running state.

      CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
      CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));

      CHECK_EQUAL(true, motorControl.isLampOn);
      CHECK_EQUAL(0, motorControl.setSpeedCount);
      CHECK_EQUAL(0, motorControl.speed);
      CHECK_EQUAL(1, motorControl.startCount);
      CHECK_EQUAL(0, motorControl.stopCount);
      CHECK_EQUAL(0, motorControl.stoppedCount);
      CHECK_EQUAL(3, motorControl.unknownCount);

      // Send unhandled events.
      motorControl.receive(Start());
      motorControl.receive(Stopped());

      CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
      CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));

      CHECK_EQUAL(true, motorControl.isLampOn);
      CHECK_EQUAL(0, motorControl.setSpeedCount);
      CHECK_EQUAL(0, motorControl.speed);
      CHECK_EQUAL(1, motorControl.startCount);
      CHECK_EQUAL(0, motorControl.stopCount);
      CHECK_EQUAL(0, motorControl.stoppedCount);
      CHECK_EQUAL(5, motorControl.unknownCount);

      // Send SetSpeed event.
      motorControl.receive(SetSpeed(100));

      // Still in Running state.

      CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
      CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));

      CHECK_EQUAL(true, motorControl.isLampOn);
      CHECK_EQUAL(1, motorControl.setSpeedCount);
      CHECK_EQUAL(100, motorControl.speed);
      CHECK_EQUAL(1, motorControl.startCount);
      CHECK_EQUAL(0, motorControl.stopCount);
      CHECK_EQUAL(0, motorControl.stoppedCount);
      CHECK_EQUAL(5, motorControl.unknownCount);

      // Send Stop event.
      motorControl.receive(Stop());

      // Now in WindingDown state.

      CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state_id()));
      CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state().get_state_id()));

      CHECK_EQUAL(true, motorControl.isLampOn);
      CHECK_EQUAL(1, motorControl.setSpeedCount);
      CHECK_EQUAL(100, motorControl.speed);
      CHECK_EQUAL(1, motorControl.startCount);
      CHECK_EQUAL(1, motorControl.stopCount);
      CHECK_EQUAL(0, motorControl.stoppedCount);
      CHECK_EQUAL(5, motorControl.unknownCount);

      // Send unhandled events.
      motorControl.receive(Start());
      motorControl.receive(Stop());
      motorControl.receive(SetSpeed(100));

      CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state_id()));
      CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state().get_state_id()));

      CHECK_EQUAL(true, motorControl.isLampOn);
      CHECK_EQUAL(1, motorControl.setSpeedCount);
      CHECK_EQUAL(100, motorControl.speed);
      CHECK_EQUAL(1, motorControl.startCount);
      CHECK_EQUAL(1, motorControl.stopCount);
      CHECK_EQUAL(0, motorControl.stoppedCount);
      CHECK_EQUAL(8, motorControl.unknownCount);

      // Send Stopped event.
      motorControl.receive(Stopped());

      // 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.isLampOn);
      CHECK_EQUAL(1, motorControl.setSpeedCount);
      CHECK_EQUAL(100, motorControl.speed);
      CHECK_EQUAL(1, motorControl.startCount);
      CHECK_EQUAL(1, motorControl.stopCount);
      CHECK_EQUAL(1, motorControl.stoppedCount);
      CHECK_EQUAL(8, motorControl.unknownCount);
    }

    //*************************************************************************
    TEST(test_fsm_emergency_stop)
    {
      etl::null_message_router nmr;

      motorControl.Initialise(stateList, ETL_OR_STD17::size(stateList)); 
      motorControl.reset();
      motorControl.ClearStatistics();

      CHECK(!motorControl.is_started());

      // Start the FSM.
      motorControl.start(false);
      CHECK(motorControl.is_started());

      // Now in Idle state.

      // Send Start event.
      motorControl.receive(Start());

      // Now in Running state.

      CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
      CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));

      CHECK_EQUAL(true, motorControl.isLampOn);
      CHECK_EQUAL(0, motorControl.setSpeedCount);
      CHECK_EQUAL(0, motorControl.speed);
      CHECK_EQUAL(1, motorControl.startCount);
      CHECK_EQUAL(0, motorControl.stopCount);
      CHECK_EQUAL(0, motorControl.stoppedCount);
      CHECK_EQUAL(0, motorControl.unknownCount);

      // Send emergency Stop event.
      motorControl.receive(Stop(true));

      // 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.isLampOn);
      CHECK_EQUAL(0, motorControl.setSpeedCount);
      CHECK_EQUAL(0, motorControl.speed);
      CHECK_EQUAL(1, motorControl.startCount);
      CHECK_EQUAL(1, motorControl.stopCount);
      CHECK_EQUAL(0, motorControl.stoppedCount);
      CHECK_EQUAL(0, motorControl.unknownCount);
    }

    //*************************************************************************
    TEST(test_fsm_recursive_event)
    {
      etl::null_message_router nmr;

      motorControl.Initialise(stateList, ETL_OR_STD17::size(stateList));
      motorControl.reset();
      motorControl.ClearStatistics();

      motorControl.messageQueue.clear();

      // Start the FSM.
      motorControl.start(false);

      // Now in Idle state.
      // Send Start event.
      motorControl.receive(Recursive());

      CHECK_EQUAL(1U, motorControl.messageQueue.size());

      // Send the queued message.
      motorControl.receive(motorControl.messageQueue.front().get());
      motorControl.messageQueue.pop();

      // Now in Running state.

      CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
      CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));

      CHECK_EQUAL(true, motorControl.isLampOn);
      CHECK_EQUAL(0, motorControl.setSpeedCount);
      CHECK_EQUAL(0, motorControl.speed);
      CHECK_EQUAL(1, motorControl.startCount);
      CHECK_EQUAL(0, motorControl.stopCount);
      CHECK_EQUAL(0, motorControl.stoppedCount);
      CHECK_EQUAL(0, motorControl.unknownCount);
    }

    //*************************************************************************
    TEST(test_fsm_supported)
    {
      CHECK(motorControl.accepts(EventId::Set_Speed));
      CHECK(motorControl.accepts(EventId::Start));
      CHECK(motorControl.accepts(EventId::Stop));
      CHECK(motorControl.accepts(EventId::Stopped));
      CHECK(motorControl.accepts(EventId::Unsupported));

      CHECK(motorControl.accepts(SetSpeed(0)));
      CHECK(motorControl.accepts(Start()));
      CHECK(motorControl.accepts(Stop()));
      CHECK(motorControl.accepts(Stopped()));
      CHECK(motorControl.accepts(Unsupported()));
    }

    //*************************************************************************
    TEST(test_fsm_no_states)
    {
      MotorControl mc;

      // No states.
      etl::ifsm_state** stateList = nullptr;

      CHECK_THROW(mc.set_states(stateList, 0U), etl::fsm_state_list_exception);
    }

    //*************************************************************************
    TEST(test_fsm_null_state)
    {
      MotorControl mc;

      // Null state.
      etl::ifsm_state* stateList[StateId::Number_Of_States] =
      {
        &idle, &running,& windingDown, nullptr
      };

      CHECK_THROW(mc.set_states(stateList, StateId::Number_Of_States), etl::fsm_null_state_exception);
    }

    //*************************************************************************
    TEST(test_fsm_incorrect_state_order)
    {
      MotorControl mc;

      // Incorrect order.
      etl::ifsm_state* stateList[StateId::Number_Of_States] =
      {
        &idle, &windingDown, &running, &locked
      };

      CHECK_THROW(mc.set_states(stateList, StateId::Number_Of_States), etl::fsm_state_list_order_exception);
    }

    //*************************************************************************
    TEST(test_fsm_self_transition)
    {
      MotorControl motorControl;

      motorControl.Initialise(stateList, ETL_OR_STD17::size(stateList));
      motorControl.reset();
      motorControl.ClearStatistics();

      // Start the FSM.
      motorControl.start(false);

      CHECK_FALSE(motorControl.exited_state);
      CHECK_FALSE(motorControl.entered_state);

      // Execute self transition.
      motorControl.receive(SelfTransition());

      CHECK_EQUAL(size_t(SelfTransition::ID),               size_t(motorControl.last_event_id));
      CHECK_EQUAL(size_t(etl::ifsm_state::Self_Transition), size_t(motorControl.last_returned_state_id));

      CHECK_TRUE(motorControl.exited_state);
      CHECK_TRUE(motorControl.entered_state);
    }
  };
}