This library is designed to create and run state graphs. It supports hierarchical states and the parallel execution
utt_parallel_states_2.h@1:0f11d9338d89, 2017-10-03 (annotated)
- Committer:
- martin13
- Date:
- Tue Oct 03 08:36:40 2017 +0000
- Revision:
- 1:0f11d9338d89
- Parent:
- 0:f4fdca2c4c67
added empty readme
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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martin13 | 0:f4fdca2c4c67 | 1 | #ifndef __UTT_PARALLEL_STATES_2_H__ |
martin13 | 0:f4fdca2c4c67 | 2 | #define __UTT_PARALLEL_STATES_2_H__ |
martin13 | 0:f4fdca2c4c67 | 3 | |
martin13 | 0:f4fdca2c4c67 | 4 | #include "ParallelStateMachine.h" |
martin13 | 0:f4fdca2c4c67 | 5 | |
martin13 | 0:f4fdca2c4c67 | 6 | class S1 : public State{ |
martin13 | 0:f4fdca2c4c67 | 7 | |
martin13 | 0:f4fdca2c4c67 | 8 | public: |
martin13 | 0:f4fdca2c4c67 | 9 | static OUTCOME CONTINUE; |
martin13 | 0:f4fdca2c4c67 | 10 | |
martin13 | 0:f4fdca2c4c67 | 11 | S1(const char* uuid, UserData* ud): |
martin13 | 0:f4fdca2c4c67 | 12 | State(uuid), |
martin13 | 0:f4fdca2c4c67 | 13 | m_count(0) |
martin13 | 0:f4fdca2c4c67 | 14 | { |
martin13 | 0:f4fdca2c4c67 | 15 | } |
martin13 | 0:f4fdca2c4c67 | 16 | |
martin13 | 0:f4fdca2c4c67 | 17 | virtual void onEntry(){} |
martin13 | 0:f4fdca2c4c67 | 18 | |
martin13 | 0:f4fdca2c4c67 | 19 | virtual const char* onExecute(){ |
martin13 | 0:f4fdca2c4c67 | 20 | m_count++; |
martin13 | 0:f4fdca2c4c67 | 21 | if (m_count > 20){ |
martin13 | 0:f4fdca2c4c67 | 22 | m_count = 0; |
martin13 | 0:f4fdca2c4c67 | 23 | return SUCCEDED; |
martin13 | 0:f4fdca2c4c67 | 24 | } |
martin13 | 0:f4fdca2c4c67 | 25 | |
martin13 | 0:f4fdca2c4c67 | 26 | return CONTINUE; |
martin13 | 0:f4fdca2c4c67 | 27 | } |
martin13 | 0:f4fdca2c4c67 | 28 | |
martin13 | 0:f4fdca2c4c67 | 29 | virtual void onExit(){} |
martin13 | 0:f4fdca2c4c67 | 30 | |
martin13 | 0:f4fdca2c4c67 | 31 | private: |
martin13 | 0:f4fdca2c4c67 | 32 | int m_count; |
martin13 | 0:f4fdca2c4c67 | 33 | }; |
martin13 | 0:f4fdca2c4c67 | 34 | |
martin13 | 0:f4fdca2c4c67 | 35 | OUTCOME S1::CONTINUE = "CONTINUE"; |
martin13 | 0:f4fdca2c4c67 | 36 | |
martin13 | 0:f4fdca2c4c67 | 37 | class S2 : public State{ |
martin13 | 0:f4fdca2c4c67 | 38 | |
martin13 | 0:f4fdca2c4c67 | 39 | public: |
martin13 | 0:f4fdca2c4c67 | 40 | |
martin13 | 0:f4fdca2c4c67 | 41 | S2(const char* uuid, UserData* ud): |
martin13 | 0:f4fdca2c4c67 | 42 | State(uuid) |
martin13 | 0:f4fdca2c4c67 | 43 | { |
martin13 | 0:f4fdca2c4c67 | 44 | } |
martin13 | 0:f4fdca2c4c67 | 45 | |
martin13 | 0:f4fdca2c4c67 | 46 | virtual void onEntry(){} |
martin13 | 0:f4fdca2c4c67 | 47 | |
martin13 | 0:f4fdca2c4c67 | 48 | virtual const char* onExecute(){ |
martin13 | 0:f4fdca2c4c67 | 49 | return SUCCEDED; |
martin13 | 0:f4fdca2c4c67 | 50 | } |
martin13 | 0:f4fdca2c4c67 | 51 | |
martin13 | 0:f4fdca2c4c67 | 52 | virtual void onExit(){} |
martin13 | 0:f4fdca2c4c67 | 53 | }; |
martin13 | 0:f4fdca2c4c67 | 54 | |
martin13 | 0:f4fdca2c4c67 | 55 | class FooBar : public StateMachine{ |
martin13 | 0:f4fdca2c4c67 | 56 | |
martin13 | 0:f4fdca2c4c67 | 57 | public: |
martin13 | 0:f4fdca2c4c67 | 58 | |
martin13 | 0:f4fdca2c4c67 | 59 | FooBar(const char* uuid, UserData* ud): |
martin13 | 0:f4fdca2c4c67 | 60 | StateMachine(uuid, ud) |
martin13 | 0:f4fdca2c4c67 | 61 | { |
martin13 | 0:f4fdca2c4c67 | 62 | |
martin13 | 0:f4fdca2c4c67 | 63 | S1 *s1 = this->Instance<S1>("S1"); |
martin13 | 0:f4fdca2c4c67 | 64 | S2 *s2 = this->Instance<S2>("S2"); |
martin13 | 0:f4fdca2c4c67 | 65 | |
martin13 | 0:f4fdca2c4c67 | 66 | this->connect(STATE(s1), S1::CONTINUE, STATE(s2)); |
martin13 | 0:f4fdca2c4c67 | 67 | this->connect(STATE(s1), S1::SUCCEDED, "DONE"); |
martin13 | 0:f4fdca2c4c67 | 68 | |
martin13 | 0:f4fdca2c4c67 | 69 | this->connect(STATE(s2), S2::SUCCEDED, STATE(s1)); |
martin13 | 0:f4fdca2c4c67 | 70 | |
martin13 | 0:f4fdca2c4c67 | 71 | this->setInitialState(STATE(s1)); |
martin13 | 0:f4fdca2c4c67 | 72 | } |
martin13 | 0:f4fdca2c4c67 | 73 | }; |
martin13 | 0:f4fdca2c4c67 | 74 | |
martin13 | 0:f4fdca2c4c67 | 75 | class SMRoot : public ParallelStateMachine{ |
martin13 | 0:f4fdca2c4c67 | 76 | |
martin13 | 0:f4fdca2c4c67 | 77 | public: |
martin13 | 0:f4fdca2c4c67 | 78 | |
martin13 | 0:f4fdca2c4c67 | 79 | SMRoot(const char* uuid, UserData* ud): |
martin13 | 0:f4fdca2c4c67 | 80 | ParallelStateMachine(uuid, ud){ |
martin13 | 0:f4fdca2c4c67 | 81 | |
martin13 | 0:f4fdca2c4c67 | 82 | FooBar *foobar1 = Instance<FooBar>("FOO_BAR_1"); |
martin13 | 0:f4fdca2c4c67 | 83 | FooBar *foobar2 = Instance<FooBar>("FOO_BAR_2"); |
martin13 | 0:f4fdca2c4c67 | 84 | |
martin13 | 0:f4fdca2c4c67 | 85 | this->attachOutcomesResolver(this, &SMRoot::resolveOutcomes); |
martin13 | 0:f4fdca2c4c67 | 86 | } |
martin13 | 0:f4fdca2c4c67 | 87 | |
martin13 | 0:f4fdca2c4c67 | 88 | const char* resolveOutcomes(const char **outcomes, int number){ |
martin13 | 0:f4fdca2c4c67 | 89 | |
martin13 | 0:f4fdca2c4c67 | 90 | |
martin13 | 0:f4fdca2c4c67 | 91 | if(strcmp(outcomes[0],"DONE")==0 && strcmp(outcomes[1], "DONE")==0){ |
martin13 | 0:f4fdca2c4c67 | 92 | return "DONE"; |
martin13 | 0:f4fdca2c4c67 | 93 | } |
martin13 | 0:f4fdca2c4c67 | 94 | |
martin13 | 0:f4fdca2c4c67 | 95 | return "FAIL"; |
martin13 | 0:f4fdca2c4c67 | 96 | } |
martin13 | 0:f4fdca2c4c67 | 97 | }; |
martin13 | 0:f4fdca2c4c67 | 98 | |
martin13 | 0:f4fdca2c4c67 | 99 | InterruptIn button(PC_13); |
martin13 | 0:f4fdca2c4c67 | 100 | DigitalOut led(LED1); |
martin13 | 0:f4fdca2c4c67 | 101 | |
martin13 | 0:f4fdca2c4c67 | 102 | |
martin13 | 0:f4fdca2c4c67 | 103 | |
martin13 | 0:f4fdca2c4c67 | 104 | void unit_test(){ |
martin13 | 0:f4fdca2c4c67 | 105 | |
martin13 | 0:f4fdca2c4c67 | 106 | SMRoot root("ROOT", NULL); |
martin13 | 0:f4fdca2c4c67 | 107 | |
martin13 | 0:f4fdca2c4c67 | 108 | button.rise(&root, &StateMachine::preempt); |
martin13 | 0:f4fdca2c4c67 | 109 | |
martin13 | 0:f4fdca2c4c67 | 110 | root.printGraph(); |
martin13 | 0:f4fdca2c4c67 | 111 | |
martin13 | 0:f4fdca2c4c67 | 112 | printf("%s RETURN %s\n", root.getUUID(), root.execute()); |
martin13 | 0:f4fdca2c4c67 | 113 | |
martin13 | 0:f4fdca2c4c67 | 114 | } |
martin13 | 0:f4fdca2c4c67 | 115 | |
martin13 | 0:f4fdca2c4c67 | 116 | #endif /* #ifndef __UTT_PARALLEL_STATES_2_H__*/ |