Diff: StateMachineLib/State.h

Revision:

0:f4fdca2c4c67

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/StateMachineLib/State.h	Tue Oct 03 08:29:22 2017 +0000
@@ -0,0 +1,119 @@
+////////////////////////////////////////////////////////////////////////////////
+// Copyright Rottor SAS 2017
+// All rigths reserved.
+//
+// File Name : State.h
+// Authors : Martin Matignon
+//
+// If you find any bug or if you have any question please contact
+// Martin Matignon <martin.matignon@rottor.fr>
+// Nicolas Forestier <nicolas.forestier@rottor.fr>
+//
+////////////////////////////////////////////////////////////////////////////////
+
+#ifndef __SM_STATE_H__
+#define __SM_STATE_H__
+
+#include "mbed.h"
+#include "UserData.h"
+
+/** Global preempt state flag
+ */
+extern bool preempt_flag;
+
+/** A virtual class for executing a simple state into state machine
+ */
+class State {
+
+public:
+
+    /** Standard outcomes
+     */
+    static const char* SUCCEDED;
+    static const char* ABORTED;
+    static const char* PREEMPTED;
+
+    /** State type definition
+     */
+    enum StateType_t{
+        SIMPLE_STATE   = 1,
+        STATE_MACHINE            
+    };
+    
+    /** Create a State
+     * 
+     *  @param uuid The state uuid
+     *  @param type The state type, default type is SIMPLE_STATE
+     */
+    State(const char* uuid, StateType_t type = SIMPLE_STATE);
+    
+    /** Remap state uuid
+     * 
+     *  @param uuid The new state uuid
+     */
+    void setUUID(const char* uuid);
+    
+    /** Provide state uuid
+     * 
+     *  @return uuid The state uuid
+     */
+    const char* getUUID();
+    
+    /** Remap state type
+     * 
+     *  @param type The new state type
+     */
+    void setType(StateType_t type);
+    
+    /** Provide state type
+     * 
+     *  @return type The state type
+     */
+    StateType_t getType();
+    
+    /** Virtual method called by state machine before onExecute 
+     *  (need to redefine into inherited object)
+     */
+    virtual void onEntry() = 0;
+    
+    /** Virtual method called by state machine during execution 
+     *  (need to redefine into inherited object)
+     */
+    virtual const char* onExecute() = 0;
+    
+    /** Virtual method called by state machine after execution 
+     *  (need to redefine into inherited object)
+     */
+    virtual void onExit() = 0;
+    
+    /** This method call onExecute during thread execution
+     *  (method reserved for parallel state machine)
+     */
+    void _onParallelExecute();
+    
+    /** Provide state outcome 
+     *  (method reserved for parallel state machine)
+     *
+     * @return outcome The parallel state outcome
+     */
+    const char* getOutcome();
+    
+    /** Method called if preempt requested by parent state machine
+     */
+    void preempt();
+    
+    /** Provide preempt state
+     * (Use this method in while(!isPreempted()){// do })
+     *
+     * @return bool The preempt state (true/false)
+     */
+    bool isPreempted();
+    
+private:
+    const char*  m_uuid;    /* State uuid             */
+    StateType_t  m_type;    /* State type             */
+    bool         m_preempt; /* Preempt state          */
+    const char*  m_outcome; /* Parallel outcome state */
+};
+
+#endif /* #ifndef __SM_STATE_H__*/
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