Osman Kamerić / Mbed OS kopija_NUCLEO_CELL_LOCKER_copy

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Dependencies:   MPU6050 PinDetect circular_buffer

MotionFSM/include/Fsm.h@0:b416214256cd, 2017-11-07 (annotated)

Committer:
OsmanKameric
Date:
Tue Nov 07 16:35:14 2017 +0000
Revision:
0:b416214256cd
FIRST

Who changed what in which revision?

UserRevisionLine numberNew contents of line
OsmanKameric 0:b416214256cd 1 #ifndef MOTIONFSM_FSM_H_
OsmanKameric 0:b416214256cd 2 #define MOTIONFSM_FSM_H_
OsmanKameric 0:b416214256cd 3 #include <State.h>
OsmanKameric 0:b416214256cd 4 #include "mbed.h"
OsmanKameric 0:b416214256cd 5
OsmanKameric 0:b416214256cd 6 #include <Events.h>
OsmanKameric 0:b416214256cd 7
OsmanKameric 0:b416214256cd 8 struct Stop;
OsmanKameric 0:b416214256cd 9 struct Move;
OsmanKameric 0:b416214256cd 10
OsmanKameric 0:b416214256cd 11 class FsmStates {
OsmanKameric 0:b416214256cd 12 public:
OsmanKameric 0:b416214256cd 13 FsmStates();
OsmanKameric 0:b416214256cd 14
OsmanKameric 0:b416214256cd 15 State* movingState();
OsmanKameric 0:b416214256cd 16 State* stacionaryState();
OsmanKameric 0:b416214256cd 17 State* currentState();
OsmanKameric 0:b416214256cd 18
OsmanKameric 0:b416214256cd 19 void currentState(State* state);
OsmanKameric 0:b416214256cd 20
OsmanKameric 0:b416214256cd 21 ~FsmStates();
OsmanKameric 0:b416214256cd 22
OsmanKameric 0:b416214256cd 23 private:
OsmanKameric 0:b416214256cd 24
OsmanKameric 0:b416214256cd 25 State* movingState_;
OsmanKameric 0:b416214256cd 26 State* stacionaryState_;
OsmanKameric 0:b416214256cd 27 State* currentState_;
OsmanKameric 0:b416214256cd 28
OsmanKameric 0:b416214256cd 29 Timer timer;
OsmanKameric 0:b416214256cd 30
OsmanKameric 0:b416214256cd 31 };
OsmanKameric 0:b416214256cd 32
OsmanKameric 0:b416214256cd 33 class Fsm {
OsmanKameric 0:b416214256cd 34 public:
OsmanKameric 0:b416214256cd 35 Fsm();
OsmanKameric 0:b416214256cd 36 template <typename Event>
OsmanKameric 0:b416214256cd 37 void handle(Event& event){
OsmanKameric 0:b416214256cd 38 State* state = states_.currentState()->handle(event);
OsmanKameric 0:b416214256cd 39 states_.currentState(state);
OsmanKameric 0:b416214256cd 40 }
OsmanKameric 0:b416214256cd 41
OsmanKameric 0:b416214256cd 42 virtual ~Fsm() {}
OsmanKameric 0:b416214256cd 43 FsmStates states_;
OsmanKameric 0:b416214256cd 44 private:
OsmanKameric 0:b416214256cd 45
OsmanKameric 0:b416214256cd 46
OsmanKameric 0:b416214256cd 47 };
OsmanKameric 0:b416214256cd 48 #endif /* ifndef MOTIONFSM_FSM_H_ */