Stefan Scholz
Containers (STL-compatible) StateMachines MessageBus and more for Embedded Systems. See www.etlcpp.com
Diff: fsm_generator.h
- Revision:
- 0:b47c2a7920c2
diff -r 000000000000 -r b47c2a7920c2 fsm_generator.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/fsm_generator.h Fri Mar 16 16:34:18 2018 +0000
@@ -0,0 +1,539 @@
+/******************************************************************************
+The MIT License(MIT)
+
+Embedded Template Library.
+https://github.com/ETLCPP/etl
+https://www.etlcpp.com
+
+Copyright(c) 2017 jwellbelove
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files(the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions :
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+******************************************************************************/
+
+/*[[[cog
+import cog
+cog.outl("#if 0")
+]]]*/
+/*[[[end]]]*/
+#error THIS HEADER IS A GENERATOR. DO NOT INCLUDE.
+/*[[[cog
+import cog
+cog.outl("#endif")
+]]]*/
+/*[[[end]]]*/
+
+/*[[[cog
+import cog
+cog.outl("//***************************************************************************")
+cog.outl("// This file has been auto generated. Do not edit this file.")
+cog.outl("//***************************************************************************")
+]]]*/
+/*[[[end]]]*/
+
+//***************************************************************************
+// To generate to header file, run this at the command line.
+// Note: You will need Python and COG installed.
+//
+// python -m cogapp -d -e -ofsm.h -DHandlers=<n> fsm_generator.h
+// Where <n> is the number of messages to support.
+//
+// e.g.
+// To generate handlers for up to 16 events...
+// python -m cogapp -d -e -ofsm.h -DHandlers=16 fsm_generator.h
+//
+// See generate.bat
+//***************************************************************************
+
+#ifndef __ETL_FSM__
+#define __ETL_FSM__
+
+#include <stdint.h>
+
+#include "platform.h"
+#include "array.h"
+#include "nullptr.h"
+#include "error_handler.h"
+#include "exception.h"
+#include "user_type.h"
+#include "message_router.h"
+#include "integral_limits.h"
+#include "largest.h"
+
+#undef ETL_FILE
+#define ETL_FILE "34"
+
+#ifdef ETL_COMPILER_MICROSOFT
+#undef max
+#endif
+
+namespace etl
+{
+ class fsm;
+
+ /// Allow alternative type for state id.
+#if !defined(ETL_FSM_STATE_ID_TYPE)
+ typedef uint_least8_t fsm_state_id_t;
+#else
+ typedef ETL_FSM_STATE_ID_TYPE fsm_state_id_t;
+#endif
+
+ // For internal FSM use.
+ typedef typename etl::larger_type<etl::message_id_t>::type fsm_internal_id_t;
+
+ //***************************************************************************
+ /// Base exception class for FSM.
+ //***************************************************************************
+ class fsm_exception : public etl::exception
+ {
+ public:
+
+ fsm_exception(string_type reason_, string_type file_name_, numeric_type line_number_)
+ : etl::exception(reason_, file_name_, line_number_)
+ {
+ }
+ };
+
+ //***************************************************************************
+ /// Exception for null state pointer.
+ //***************************************************************************
+ class fsm_null_state_exception : public etl::fsm_exception
+ {
+ public:
+
+ fsm_null_state_exception(string_type file_name_, numeric_type line_number_)
+ : etl::fsm_exception(ETL_ERROR_TEXT("fsm:null state", ETL_FILE"A"), file_name_, line_number_)
+ {
+ }
+ };
+
+ //***************************************************************************
+ /// Exception for invalid state id.
+ //***************************************************************************
+ class fsm_state_id_exception : public etl::fsm_exception
+ {
+ public:
+
+ fsm_state_id_exception(string_type file_name_, numeric_type line_number_)
+ : etl::fsm_exception(ETL_ERROR_TEXT("fsm:state id", ETL_FILE"B"), file_name_, line_number_)
+ {
+ }
+ };
+
+ //***************************************************************************
+ /// Exception for incompatible state list.
+ //***************************************************************************
+ class fsm_state_list_exception : public etl::fsm_exception
+ {
+ public:
+
+ fsm_state_list_exception(string_type file_name_, numeric_type line_number_)
+ : etl::fsm_exception(ETL_ERROR_TEXT("fsm:state list", ETL_FILE"C"), file_name_, line_number_)
+ {
+ }
+ };
+
+ //***************************************************************************
+ /// Interface class for FSM states.
+ //***************************************************************************
+ class ifsm_state
+ {
+ public:
+
+ /// Allows ifsm_state functions to be private.
+ friend class etl::fsm;
+
+ //*******************************************
+ /// Gets the id for this state.
+ //*******************************************
+ etl::fsm_state_id_t get_state_id() const
+ {
+ return state_id;
+ }
+
+ protected:
+
+ //*******************************************
+ /// Constructor.
+ //*******************************************
+ ifsm_state(etl::fsm_state_id_t state_id_)
+ : state_id(state_id_),
+ p_context(std::nullptr)
+ {
+ }
+
+ //*******************************************
+ inline etl::fsm& get_fsm_context() const
+ {
+ return *p_context;
+ }
+
+ private:
+
+ virtual fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message) = 0;
+
+ virtual fsm_state_id_t on_enter_state() { return state_id; } // By default, do nothing.
+ virtual void on_exit_state() {} // By default, do nothing.
+
+ //*******************************************
+ void set_fsm_context(etl::fsm& context)
+ {
+ p_context = &context;
+ }
+
+ // The state id.
+ const etl::fsm_state_id_t state_id;
+
+ // A pointer to the FSM context.
+ etl::fsm* p_context;
+
+ // Disabled.
+ ifsm_state(const ifsm_state&);
+ ifsm_state& operator =(const ifsm_state&);
+ };
+
+ //***************************************************************************
+ /// The FSM class.
+ //***************************************************************************
+ class fsm : public etl::imessage_router
+ {
+ public:
+
+ //*******************************************
+ /// Constructor.
+ //*******************************************
+ fsm(etl::message_router_id_t id)
+ : imessage_router(id),
+ p_state(std::nullptr)
+ {
+ }
+
+ //*******************************************
+ /// Set the states for the FSM
+ //*******************************************
+ template <typename TSize>
+ void set_states(etl::ifsm_state** p_states, TSize size)
+ {
+ state_list = p_states;
+ number_of_states = etl::fsm_state_id_t(size);
+
+ ETL_ASSERT((number_of_states > 0), ETL_ERROR(etl::fsm_state_list_exception));
+
+ for (etl::fsm_state_id_t i = 0; i < size; ++i)
+ {
+ ETL_ASSERT((state_list[i] != std::nullptr), ETL_ERROR(etl::fsm_null_state_exception));
+ state_list[i]->set_fsm_context(*this);
+ }
+ }
+
+ //*******************************************
+ /// Starts the FSM.
+ /// Can only be called once.
+ /// Subsequent calls will do nothing.
+ //*******************************************
+ void start()
+ {
+ // Can only be started once.
+ if (p_state == std::nullptr)
+ {
+ p_state = state_list[0];
+ ETL_ASSERT(p_state != std::nullptr, ETL_ERROR(etl::fsm_null_state_exception));
+
+ p_state->on_enter_state();
+ }
+ }
+
+ //*******************************************
+ /// Top level message handler for the FSM.
+ //*******************************************
+ void receive(const etl::imessage& message)
+ {
+ etl::null_message_router nmr;
+ receive(nmr, message);
+ }
+
+ //*******************************************
+ /// Top level message handler for the FSM.
+ //*******************************************
+ void receive(etl::imessage_router& source, const etl::imessage& message)
+ {
+ etl::fsm_state_id_t next_state_id = p_state->process_event(source, message);
+ ETL_ASSERT(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)
+ {
+ do
+ {
+ p_state->on_exit_state();
+ p_state = p_next_state;
+
+ next_state_id = p_state->on_enter_state();
+ ETL_ASSERT(next_state_id < number_of_states, ETL_ERROR(etl::fsm_state_id_exception));
+
+ p_next_state = state_list[next_state_id];
+
+ } while (p_next_state != p_state); // Have we changed state again?
+ }
+ }
+
+ using imessage_router::accepts;
+
+ //*******************************************
+ /// Does this FSM accept the message id?
+ /// Yes, it accepts everything!
+ //*******************************************
+ bool accepts(etl::message_id_t id) const
+ {
+ return true;
+ }
+
+ //*******************************************
+ /// Gets the current state id.
+ //*******************************************
+ etl::fsm_state_id_t get_state_id() const
+ {
+ ETL_ASSERT(p_state != std::nullptr, ETL_ERROR(etl::fsm_null_state_exception));
+ return p_state->get_state_id();
+ }
+
+ //*******************************************
+ /// Gets a reference to the current state interface.
+ //*******************************************
+ ifsm_state& get_state()
+ {
+ ETL_ASSERT(p_state != std::nullptr, ETL_ERROR(etl::fsm_null_state_exception));
+ return *p_state;
+ }
+
+ //*******************************************
+ /// Gets a const reference to the current state interface.
+ //*******************************************
+ const ifsm_state& get_state() const
+ {
+ ETL_ASSERT(p_state != std::nullptr, ETL_ERROR(etl::fsm_null_state_exception));
+ return *p_state;
+ }
+
+ //*******************************************
+ /// Checks if the FSM has been started.
+ //*******************************************
+ bool is_started() const
+ {
+ return p_state != std::nullptr;
+ }
+
+ //*******************************************
+ /// Reset the FSM to pre-started state.
+ //*******************************************
+ void reset()
+ {
+ p_state = std::nullptr;
+ }
+
+ private:
+
+ etl::ifsm_state* p_state; ///< A pointer to the current state.
+ etl::ifsm_state** state_list; ///< The list of added states.
+ etl::fsm_state_id_t number_of_states; ///< The number of states.
+ };
+
+ /*[[[cog
+ import cog
+ ################################################
+ # The first definition for all of the events.
+ ################################################
+ cog.outl("//***************************************************************************")
+ cog.outl("// The definition for all %s message types." % Handlers)
+ cog.outl("//***************************************************************************")
+ cog.outl("template <typename TContext, typename TDerived, const etl::fsm_state_id_t STATE_ID_, ")
+ cog.out(" ")
+ for n in range(1, int(Handlers)):
+ cog.out("typename T%s = void, " % n)
+ if n % 4 == 0:
+ cog.outl("")
+ cog.out(" ")
+ cog.outl("typename T%s = void>" % Handlers)
+ cog.outl("class fsm_state : public ifsm_state")
+ cog.outl("{")
+ cog.outl("public:")
+ cog.outl("")
+ cog.outl(" enum")
+ cog.outl(" {")
+ cog.outl(" STATE_ID = STATE_ID_")
+ cog.outl(" };")
+ cog.outl("")
+ cog.outl(" fsm_state()")
+ cog.outl(" : ifsm_state(STATE_ID)")
+ cog.outl(" {")
+ cog.outl(" }")
+ cog.outl("")
+ cog.outl("protected:")
+ cog.outl("")
+ cog.outl(" inline TContext& get_fsm_context() const")
+ cog.outl(" {")
+ cog.outl(" return static_cast<TContext&>(ifsm_state::get_fsm_context());")
+ cog.outl(" }")
+ cog.outl("")
+ cog.outl("private:")
+ cog.outl("")
+ cog.outl(" etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)")
+ cog.outl(" {")
+ cog.outl(" etl::fsm_state_id_t new_state_id;")
+ cog.outl(" etl::message_id_t event_id = message.message_id;")
+ cog.outl("")
+ cog.outl(" switch (event_id)")
+ cog.outl(" {")
+ for n in range(1, int(Handlers) + 1):
+ cog.out(" case T%d::ID:" % n)
+ cog.out(" new_state_id = static_cast<TDerived*>(this)->on_event(source, static_cast<const T%d&>(message));" % n)
+ cog.outl(" break;")
+ cog.out(" default:")
+ cog.out(" new_state_id = static_cast<TDerived*>(this)->on_event_unknown(source, message);")
+ cog.outl(" break;")
+ cog.outl(" }")
+ cog.outl("")
+ cog.outl(" return new_state_id;")
+ cog.outl(" }")
+ cog.outl("};")
+
+ ####################################
+ # All of the other specialisations.
+ ####################################
+ for n in range(int(Handlers) - 1, 0, -1):
+ cog.outl("")
+ cog.outl("//***************************************************************************")
+ if n == 1:
+ cog.outl("// Specialisation for %d message type." % n)
+ else:
+ cog.outl("// Specialisation for %d message types." % n)
+ cog.outl("//***************************************************************************")
+ cog.outl("template <typename TContext, typename TDerived, const etl::fsm_state_id_t STATE_ID_, ")
+ cog.out(" ")
+ for t in range(1, n):
+ cog.out("typename T%d, " % t)
+ if t % 4 == 0:
+ cog.outl("")
+ cog.out(" ")
+ cog.outl("typename T%d>" % n)
+ cog.out("class fsm_state<TContext, TDerived, STATE_ID_, ")
+ for t in range(1, n + 1):
+ cog.out("T%d, " % t)
+ if t % 16 == 0:
+ cog.outl("")
+ cog.out(" ")
+ for t in range(n + 1, int(Handlers)):
+ cog.out("void, ")
+ if t % 16 == 0:
+ cog.outl("")
+ cog.out(" ")
+ cog.outl("void> : public ifsm_state")
+ cog.outl("{")
+ cog.outl("public:")
+ cog.outl("")
+ cog.outl(" enum")
+ cog.outl(" {")
+ cog.outl(" STATE_ID = STATE_ID_")
+ cog.outl(" };")
+ cog.outl("")
+ cog.outl(" fsm_state()")
+ cog.outl(" : ifsm_state(STATE_ID)")
+ cog.outl(" {")
+ cog.outl(" }")
+ cog.outl("")
+ cog.outl("protected:")
+ cog.outl("")
+ cog.outl(" inline TContext& get_fsm_context() const")
+ cog.outl(" {")
+ cog.outl(" return static_cast<TContext&>(ifsm_state::get_fsm_context());")
+ cog.outl(" }")
+ cog.outl("")
+ cog.outl("private:")
+ cog.outl("")
+ cog.outl(" etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)")
+ cog.outl(" {")
+ cog.outl(" etl::fsm_state_id_t new_state_id;")
+ cog.outl(" etl::message_id_t event_id = message.message_id;")
+ cog.outl("")
+ cog.outl(" switch (event_id)")
+ cog.outl(" {")
+ for n in range(1, n + 1):
+ cog.out(" case T%d::ID:" % n)
+ cog.out(" new_state_id = static_cast<TDerived*>(this)->on_event(source, static_cast<const T%d&>(message));" % n)
+ cog.outl(" break;")
+ cog.out(" default:")
+ cog.out(" new_state_id = static_cast<TDerived*>(this)->on_event_unknown(source, message);")
+ cog.outl(" break;")
+ cog.outl(" }")
+ cog.outl("")
+ cog.outl(" return new_state_id;")
+ cog.outl(" }")
+ cog.outl("};")
+ ####################################
+ # Specialisation for zero messages.
+ ####################################
+ cog.outl("")
+ cog.outl("//***************************************************************************")
+ cog.outl("// Specialisation for 0 message types.")
+ cog.outl("//***************************************************************************")
+ cog.outl("template <typename TContext, typename TDerived, const etl::fsm_state_id_t STATE_ID_>")
+ cog.out("class fsm_state<TContext, TDerived, STATE_ID_, ")
+ for t in range(1, int(Handlers)):
+ cog.out("void, ")
+ if t % 16 == 0:
+ cog.outl("")
+ cog.out(" ")
+ cog.outl("void> : public ifsm_state")
+ cog.outl("{")
+ cog.outl("public:")
+ cog.outl("")
+ cog.outl(" enum")
+ cog.outl(" {")
+ cog.outl(" STATE_ID = STATE_ID_")
+ cog.outl(" };")
+ cog.outl("")
+ cog.outl(" fsm_state()")
+ cog.outl(" : ifsm_state(STATE_ID)")
+ cog.outl(" {")
+ cog.outl(" }")
+ cog.outl("")
+ cog.outl(" inline TContext& get_fsm_context() const")
+ cog.outl(" {")
+ cog.outl(" return static_cast<TContext&>(ifsm_state::get_fsm_context());")
+ cog.outl(" }")
+ cog.outl("private:")
+ cog.outl("")
+ cog.outl(" etl::fsm_state_id_t process_event(etl::imessage_router& source, const etl::imessage& message)")
+ cog.outl(" {")
+ cog.outl(" return static_cast<TDerived*>(this)->on_event_unknown(source, message);")
+ cog.outl(" }")
+ cog.outl("};")
+ ]]]*/
+ /*[[[end]]]*/
+}
+
+#undef ETL_FILE
+
+#ifdef ETL_COMPILER_MICROSOFT
+#define max(a,b) (((a) > (b)) ? (a) : (b))
+#endif
+
+#endif
+