Diff: utt_herachical_sm.h

Revision:

0:f4fdca2c4c67

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/utt_herachical_sm.h	Tue Oct 03 08:29:22 2017 +0000
@@ -0,0 +1,109 @@
+#ifndef __UTT_HERACHICAL_SM_H__
+#define __UTT_HERACHICAL_SM_H__
+
+
+#include "mbed.h"
+#include "StateMachine.h"
+
+class S1 : public State{
+
+public:
+    static OUTCOME CONTINUE;
+
+    S1(const char* uuid, UserData* ud):
+      State(uuid),
+      m_count(0)
+    {
+    }
+    
+    virtual void onEntry(){}
+    
+    virtual const char* onExecute(){
+        m_count++;
+        if (m_count > 20){
+            m_count = 0;
+            return SUCCEDED; 
+        }
+        
+        return CONTINUE;    
+    }
+    
+    virtual void onExit(){}
+    
+private:
+    int m_count;
+};
+
+OUTCOME S1::CONTINUE = "CONTINUE";
+
+class S2 : public State{
+
+public:
+
+    S2(const char* uuid, UserData* ud):
+      State(uuid)
+    {
+    }
+    
+    virtual void onEntry(){}
+    
+    virtual const char* onExecute(){
+        return SUCCEDED;    
+    }
+    
+    virtual void onExit(){}
+};
+
+class SMSub : public StateMachine{
+
+public:
+
+    SMSub(const char* uuid, UserData* ud):
+      StateMachine(uuid, ud)
+    {   
+    
+        S1 *s1 = this->Instance<S1>("S1");
+        S2 *s2 = this->Instance<S2>("S2");  
+    
+        this->connect(STATE(s1), S1::CONTINUE, STATE(s2));
+        this->connect(STATE(s1), S1::SUCCEDED, SUCCEDED);
+        
+        this->connect(STATE(s2), S2::SUCCEDED, STATE(s1));
+        
+        this->setInitialState(STATE(s1));
+    }
+};
+
+class SMRoot : public StateMachine{
+
+public:
+    SMRoot(): StateMachine("ROOT"){
+        
+        S1* s1     = this->Instance<S1>("S1_R");
+        S2* s2     = this->Instance<S2>("S2_R");
+        SMSub* sub = this->Instance<SMSub>("SUB");
+    
+        this->connect(STATE(s1), S1::CONTINUE, STATE(s2));
+        this->connect(STATE(s1), S1::SUCCEDED, STATE(sub));
+        
+        this->connect(STATE(s2), S2::SUCCEDED, STATE(s1));
+        
+        this->connect(STATE(sub), SMSub::SUCCEDED, SUCCEDED);
+        
+        this->setInitialState(STATE(s1));
+    }
+};
+
+InterruptIn button(PC_13);
+DigitalOut led(LED1);
+
+void unit_test(){
+    
+    SMRoot root;
+    
+    button.rise(&root, &StateMachine::preempt);
+    
+    printf("SM FINISHED WITH OUTCOME %s\n",root.execute());
+}
+
+#endif /* #ifndef __UTT_HERACHICAL_SM_H__*/
\ No newline at end of file