This library is designed to create and run state graphs. It supports hierarchical states and the parallel execution
utt_parallel_states_ud.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?
User | Revision | Line number | New contents of line |
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martin13 | 0:f4fdca2c4c67 | 1 | #ifndef __UTT_PARALLEL_STATES_UD_H__ |
martin13 | 0:f4fdca2c4c67 | 2 | #define __UTT_PARALLEL_STATES_UD_H__ |
martin13 | 0:f4fdca2c4c67 | 3 | |
martin13 | 0:f4fdca2c4c67 | 4 | #include "ParallelStateMachine.h" |
martin13 | 0:f4fdca2c4c67 | 5 | |
martin13 | 0:f4fdca2c4c67 | 6 | class Foo : public State{ |
martin13 | 0:f4fdca2c4c67 | 7 | |
martin13 | 0:f4fdca2c4c67 | 8 | public: |
martin13 | 0:f4fdca2c4c67 | 9 | |
martin13 | 0:f4fdca2c4c67 | 10 | Foo(const char* uuid, UserData *ud): |
martin13 | 0:f4fdca2c4c67 | 11 | State(uuid), |
martin13 | 0:f4fdca2c4c67 | 12 | _count(0) |
martin13 | 0:f4fdca2c4c67 | 13 | { |
martin13 | 0:f4fdca2c4c67 | 14 | _data = ud->get<DataInt32*>("COUNT"); |
martin13 | 0:f4fdca2c4c67 | 15 | } |
martin13 | 0:f4fdca2c4c67 | 16 | |
martin13 | 0:f4fdca2c4c67 | 17 | virtual void onEntry(){ |
martin13 | 0:f4fdca2c4c67 | 18 | _count = _data->getData(); |
martin13 | 0:f4fdca2c4c67 | 19 | } |
martin13 | 0:f4fdca2c4c67 | 20 | |
martin13 | 0:f4fdca2c4c67 | 21 | virtual const char* onExecute(){ |
martin13 | 0:f4fdca2c4c67 | 22 | _count++; |
martin13 | 0:f4fdca2c4c67 | 23 | return "BAR"; |
martin13 | 0:f4fdca2c4c67 | 24 | } |
martin13 | 0:f4fdca2c4c67 | 25 | |
martin13 | 0:f4fdca2c4c67 | 26 | virtual void onExit(){ |
martin13 | 0:f4fdca2c4c67 | 27 | _data->setData(_count); |
martin13 | 0:f4fdca2c4c67 | 28 | } |
martin13 | 0:f4fdca2c4c67 | 29 | |
martin13 | 0:f4fdca2c4c67 | 30 | private: |
martin13 | 0:f4fdca2c4c67 | 31 | int _count; |
martin13 | 0:f4fdca2c4c67 | 32 | DataInt32 *_data; |
martin13 | 0:f4fdca2c4c67 | 33 | }; |
martin13 | 0:f4fdca2c4c67 | 34 | |
martin13 | 0:f4fdca2c4c67 | 35 | class Bar : public State{ |
martin13 | 0:f4fdca2c4c67 | 36 | |
martin13 | 0:f4fdca2c4c67 | 37 | public: |
martin13 | 0:f4fdca2c4c67 | 38 | |
martin13 | 0:f4fdca2c4c67 | 39 | Bar(const char* uuid, UserData *ud): |
martin13 | 0:f4fdca2c4c67 | 40 | State(uuid) |
martin13 | 0:f4fdca2c4c67 | 41 | { |
martin13 | 0:f4fdca2c4c67 | 42 | _data = ud->get<DataInt32*>("COUNT"); |
martin13 | 0:f4fdca2c4c67 | 43 | } |
martin13 | 0:f4fdca2c4c67 | 44 | |
martin13 | 0:f4fdca2c4c67 | 45 | virtual void onEntry(){ |
martin13 | 0:f4fdca2c4c67 | 46 | } |
martin13 | 0:f4fdca2c4c67 | 47 | |
martin13 | 0:f4fdca2c4c67 | 48 | virtual const char* onExecute(){ |
martin13 | 0:f4fdca2c4c67 | 49 | |
martin13 | 0:f4fdca2c4c67 | 50 | printf("%s %i \n", getUUID(), _data->getData()); |
martin13 | 0:f4fdca2c4c67 | 51 | |
martin13 | 0:f4fdca2c4c67 | 52 | if (_data->getData() >= 20){ |
martin13 | 0:f4fdca2c4c67 | 53 | return SUCCEDED; |
martin13 | 0:f4fdca2c4c67 | 54 | } |
martin13 | 0:f4fdca2c4c67 | 55 | |
martin13 | 0:f4fdca2c4c67 | 56 | return "FOO"; |
martin13 | 0:f4fdca2c4c67 | 57 | } |
martin13 | 0:f4fdca2c4c67 | 58 | |
martin13 | 0:f4fdca2c4c67 | 59 | virtual void onExit(){ |
martin13 | 0:f4fdca2c4c67 | 60 | } |
martin13 | 0:f4fdca2c4c67 | 61 | |
martin13 | 0:f4fdca2c4c67 | 62 | private: |
martin13 | 0:f4fdca2c4c67 | 63 | DataInt32 *_data; |
martin13 | 0:f4fdca2c4c67 | 64 | }; |
martin13 | 0:f4fdca2c4c67 | 65 | |
martin13 | 0:f4fdca2c4c67 | 66 | |
martin13 | 0:f4fdca2c4c67 | 67 | class FooBar : public StateMachine{ |
martin13 | 0:f4fdca2c4c67 | 68 | |
martin13 | 0:f4fdca2c4c67 | 69 | public: |
martin13 | 0:f4fdca2c4c67 | 70 | |
martin13 | 0:f4fdca2c4c67 | 71 | FooBar(const char* uuid, UserData *ud): |
martin13 | 0:f4fdca2c4c67 | 72 | StateMachine(uuid, ud), |
martin13 | 0:f4fdca2c4c67 | 73 | foo(NULL), bar(NULL) |
martin13 | 0:f4fdca2c4c67 | 74 | { |
martin13 | 0:f4fdca2c4c67 | 75 | Foo *foo = this->Instance<Foo>("FOO"); |
martin13 | 0:f4fdca2c4c67 | 76 | Bar *bar = this->Instance<Bar>("BAR"); |
martin13 | 0:f4fdca2c4c67 | 77 | |
martin13 | 0:f4fdca2c4c67 | 78 | this->connect(STATE(foo), "BAR", STATE(bar)); |
martin13 | 0:f4fdca2c4c67 | 79 | |
martin13 | 0:f4fdca2c4c67 | 80 | this->connect(STATE(bar), "FOO", STATE(foo)); |
martin13 | 0:f4fdca2c4c67 | 81 | this->connect(STATE(bar), "SUCCEDED", "SUCCEDED"); |
martin13 | 0:f4fdca2c4c67 | 82 | |
martin13 | 0:f4fdca2c4c67 | 83 | this->setInitialState(STATE(foo)); |
martin13 | 0:f4fdca2c4c67 | 84 | } |
martin13 | 0:f4fdca2c4c67 | 85 | |
martin13 | 0:f4fdca2c4c67 | 86 | private: |
martin13 | 0:f4fdca2c4c67 | 87 | Foo *foo; |
martin13 | 0:f4fdca2c4c67 | 88 | Bar *bar; |
martin13 | 0:f4fdca2c4c67 | 89 | }; |
martin13 | 0:f4fdca2c4c67 | 90 | |
martin13 | 0:f4fdca2c4c67 | 91 | class ParallelFooBar : public ParallelStateMachine{ |
martin13 | 0:f4fdca2c4c67 | 92 | |
martin13 | 0:f4fdca2c4c67 | 93 | public: |
martin13 | 0:f4fdca2c4c67 | 94 | |
martin13 | 0:f4fdca2c4c67 | 95 | ParallelFooBar(const char* uuid, UserData* ud): |
martin13 | 0:f4fdca2c4c67 | 96 | ParallelStateMachine(uuid, ud){ |
martin13 | 0:f4fdca2c4c67 | 97 | |
martin13 | 0:f4fdca2c4c67 | 98 | _data = new DataInt32(0); |
martin13 | 0:f4fdca2c4c67 | 99 | getUserData()->put("COUNT", _data); |
martin13 | 0:f4fdca2c4c67 | 100 | |
martin13 | 0:f4fdca2c4c67 | 101 | FooBar *foobar1 = Instance<FooBar>("FOO_BAR_1"); |
martin13 | 0:f4fdca2c4c67 | 102 | FooBar *foobar2 = Instance<FooBar>("FOO_BAR_2"); |
martin13 | 0:f4fdca2c4c67 | 103 | |
martin13 | 0:f4fdca2c4c67 | 104 | this->attachOutcomesResolver(this, &ParallelFooBar::resolveOutcomes); |
martin13 | 0:f4fdca2c4c67 | 105 | } |
martin13 | 0:f4fdca2c4c67 | 106 | |
martin13 | 0:f4fdca2c4c67 | 107 | |
martin13 | 0:f4fdca2c4c67 | 108 | virtual void onEntry(){ |
martin13 | 0:f4fdca2c4c67 | 109 | _data->setData(0); |
martin13 | 0:f4fdca2c4c67 | 110 | } |
martin13 | 0:f4fdca2c4c67 | 111 | |
martin13 | 0:f4fdca2c4c67 | 112 | const char* resolveOutcomes(const char **outcomes, int nb_outcomes){ |
martin13 | 0:f4fdca2c4c67 | 113 | |
martin13 | 0:f4fdca2c4c67 | 114 | for( int i=0; i < nb_outcomes; i++){ |
martin13 | 0:f4fdca2c4c67 | 115 | |
martin13 | 0:f4fdca2c4c67 | 116 | if(strcmp(outcomes[i], "SUCCEDED") != 0){ |
martin13 | 0:f4fdca2c4c67 | 117 | return "ABORTED"; |
martin13 | 0:f4fdca2c4c67 | 118 | } |
martin13 | 0:f4fdca2c4c67 | 119 | } |
martin13 | 0:f4fdca2c4c67 | 120 | |
martin13 | 0:f4fdca2c4c67 | 121 | return "SUCCEDED"; |
martin13 | 0:f4fdca2c4c67 | 122 | } |
martin13 | 0:f4fdca2c4c67 | 123 | |
martin13 | 0:f4fdca2c4c67 | 124 | private: |
martin13 | 0:f4fdca2c4c67 | 125 | DataInt32* _data; |
martin13 | 0:f4fdca2c4c67 | 126 | }; |
martin13 | 0:f4fdca2c4c67 | 127 | |
martin13 | 0:f4fdca2c4c67 | 128 | InterruptIn button(PC_13); |
martin13 | 0:f4fdca2c4c67 | 129 | DigitalOut led(LED1); |
martin13 | 0:f4fdca2c4c67 | 130 | |
martin13 | 0:f4fdca2c4c67 | 131 | void unit_test(){ |
martin13 | 0:f4fdca2c4c67 | 132 | |
martin13 | 0:f4fdca2c4c67 | 133 | StateMachine root("ROOT"); |
martin13 | 0:f4fdca2c4c67 | 134 | |
martin13 | 0:f4fdca2c4c67 | 135 | button.rise(&root, &StateMachine::preempt); |
martin13 | 0:f4fdca2c4c67 | 136 | |
martin13 | 0:f4fdca2c4c67 | 137 | ParallelFooBar* pfb = root.Instance<ParallelFooBar>("PARALLEL_FOOBAR"); |
martin13 | 0:f4fdca2c4c67 | 138 | |
martin13 | 0:f4fdca2c4c67 | 139 | root.connect(STATE(pfb), "SUCCEDED", STATE(pfb)); |
martin13 | 0:f4fdca2c4c67 | 140 | |
martin13 | 0:f4fdca2c4c67 | 141 | root.setInitialState(STATE(pfb)); |
martin13 | 0:f4fdca2c4c67 | 142 | |
martin13 | 0:f4fdca2c4c67 | 143 | root.printGraph(); |
martin13 | 0:f4fdca2c4c67 | 144 | |
martin13 | 0:f4fdca2c4c67 | 145 | printf("PARALLEL SM RETURN %s\n",root.execute()); |
martin13 | 0:f4fdca2c4c67 | 146 | |
martin13 | 0:f4fdca2c4c67 | 147 | } |
martin13 | 0:f4fdca2c4c67 | 148 | |
martin13 | 0:f4fdca2c4c67 | 149 | #endif /* #ifndef __UTT_PARALLEL_STATES_UD_H__*/ |