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391 lines
12 KiB
C++
391 lines
12 KiB
C++
/******************************************************************************
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The MIT License(MIT)
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Embedded Template Library.
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https://github.com/ETLCPP/etl
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https://www.etlcpp.com
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Copyright(c) 2021
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files(the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions :
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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******************************************************************************/
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#include "unit_test_framework.h"
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#include "etl/hfsm.h"
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#include "etl/string.h"
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#include <array>
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#include <memory>
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// entry && mode=RxEventDeviation
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// ┌─────────────────────────────────────────────────────┐
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// │ │
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// * ┌────────▼─────────────┐ ToS6Event │
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// │ │ │ ┌────────────────────┐ │
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// │ │ s3 │ │ │ │
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// │ │ ┌─────────────────┐ │ │ ┌────────┼────────────┴──────────────┐
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// │ │ │ s2* │ │ │ │ s4 │ │ │ │ │
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// ┌────┐ ┌────┐ │ │ │ │ ┌────┴─────────────────────────┐ │ │
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// │ │ │ s1*│ │ s6 ◄─┼─┼─────┘ │ │ s5* │
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// │ │ │ │ │ │ │ │ │ │ entry && mode= │
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// ├──────────────────────────────┤ │ │ │ │ │ │ │ │ │ │
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// StartDeviation │ │ToS6Event && RxEventDuringTr./│ │ └──────┼──► │ │ │
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// │ ├─┼─────────────────┼───► receive(ToS5Event)** │ │
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// │ │ │ │ │ │ │ │ │
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// └─▲────────────────────────────┘ │ │ │ └┬───┘ └────┘ │ │ │ │ │
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// │ │ │ │ │ └─────┼──▲───────────────────────────┘ │
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// └──┼──────────────┘ │ │ │ │ │ │ │ │
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// └─────┼─┬──────────────┘ │ │
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// │ │ ToS5Event │ │
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// │ └──────────────────────────────────────┘ │
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// │ │
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// │ entry && mode=StartDeviationDefaultChild │
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// └───────────────────────────────────────────┘
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//
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// * indicates default state
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// ** Tests an exception for recursive receives
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// Diagram created with asciiflow.com
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namespace
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{
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class StateList;
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enum class Events : uint8_t
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{
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ToS5,
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ToS6
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};
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class ToS5Event : public etl::message<static_cast<uint8_t>(Events::ToS5)>
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{
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};
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class ToS6Event : public etl::message<static_cast<uint8_t>(Events::ToS6)>
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{
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};
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class EntryTestSM : public etl::hfsm
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{
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public:
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EntryTestSM();
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etl::string<30> test_data;
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enum RunMode
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{
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Normal,
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StartDeviation,
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RxEventDeviation,
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StartDeviationDefaultChild,
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RxEventDuringTransition
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};
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RunMode runMode = Normal;
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enum hfsmStates : uint8_t
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{
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S2,
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S3,
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S1,
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S4,
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S5,
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S6,
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Number_Of_States
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};
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private:
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std::unique_ptr<StateList> m_state_list;
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};
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class S1 : public etl::fsm_state<EntryTestSM, S1, EntryTestSM::S1>
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{
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public:
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etl::fsm_state_id_t on_enter_state() override
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{
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get_fsm_context().test_data += "E1";
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return (get_fsm_context().runMode == EntryTestSM::StartDeviationDefaultChild) ? static_cast<uint8_t>(EntryTestSM::S4) : No_State_Change;
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}
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static etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
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{
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return No_State_Change;
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}
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void on_exit_state() override
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{
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get_fsm_context().test_data += "X1";
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}
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};
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class S2 : public etl::fsm_state<EntryTestSM, S2, EntryTestSM::S2>
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{
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public:
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etl::fsm_state_id_t on_enter_state() override
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{
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get_fsm_context().test_data += "E2";
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return (get_fsm_context().runMode == EntryTestSM::StartDeviation) ? static_cast<uint8_t>(EntryTestSM::S5) : No_State_Change;
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}
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static etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
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{
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return No_State_Change;
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}
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void on_exit_state() override
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{
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get_fsm_context().test_data += "X2";
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}
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};
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class S3 : public etl::fsm_state<EntryTestSM, S3, EntryTestSM::S3, ToS5Event>
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{
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public:
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etl::fsm_state_id_t on_enter_state() override
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{
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if (get_fsm_context().runMode == EntryTestSM::RxEventDuringTransition)
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{
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get_fsm_context().receive(ToS5Event{});
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}
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get_fsm_context().test_data += "E3";
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return No_State_Change;
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}
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static etl::fsm_state_id_t on_event(ToS5Event const& /*event*/)
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{
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return EntryTestSM::S5;
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}
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static etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
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{
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return No_State_Change;
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}
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void on_exit_state() override
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{
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get_fsm_context().test_data += "X3";
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}
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};
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class S4 : public etl::fsm_state<EntryTestSM, S4, EntryTestSM::S4>
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{
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public:
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etl::fsm_state_id_t on_enter_state() override
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{
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get_fsm_context().test_data += "E4";
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return (get_fsm_context().runMode == EntryTestSM::RxEventDeviation) ? static_cast<uint8_t>(EntryTestSM::S3) : No_State_Change;
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}
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static etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
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{
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return No_State_Change;
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}
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void on_exit_state() override
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{
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get_fsm_context().test_data += "X4";
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}
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};
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class S5 : public etl::fsm_state<EntryTestSM, S5, EntryTestSM::S5, ToS6Event>
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{
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public:
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etl::fsm_state_id_t on_enter_state() override
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{
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get_fsm_context().test_data += "E5";
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return No_State_Change;
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}
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etl::fsm_state_id_t on_event(ToS6Event const& /*event*/)
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{
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if (get_fsm_context().runMode == EntryTestSM::RxEventDuringTransition)
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{
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get_fsm_context().receive(ToS5Event{});
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}
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return EntryTestSM::S6;
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}
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static etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
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{
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return No_State_Change;
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}
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void on_exit_state() override
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{
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get_fsm_context().test_data += "X5";
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}
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};
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class S6 : public etl::fsm_state<EntryTestSM, S6, EntryTestSM::S6>
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{
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public:
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etl::fsm_state_id_t on_enter_state() override
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{
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get_fsm_context().test_data += "E6";
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return No_State_Change;
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}
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static etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
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{
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return No_State_Change;
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}
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void on_exit_state() override
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{
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get_fsm_context().test_data += "X6";
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}
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};
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class StateList
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{
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public:
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StateList()
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{
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m_s3.add_child_state(m_s2);
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m_s2.add_child_state(m_s1);
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m_s2.add_child_state(m_s6);
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m_s4.add_child_state(m_s5);
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}
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std::array<etl::ifsm_state*, static_cast<uint8_t>(EntryTestSM::Number_Of_States)> stateList = {&m_s2, &m_s3, &m_s1, &m_s4, &m_s5, &m_s6};
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private:
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// The states.
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S1 m_s1;
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S2 m_s2;
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S3 m_s3;
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S4 m_s4;
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S5 m_s5;
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S6 m_s6;
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};
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EntryTestSM::EntryTestSM()
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: hfsm(0)
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, m_state_list(new StateList{})
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{
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set_states(m_state_list->stateList.data(), m_state_list->stateList.size());
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}
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SUITE(test_hfsm_transition_on_enter)
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{
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//*************************************************************************
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TEST(start_regular)
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{
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EntryTestSM sm;
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sm.start(true);
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CHECK_EQUAL("E3E2E1", sm.test_data.c_str());
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}
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//*************************************************************************
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TEST(start_deviation)
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{
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// Checks default child wanting to go to another state
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EntryTestSM sm;
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sm.runMode = EntryTestSM::StartDeviation;
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sm.start(true);
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CHECK_EQUAL("E3E2X2X3E4E5", sm.test_data.c_str());
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}
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//*************************************************************************
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TEST(start_deviation_with_default_child_activation)
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{
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// Checks default child wanting to go to another state
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EntryTestSM sm;
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sm.runMode = EntryTestSM::StartDeviationDefaultChild;
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sm.start(true);
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CHECK_EQUAL("E3E2E1X1X2X3E4E5", sm.test_data.c_str());
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}
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//*************************************************************************
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TEST(receive_event_normal)
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{
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EntryTestSM sm;
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sm.start(true);
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sm.test_data.clear();
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sm.receive(ToS5Event{});
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CHECK_EQUAL("X1X2X3E4E5", sm.test_data.c_str());
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}
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//*************************************************************************
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TEST(receive_event_with_deviation)
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{
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// Test utilizes default child state entry
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EntryTestSM sm;
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sm.start(true);
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sm.test_data.clear();
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sm.runMode = EntryTestSM::RxEventDeviation;
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sm.receive(ToS5Event{});
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CHECK_EQUAL("X1X2X3E4X4E3E2E1", sm.test_data.c_str());
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}
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//*************************************************************************
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TEST(go_to_non_default_state_and_back)
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{
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EntryTestSM sm;
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// Skip enters so test data doesn't need to be cleared
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sm.start(false);
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sm.receive(ToS5Event{});
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sm.test_data.clear();
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sm.receive(ToS6Event{});
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CHECK_EQUAL("X5X4E3E2E6", sm.test_data.c_str());
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sm.test_data.clear();
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sm.receive(ToS5Event{});
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CHECK_EQUAL("X6X2X3E4E5", sm.test_data.c_str());
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}
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//*************************************************************************
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TEST(reset_exits)
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{
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EntryTestSM sm;
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sm.start(true);
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sm.test_data.clear();
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sm.reset(true);
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CHECK_EQUAL("X1X2X3", sm.test_data.c_str());
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}
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//*************************************************************************
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TEST(reentrant_receives)
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{
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EntryTestSM sm;
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sm.start(false);
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sm.receive(ToS5Event{});
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sm.test_data.clear();
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sm.runMode = EntryTestSM::RxEventDuringTransition;
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CHECK_THROW(sm.receive(ToS6Event{}), etl::fsm_reentrant_transition_forbidden);
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}
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//*************************************************************************
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TEST(reentrant_receives_on_start)
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{
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EntryTestSM sm;
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sm.runMode = EntryTestSM::RxEventDuringTransition;
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CHECK_THROW(sm.start(true), etl::fsm_reentrant_transition_forbidden);
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}
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}
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} // namespace
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