matignon martin / Mbed OS MbedFinalStateMachine

This library is designed to create and run state graphs. It supports hierarchical states and parallel states execution.

StateMachineLib/State.h@0:f4fdca2c4c67, 2017-10-03 (annotated)

Committer:
martin13
Date:
Tue Oct 03 08:29:22 2017 +0000
Revision:
0:f4fdca2c4c67
First version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
martin13 0:f4fdca2c4c67 1 ////////////////////////////////////////////////////////////////////////////////
martin13 0:f4fdca2c4c67 2 // Copyright Rottor SAS 2017
martin13 0:f4fdca2c4c67 3 // All rigths reserved.
martin13 0:f4fdca2c4c67 4 //
martin13 0:f4fdca2c4c67 5 // File Name : State.h
martin13 0:f4fdca2c4c67 6 // Authors : Martin Matignon
martin13 0:f4fdca2c4c67 7 //
martin13 0:f4fdca2c4c67 8 // If you find any bug or if you have any question please contact
martin13 0:f4fdca2c4c67 9 // Martin Matignon <martin.matignon@rottor.fr>
martin13 0:f4fdca2c4c67 10 // Nicolas Forestier <nicolas.forestier@rottor.fr>
martin13 0:f4fdca2c4c67 11 //
martin13 0:f4fdca2c4c67 12 ////////////////////////////////////////////////////////////////////////////////
martin13 0:f4fdca2c4c67 13
martin13 0:f4fdca2c4c67 14 #ifndef __SM_STATE_H__
martin13 0:f4fdca2c4c67 15 #define __SM_STATE_H__
martin13 0:f4fdca2c4c67 16
martin13 0:f4fdca2c4c67 17 #include "mbed.h"
martin13 0:f4fdca2c4c67 18 #include "UserData.h"
martin13 0:f4fdca2c4c67 19
martin13 0:f4fdca2c4c67 20 /** Global preempt state flag
martin13 0:f4fdca2c4c67 21 */
martin13 0:f4fdca2c4c67 22 extern bool preempt_flag;
martin13 0:f4fdca2c4c67 23
martin13 0:f4fdca2c4c67 24 /** A virtual class for executing a simple state into state machine
martin13 0:f4fdca2c4c67 25 */
martin13 0:f4fdca2c4c67 26 class State {
martin13 0:f4fdca2c4c67 27
martin13 0:f4fdca2c4c67 28 public:
martin13 0:f4fdca2c4c67 29
martin13 0:f4fdca2c4c67 30 /** Standard outcomes
martin13 0:f4fdca2c4c67 31 */
martin13 0:f4fdca2c4c67 32 static const char* SUCCEDED;
martin13 0:f4fdca2c4c67 33 static const char* ABORTED;
martin13 0:f4fdca2c4c67 34 static const char* PREEMPTED;
martin13 0:f4fdca2c4c67 35
martin13 0:f4fdca2c4c67 36 /** State type definition
martin13 0:f4fdca2c4c67 37 */
martin13 0:f4fdca2c4c67 38 enum StateType_t{
martin13 0:f4fdca2c4c67 39 SIMPLE_STATE = 1,
martin13 0:f4fdca2c4c67 40 STATE_MACHINE
martin13 0:f4fdca2c4c67 41 };
martin13 0:f4fdca2c4c67 42
martin13 0:f4fdca2c4c67 43 /** Create a State
martin13 0:f4fdca2c4c67 44 *
martin13 0:f4fdca2c4c67 45 * @param uuid The state uuid
martin13 0:f4fdca2c4c67 46 * @param type The state type, default type is SIMPLE_STATE
martin13 0:f4fdca2c4c67 47 */
martin13 0:f4fdca2c4c67 48 State(const char* uuid, StateType_t type = SIMPLE_STATE);
martin13 0:f4fdca2c4c67 49
martin13 0:f4fdca2c4c67 50 /** Remap state uuid
martin13 0:f4fdca2c4c67 51 *
martin13 0:f4fdca2c4c67 52 * @param uuid The new state uuid
martin13 0:f4fdca2c4c67 53 */
martin13 0:f4fdca2c4c67 54 void setUUID(const char* uuid);
martin13 0:f4fdca2c4c67 55
martin13 0:f4fdca2c4c67 56 /** Provide state uuid
martin13 0:f4fdca2c4c67 57 *
martin13 0:f4fdca2c4c67 58 * @return uuid The state uuid
martin13 0:f4fdca2c4c67 59 */
martin13 0:f4fdca2c4c67 60 const char* getUUID();
martin13 0:f4fdca2c4c67 61
martin13 0:f4fdca2c4c67 62 /** Remap state type
martin13 0:f4fdca2c4c67 63 *
martin13 0:f4fdca2c4c67 64 * @param type The new state type
martin13 0:f4fdca2c4c67 65 */
martin13 0:f4fdca2c4c67 66 void setType(StateType_t type);
martin13 0:f4fdca2c4c67 67
martin13 0:f4fdca2c4c67 68 /** Provide state type
martin13 0:f4fdca2c4c67 69 *
martin13 0:f4fdca2c4c67 70 * @return type The state type
martin13 0:f4fdca2c4c67 71 */
martin13 0:f4fdca2c4c67 72 StateType_t getType();
martin13 0:f4fdca2c4c67 73
martin13 0:f4fdca2c4c67 74 /** Virtual method called by state machine before onExecute
martin13 0:f4fdca2c4c67 75 * (need to redefine into inherited object)
martin13 0:f4fdca2c4c67 76 */
martin13 0:f4fdca2c4c67 77 virtual void onEntry() = 0;
martin13 0:f4fdca2c4c67 78
martin13 0:f4fdca2c4c67 79 /** Virtual method called by state machine during execution
martin13 0:f4fdca2c4c67 80 * (need to redefine into inherited object)
martin13 0:f4fdca2c4c67 81 */
martin13 0:f4fdca2c4c67 82 virtual const char* onExecute() = 0;
martin13 0:f4fdca2c4c67 83
martin13 0:f4fdca2c4c67 84 /** Virtual method called by state machine after execution
martin13 0:f4fdca2c4c67 85 * (need to redefine into inherited object)
martin13 0:f4fdca2c4c67 86 */
martin13 0:f4fdca2c4c67 87 virtual void onExit() = 0;
martin13 0:f4fdca2c4c67 88
martin13 0:f4fdca2c4c67 89 /** This method call onExecute during thread execution
martin13 0:f4fdca2c4c67 90 * (method reserved for parallel state machine)
martin13 0:f4fdca2c4c67 91 */
martin13 0:f4fdca2c4c67 92 void _onParallelExecute();
martin13 0:f4fdca2c4c67 93
martin13 0:f4fdca2c4c67 94 /** Provide state outcome
martin13 0:f4fdca2c4c67 95 * (method reserved for parallel state machine)
martin13 0:f4fdca2c4c67 96 *
martin13 0:f4fdca2c4c67 97 * @return outcome The parallel state outcome
martin13 0:f4fdca2c4c67 98 */
martin13 0:f4fdca2c4c67 99 const char* getOutcome();
martin13 0:f4fdca2c4c67 100
martin13 0:f4fdca2c4c67 101 /** Method called if preempt requested by parent state machine
martin13 0:f4fdca2c4c67 102 */
martin13 0:f4fdca2c4c67 103 void preempt();
martin13 0:f4fdca2c4c67 104
martin13 0:f4fdca2c4c67 105 /** Provide preempt state
martin13 0:f4fdca2c4c67 106 * (Use this method in while(!isPreempted()){// do })
martin13 0:f4fdca2c4c67 107 *
martin13 0:f4fdca2c4c67 108 * @return bool The preempt state (true/false)
martin13 0:f4fdca2c4c67 109 */
martin13 0:f4fdca2c4c67 110 bool isPreempted();
martin13 0:f4fdca2c4c67 111
martin13 0:f4fdca2c4c67 112 private:
martin13 0:f4fdca2c4c67 113 const char* m_uuid; /* State uuid */
martin13 0:f4fdca2c4c67 114 StateType_t m_type; /* State type */
martin13 0:f4fdca2c4c67 115 bool m_preempt; /* Preempt state */
martin13 0:f4fdca2c4c67 116 const char* m_outcome; /* Parallel outcome state */
martin13 0:f4fdca2c4c67 117 };
martin13 0:f4fdca2c4c67 118
martin13 0:f4fdca2c4c67 119 #endif /* #ifndef __SM_STATE_H__*/