This library is designed to create and run state graphs. It supports hierarchical states and parallel states execution.
utt_foobar_with_ud.h@3:d4d69d0d8381, 2019-02-12 (annotated)
- Committer:
- martin13
- Date:
- Tue Feb 12 08:56:43 2019 +0000
- Revision:
- 3:d4d69d0d8381
- Parent:
- 0:f4fdca2c4c67
- Child:
- 4:22b4462fcb26
Added README.md
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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martin13 | 0:f4fdca2c4c67 | 1 | #ifndef __UTT_FOOBAR_WUD_H__ |
martin13 | 0:f4fdca2c4c67 | 2 | #define __UTT_FOOBAR_WUD_H__ |
martin13 | 0:f4fdca2c4c67 | 3 | |
martin13 | 0:f4fdca2c4c67 | 4 | #include "StateMachine.h" |
martin13 | 0:f4fdca2c4c67 | 5 | |
martin13 | 0:f4fdca2c4c67 | 6 | class Foo : public State{ |
martin13 | 0:f4fdca2c4c67 | 7 | |
martin13 | 0:f4fdca2c4c67 | 8 | public: |
martin13 | 0:f4fdca2c4c67 | 9 | |
martin13 | 0:f4fdca2c4c67 | 10 | static const char* OUTCOME_BAR; |
martin13 | 0:f4fdca2c4c67 | 11 | |
martin13 | 0:f4fdca2c4c67 | 12 | Foo(const char* uuid, UserData *ud): |
martin13 | 0:f4fdca2c4c67 | 13 | State(uuid), |
martin13 | 0:f4fdca2c4c67 | 14 | _count(0) |
martin13 | 0:f4fdca2c4c67 | 15 | { |
martin13 | 0:f4fdca2c4c67 | 16 | // Capture data ptr by key |
martin13 | 0:f4fdca2c4c67 | 17 | _data = ud->get<DataInt32*>("COUNT"); |
martin13 | 0:f4fdca2c4c67 | 18 | } |
martin13 | 0:f4fdca2c4c67 | 19 | |
martin13 | 0:f4fdca2c4c67 | 20 | virtual void onEntry(){ /* Do something */ } |
martin13 | 0:f4fdca2c4c67 | 21 | |
martin13 | 0:f4fdca2c4c67 | 22 | virtual const char* onExecute(){ |
martin13 | 0:f4fdca2c4c67 | 23 | |
martin13 | 0:f4fdca2c4c67 | 24 | _count++; |
martin13 | 0:f4fdca2c4c67 | 25 | |
martin13 | 0:f4fdca2c4c67 | 26 | return OUTCOME_BAR; |
martin13 | 0:f4fdca2c4c67 | 27 | } |
martin13 | 0:f4fdca2c4c67 | 28 | |
martin13 | 0:f4fdca2c4c67 | 29 | virtual void onExit(){ |
martin13 | 0:f4fdca2c4c67 | 30 | // Update data |
martin13 | 0:f4fdca2c4c67 | 31 | _data->setData(_count); |
martin13 | 0:f4fdca2c4c67 | 32 | } |
martin13 | 0:f4fdca2c4c67 | 33 | |
martin13 | 0:f4fdca2c4c67 | 34 | private: |
martin13 | 0:f4fdca2c4c67 | 35 | int _count; |
martin13 | 0:f4fdca2c4c67 | 36 | DataInt32 *_data; |
martin13 | 0:f4fdca2c4c67 | 37 | }; |
martin13 | 0:f4fdca2c4c67 | 38 | |
martin13 | 0:f4fdca2c4c67 | 39 | const char* Foo::OUTCOME_BAR = "OUTCOME_BAR"; |
martin13 | 0:f4fdca2c4c67 | 40 | |
martin13 | 0:f4fdca2c4c67 | 41 | class Bar : public State{ |
martin13 | 0:f4fdca2c4c67 | 42 | |
martin13 | 0:f4fdca2c4c67 | 43 | public: |
martin13 | 0:f4fdca2c4c67 | 44 | |
martin13 | 0:f4fdca2c4c67 | 45 | static const char* OUTCOME_FOO; |
martin13 | 0:f4fdca2c4c67 | 46 | |
martin13 | 0:f4fdca2c4c67 | 47 | Bar(const char* uuid, UserData *ud): |
martin13 | 0:f4fdca2c4c67 | 48 | State(uuid) |
martin13 | 0:f4fdca2c4c67 | 49 | { |
martin13 | 0:f4fdca2c4c67 | 50 | // Capture data ptr |
martin13 | 0:f4fdca2c4c67 | 51 | _data = ud->get<DataInt32*>("COUNT"); |
martin13 | 0:f4fdca2c4c67 | 52 | } |
martin13 | 0:f4fdca2c4c67 | 53 | |
martin13 | 0:f4fdca2c4c67 | 54 | virtual void onEntry(){ |
martin13 | 0:f4fdca2c4c67 | 55 | } |
martin13 | 0:f4fdca2c4c67 | 56 | |
martin13 | 0:f4fdca2c4c67 | 57 | virtual const char* onExecute(){ |
martin13 | 0:f4fdca2c4c67 | 58 | |
martin13 | 0:f4fdca2c4c67 | 59 | Logger::info("COUNT : %i",_data->getData()); |
martin13 | 0:f4fdca2c4c67 | 60 | |
martin13 | 0:f4fdca2c4c67 | 61 | // Check data value |
martin13 | 0:f4fdca2c4c67 | 62 | if (_data->getData() >= 20){ |
martin13 | 0:f4fdca2c4c67 | 63 | return SUCCEDED; |
martin13 | 0:f4fdca2c4c67 | 64 | } |
martin13 | 0:f4fdca2c4c67 | 65 | |
martin13 | 0:f4fdca2c4c67 | 66 | return OUTCOME_FOO; |
martin13 | 0:f4fdca2c4c67 | 67 | } |
martin13 | 0:f4fdca2c4c67 | 68 | |
martin13 | 0:f4fdca2c4c67 | 69 | virtual void onExit(){ |
martin13 | 0:f4fdca2c4c67 | 70 | } |
martin13 | 0:f4fdca2c4c67 | 71 | |
martin13 | 0:f4fdca2c4c67 | 72 | private: |
martin13 | 0:f4fdca2c4c67 | 73 | DataInt32 *_data; |
martin13 | 0:f4fdca2c4c67 | 74 | }; |
martin13 | 0:f4fdca2c4c67 | 75 | |
martin13 | 0:f4fdca2c4c67 | 76 | const char* Bar::OUTCOME_FOO = "OUTCOME_FOO"; |
martin13 | 0:f4fdca2c4c67 | 77 | |
martin13 | 0:f4fdca2c4c67 | 78 | class FooBar : public StateMachine{ |
martin13 | 0:f4fdca2c4c67 | 79 | |
martin13 | 0:f4fdca2c4c67 | 80 | public: |
martin13 | 0:f4fdca2c4c67 | 81 | |
martin13 | 0:f4fdca2c4c67 | 82 | FooBar(const char* uuid, UserData *ud): |
martin13 | 0:f4fdca2c4c67 | 83 | StateMachine(uuid, ud), |
martin13 | 0:f4fdca2c4c67 | 84 | foo(NULL), bar(NULL) |
martin13 | 0:f4fdca2c4c67 | 85 | { |
martin13 | 0:f4fdca2c4c67 | 86 | // States instance |
martin13 | 0:f4fdca2c4c67 | 87 | foo = this->Instance<Foo>("FOO"); |
martin13 | 0:f4fdca2c4c67 | 88 | bar = this->Instance<Bar>("BAR"); |
martin13 | 0:f4fdca2c4c67 | 89 | |
martin13 | 0:f4fdca2c4c67 | 90 | // Connect Foo to Bar |
martin13 | 0:f4fdca2c4c67 | 91 | this->connect(STATE(foo), Foo::OUTCOME_BAR, STATE(bar)); |
martin13 | 0:f4fdca2c4c67 | 92 | |
martin13 | 0:f4fdca2c4c67 | 93 | // Connect Bar to Foo |
martin13 | 0:f4fdca2c4c67 | 94 | this->connect(STATE(bar), Bar::OUTCOME_FOO, STATE(foo)); |
martin13 | 0:f4fdca2c4c67 | 95 | |
martin13 | 0:f4fdca2c4c67 | 96 | // Connect Bar to exit state machine |
martin13 | 0:f4fdca2c4c67 | 97 | this->connect(STATE(bar), Bar::SUCCEDED, SUCCEDED); |
martin13 | 0:f4fdca2c4c67 | 98 | |
martin13 | 0:f4fdca2c4c67 | 99 | this->setInitialState(STATE(foo)); |
martin13 | 0:f4fdca2c4c67 | 100 | } |
martin13 | 0:f4fdca2c4c67 | 101 | |
martin13 | 0:f4fdca2c4c67 | 102 | private: |
martin13 | 0:f4fdca2c4c67 | 103 | Foo *foo; |
martin13 | 0:f4fdca2c4c67 | 104 | Bar *bar; |
martin13 | 0:f4fdca2c4c67 | 105 | }; |
martin13 | 0:f4fdca2c4c67 | 106 | |
martin13 | 0:f4fdca2c4c67 | 107 | /* |
martin13 | 0:f4fdca2c4c67 | 108 | InterruptIn button(PC_13); |
martin13 | 0:f4fdca2c4c67 | 109 | DigitalOut led(LED1); |
martin13 | 0:f4fdca2c4c67 | 110 | */ |
martin13 | 0:f4fdca2c4c67 | 111 | void unit_test(){ |
martin13 | 0:f4fdca2c4c67 | 112 | |
martin13 | 0:f4fdca2c4c67 | 113 | StateMachine root("FOOBAR_ROOT"); |
martin13 | 0:f4fdca2c4c67 | 114 | |
martin13 | 0:f4fdca2c4c67 | 115 | button.rise(&root, &FooBar::preempt); |
martin13 | 0:f4fdca2c4c67 | 116 | |
martin13 | 0:f4fdca2c4c67 | 117 | DataInt32* data = new DataInt32(0); |
martin13 | 0:f4fdca2c4c67 | 118 | |
martin13 | 0:f4fdca2c4c67 | 119 | root.getUserData()->put("COUNT", data); |
martin13 | 0:f4fdca2c4c67 | 120 | |
martin13 | 0:f4fdca2c4c67 | 121 | FooBar *foobar1 = root.Instance<FooBar>("FOOBAR_1"); |
martin13 | 0:f4fdca2c4c67 | 122 | FooBar *foobar2 = root.Instance<FooBar>("FOOBAR_2"); |
martin13 | 0:f4fdca2c4c67 | 123 | |
martin13 | 0:f4fdca2c4c67 | 124 | root.setInitialState(STATE(foobar1)); |
martin13 | 0:f4fdca2c4c67 | 125 | |
martin13 | 0:f4fdca2c4c67 | 126 | root.connect(STATE(foobar1), "SUCCEDED", STATE(foobar2)); |
martin13 | 0:f4fdca2c4c67 | 127 | root.connect(STATE(foobar2), "SUCCEDED", "SUCCEDED"); |
martin13 | 0:f4fdca2c4c67 | 128 | |
martin13 | 0:f4fdca2c4c67 | 129 | root.printGraph(); |
martin13 | 0:f4fdca2c4c67 | 130 | |
martin13 | 0:f4fdca2c4c67 | 131 | printf("STATE MACHINE RETURN %s \n",root.execute()); |
martin13 | 0:f4fdca2c4c67 | 132 | } |
martin13 | 0:f4fdca2c4c67 | 133 | |
martin13 | 0:f4fdca2c4c67 | 134 | |
martin13 | 0:f4fdca2c4c67 | 135 | #endif /* #ifndef __UTT_FOOBAR_WUD_H__*/ |