This library is designed to create and run state graphs. It supports hierarchical states and parallel states execution.
utt_herachical_sm.h@4:22b4462fcb26, 2021-02-02 (annotated)
- Committer:
- martin13
- Date:
- Tue Feb 02 20:47:45 2021 +0000
- Revision:
- 4:22b4462fcb26
- Parent:
- 0:f4fdca2c4c67
Added unittests
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
martin13 | 0:f4fdca2c4c67 | 1 | #ifndef __UTT_HERACHICAL_SM_H__ |
martin13 | 0:f4fdca2c4c67 | 2 | #define __UTT_HERACHICAL_SM_H__ |
martin13 | 0:f4fdca2c4c67 | 3 | |
martin13 | 0:f4fdca2c4c67 | 4 | |
martin13 | 0:f4fdca2c4c67 | 5 | #include "mbed.h" |
martin13 | 0:f4fdca2c4c67 | 6 | #include "StateMachine.h" |
martin13 | 0:f4fdca2c4c67 | 7 | |
martin13 | 0:f4fdca2c4c67 | 8 | class S1 : public State{ |
martin13 | 0:f4fdca2c4c67 | 9 | |
martin13 | 0:f4fdca2c4c67 | 10 | public: |
martin13 | 0:f4fdca2c4c67 | 11 | static OUTCOME CONTINUE; |
martin13 | 0:f4fdca2c4c67 | 12 | |
martin13 | 0:f4fdca2c4c67 | 13 | S1(const char* uuid, UserData* ud): |
martin13 | 0:f4fdca2c4c67 | 14 | State(uuid), |
martin13 | 0:f4fdca2c4c67 | 15 | m_count(0) |
martin13 | 0:f4fdca2c4c67 | 16 | { |
martin13 | 0:f4fdca2c4c67 | 17 | } |
martin13 | 0:f4fdca2c4c67 | 18 | |
martin13 | 0:f4fdca2c4c67 | 19 | virtual void onEntry(){} |
martin13 | 0:f4fdca2c4c67 | 20 | |
martin13 | 0:f4fdca2c4c67 | 21 | virtual const char* onExecute(){ |
martin13 | 0:f4fdca2c4c67 | 22 | m_count++; |
martin13 | 0:f4fdca2c4c67 | 23 | if (m_count > 20){ |
martin13 | 0:f4fdca2c4c67 | 24 | m_count = 0; |
martin13 | 0:f4fdca2c4c67 | 25 | return SUCCEDED; |
martin13 | 0:f4fdca2c4c67 | 26 | } |
martin13 | 0:f4fdca2c4c67 | 27 | |
martin13 | 0:f4fdca2c4c67 | 28 | return CONTINUE; |
martin13 | 0:f4fdca2c4c67 | 29 | } |
martin13 | 0:f4fdca2c4c67 | 30 | |
martin13 | 0:f4fdca2c4c67 | 31 | virtual void onExit(){} |
martin13 | 0:f4fdca2c4c67 | 32 | |
martin13 | 0:f4fdca2c4c67 | 33 | private: |
martin13 | 0:f4fdca2c4c67 | 34 | int m_count; |
martin13 | 0:f4fdca2c4c67 | 35 | }; |
martin13 | 0:f4fdca2c4c67 | 36 | |
martin13 | 0:f4fdca2c4c67 | 37 | OUTCOME S1::CONTINUE = "CONTINUE"; |
martin13 | 0:f4fdca2c4c67 | 38 | |
martin13 | 0:f4fdca2c4c67 | 39 | class S2 : public State{ |
martin13 | 0:f4fdca2c4c67 | 40 | |
martin13 | 0:f4fdca2c4c67 | 41 | public: |
martin13 | 0:f4fdca2c4c67 | 42 | |
martin13 | 0:f4fdca2c4c67 | 43 | S2(const char* uuid, UserData* ud): |
martin13 | 0:f4fdca2c4c67 | 44 | State(uuid) |
martin13 | 0:f4fdca2c4c67 | 45 | { |
martin13 | 0:f4fdca2c4c67 | 46 | } |
martin13 | 0:f4fdca2c4c67 | 47 | |
martin13 | 0:f4fdca2c4c67 | 48 | virtual void onEntry(){} |
martin13 | 0:f4fdca2c4c67 | 49 | |
martin13 | 0:f4fdca2c4c67 | 50 | virtual const char* onExecute(){ |
martin13 | 0:f4fdca2c4c67 | 51 | return SUCCEDED; |
martin13 | 0:f4fdca2c4c67 | 52 | } |
martin13 | 0:f4fdca2c4c67 | 53 | |
martin13 | 0:f4fdca2c4c67 | 54 | virtual void onExit(){} |
martin13 | 0:f4fdca2c4c67 | 55 | }; |
martin13 | 0:f4fdca2c4c67 | 56 | |
martin13 | 0:f4fdca2c4c67 | 57 | class SMSub : public StateMachine{ |
martin13 | 0:f4fdca2c4c67 | 58 | |
martin13 | 0:f4fdca2c4c67 | 59 | public: |
martin13 | 0:f4fdca2c4c67 | 60 | |
martin13 | 0:f4fdca2c4c67 | 61 | SMSub(const char* uuid, UserData* ud): |
martin13 | 0:f4fdca2c4c67 | 62 | StateMachine(uuid, ud) |
martin13 | 0:f4fdca2c4c67 | 63 | { |
martin13 | 0:f4fdca2c4c67 | 64 | |
martin13 | 0:f4fdca2c4c67 | 65 | S1 *s1 = this->Instance<S1>("S1"); |
martin13 | 0:f4fdca2c4c67 | 66 | S2 *s2 = this->Instance<S2>("S2"); |
martin13 | 0:f4fdca2c4c67 | 67 | |
martin13 | 0:f4fdca2c4c67 | 68 | this->connect(STATE(s1), S1::CONTINUE, STATE(s2)); |
martin13 | 0:f4fdca2c4c67 | 69 | this->connect(STATE(s1), S1::SUCCEDED, SUCCEDED); |
martin13 | 0:f4fdca2c4c67 | 70 | |
martin13 | 0:f4fdca2c4c67 | 71 | this->connect(STATE(s2), S2::SUCCEDED, STATE(s1)); |
martin13 | 0:f4fdca2c4c67 | 72 | |
martin13 | 0:f4fdca2c4c67 | 73 | this->setInitialState(STATE(s1)); |
martin13 | 0:f4fdca2c4c67 | 74 | } |
martin13 | 0:f4fdca2c4c67 | 75 | }; |
martin13 | 0:f4fdca2c4c67 | 76 | |
martin13 | 0:f4fdca2c4c67 | 77 | class SMRoot : public StateMachine{ |
martin13 | 0:f4fdca2c4c67 | 78 | |
martin13 | 0:f4fdca2c4c67 | 79 | public: |
martin13 | 0:f4fdca2c4c67 | 80 | SMRoot(): StateMachine("ROOT"){ |
martin13 | 0:f4fdca2c4c67 | 81 | |
martin13 | 0:f4fdca2c4c67 | 82 | S1* s1 = this->Instance<S1>("S1_R"); |
martin13 | 0:f4fdca2c4c67 | 83 | S2* s2 = this->Instance<S2>("S2_R"); |
martin13 | 0:f4fdca2c4c67 | 84 | SMSub* sub = this->Instance<SMSub>("SUB"); |
martin13 | 0:f4fdca2c4c67 | 85 | |
martin13 | 0:f4fdca2c4c67 | 86 | this->connect(STATE(s1), S1::CONTINUE, STATE(s2)); |
martin13 | 0:f4fdca2c4c67 | 87 | this->connect(STATE(s1), S1::SUCCEDED, STATE(sub)); |
martin13 | 0:f4fdca2c4c67 | 88 | |
martin13 | 0:f4fdca2c4c67 | 89 | this->connect(STATE(s2), S2::SUCCEDED, STATE(s1)); |
martin13 | 0:f4fdca2c4c67 | 90 | |
martin13 | 0:f4fdca2c4c67 | 91 | this->connect(STATE(sub), SMSub::SUCCEDED, SUCCEDED); |
martin13 | 0:f4fdca2c4c67 | 92 | |
martin13 | 0:f4fdca2c4c67 | 93 | this->setInitialState(STATE(s1)); |
martin13 | 0:f4fdca2c4c67 | 94 | } |
martin13 | 0:f4fdca2c4c67 | 95 | }; |
martin13 | 0:f4fdca2c4c67 | 96 | |
martin13 | 0:f4fdca2c4c67 | 97 | InterruptIn button(PC_13); |
martin13 | 0:f4fdca2c4c67 | 98 | DigitalOut led(LED1); |
martin13 | 0:f4fdca2c4c67 | 99 | |
martin13 | 0:f4fdca2c4c67 | 100 | void unit_test(){ |
martin13 | 0:f4fdca2c4c67 | 101 | |
martin13 | 0:f4fdca2c4c67 | 102 | SMRoot root; |
martin13 | 0:f4fdca2c4c67 | 103 | |
martin13 | 0:f4fdca2c4c67 | 104 | button.rise(&root, &StateMachine::preempt); |
martin13 | 0:f4fdca2c4c67 | 105 | |
martin13 | 0:f4fdca2c4c67 | 106 | printf("SM FINISHED WITH OUTCOME %s\n",root.execute()); |
martin13 | 0:f4fdca2c4c67 | 107 | } |
martin13 | 0:f4fdca2c4c67 | 108 | |
martin13 | 0:f4fdca2c4c67 | 109 | #endif /* #ifndef __UTT_HERACHICAL_SM_H__*/ |