FiniteStateMachine - Table driven Finite State Machine library based o…

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Petras Saduikis / Mbed 2 deprecated FiniteStateMachine

Table driven Finite State Machine library based on the Harel state machine, supporting actions on transitions, state entry and state exit. Comes with example illustrating use with interrupts and timers. 03/01/2010 - fixed potential memory leak in DebugTrace.

Dependencies: mbed

FSM.h@0:918566a376fb, 2010-01-03 (annotated)

Committer:: snatch59
Date:: Sun Jan 03 11:56:03 2010 +0000
Revision:: 0:918566a376fb

Who changed what in which revision?

User	Revision	Line number	New contents of line
snatch59	0:918566a376fb	1	/*
snatch59	0:918566a376fb	2	* FiniteStateMachine. Table driven Finite State Machine library
snatch59	0:918566a376fb	3	* based on theHarel state machine, supporting actions on transitions, state
snatch59	0:918566a376fb	4	* entry and state exit.
snatch59	0:918566a376fb	5	*
snatch59	0:918566a376fb	6	* Copyright (C) <2009> Petras Saduikis <petras@petras.co.uk>
snatch59	0:918566a376fb	7	*
snatch59	0:918566a376fb	8	* This file is part of FiniteStateMachine.
snatch59	0:918566a376fb	9	*
snatch59	0:918566a376fb	10	* FiniteStateMachine is free software: you can redistribute it and/or modify
snatch59	0:918566a376fb	11	* it under the terms of the GNU General Public License as published by
snatch59	0:918566a376fb	12	* the Free Software Foundation, either version 3 of the License, or
snatch59	0:918566a376fb	13	* (at your option) any later version.
snatch59	0:918566a376fb	14	*
snatch59	0:918566a376fb	15	* FiniteStateMachine is distributed in the hope that it will be useful,
snatch59	0:918566a376fb	16	* but WITHOUT ANY WARRANTY; without even the implied warranty of
snatch59	0:918566a376fb	17	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
snatch59	0:918566a376fb	18	* GNU General Public License for more details.
snatch59	0:918566a376fb	19	*
snatch59	0:918566a376fb	20	* You should have received a copy of the GNU General Public License
snatch59	0:918566a376fb	21	* along with DebugTrace. If not, see <http://www.gnu.org/licenses/>.
snatch59	0:918566a376fb	22	*/
snatch59	0:918566a376fb	23
snatch59	0:918566a376fb	24	#ifndef SNATCH59_FSM_H
snatch59	0:918566a376fb	25	#define SNATCH59_FSM_H
snatch59	0:918566a376fb	26
snatch59	0:918566a376fb	27	#include <mbed.h>
snatch59	0:918566a376fb	28	#include "FSMDefs.h"
snatch59	0:918566a376fb	29
snatch59	0:918566a376fb	30	STATE_TEMPLATE_ class State;
snatch59	0:918566a376fb	31
snatch59	0:918566a376fb	32	TRANS_DEF_TEMPLATE_
snatch59	0:918566a376fb	33	struct TransitionDefinition
snatch59	0:918566a376fb	34	{
snatch59	0:918566a376fb	35	const char* ownerState;
snatch59	0:918566a376fb	36	int eventId;
snatch59	0:918566a376fb	37	StateBehaviour mode;
snatch59	0:918566a376fb	38	ActionPtrType action;
snatch59	0:918566a376fb	39	const char* newState;
snatch59	0:918566a376fb	40	};
snatch59	0:918566a376fb	41
snatch59	0:918566a376fb	42	TRANS_DEF_TEMPLATE_
snatch59	0:918566a376fb	43	class StateDefinition
snatch59	0:918566a376fb	44	{
snatch59	0:918566a376fb	45	public:
snatch59	0:918566a376fb	46	const char* stateName;
snatch59	0:918566a376fb	47	ActionPtrType stateEntryAction;
snatch59	0:918566a376fb	48	ActionPtrType stateExitAction;
snatch59	0:918566a376fb	49	};
snatch59	0:918566a376fb	50
snatch59	0:918566a376fb	51	#include "State.h"
snatch59	0:918566a376fb	52
snatch59	0:918566a376fb	53	FSM_TEMPLATE_
snatch59	0:918566a376fb	54	class FiniteStateMachine
snatch59	0:918566a376fb	55	{
snatch59	0:918566a376fb	56	public:
snatch59	0:918566a376fb	57	FiniteStateMachine();
snatch59	0:918566a376fb	58	~FiniteStateMachine();
snatch59	0:918566a376fb	59
snatch59	0:918566a376fb	60	void initialize(StateObjectType* owner,
snatch59	0:918566a376fb	61	const STATE_DEFINITION_* states, const int total_states,
snatch59	0:918566a376fb	62	const TRANSITION_DEFINITION_* transitions, const int total_transitions,
snatch59	0:918566a376fb	63	const char* this_state);
snatch59	0:918566a376fb	64	void traverse(const int new_event);
snatch59	0:918566a376fb	65	void forceToState(const char* stat_name);
snatch59	0:918566a376fb	66	bool isState(const char* this_state) const;
snatch59	0:918566a376fb	67	const char* getCurrentStateName() const;
snatch59	0:918566a376fb	68
snatch59	0:918566a376fb	69	private:
snatch59	0:918566a376fb	70	void addStates(const STATE_DEFINITION_* states, const int total_states,
snatch59	0:918566a376fb	71	const TRANSITION_DEFINITION_* &transitions, const int total_transitions);
snatch59	0:918566a376fb	72	void executeTraversal(const int event);
snatch59	0:918566a376fb	73
snatch59	0:918566a376fb	74	// Data Members
snatch59	0:918566a376fb	75	STATE_* currentState;
snatch59	0:918566a376fb	76	int totalStates;
snatch59	0:918566a376fb	77	StateObjectType* itsStateObject;
snatch59	0:918566a376fb	78	STATE_* itsStates[maxStates];
snatch59	0:918566a376fb	79	};
snatch59	0:918566a376fb	80
snatch59	0:918566a376fb	81	FSM_TEMPLATE_
snatch59	0:918566a376fb	82	inline const char* FINITE_STATE_MACHINE_::getCurrentStateName() const
snatch59	0:918566a376fb	83	{
snatch59	0:918566a376fb	84	return (currentState->getName());
snatch59	0:918566a376fb	85	}
snatch59	0:918566a376fb	86
snatch59	0:918566a376fb	87	FSM_TEMPLATE_
snatch59	0:918566a376fb	88	inline bool FINITE_STATE_MACHINE_::isState(const char* this_state) const
snatch59	0:918566a376fb	89	{
snatch59	0:918566a376fb	90	if (0 == strcmp(currentState->getName(), this_state)) return true;
snatch59	0:918566a376fb	91
snatch59	0:918566a376fb	92	return false;
snatch59	0:918566a376fb	93	}
snatch59	0:918566a376fb	94
snatch59	0:918566a376fb	95	FSM_TEMPLATE_
snatch59	0:918566a376fb	96	FINITE_STATE_MACHINE_::FiniteStateMachine() : totalStates(0), currentState(NULL)
snatch59	0:918566a376fb	97	{
snatch59	0:918566a376fb	98	}
snatch59	0:918566a376fb	99
snatch59	0:918566a376fb	100	FSM_TEMPLATE_
snatch59	0:918566a376fb	101	FINITE_STATE_MACHINE_::~FiniteStateMachine()
snatch59	0:918566a376fb	102	{
snatch59	0:918566a376fb	103	if (itsStates != NULL)
snatch59	0:918566a376fb	104	{
snatch59	0:918566a376fb	105	// delete all its States
snatch59	0:918566a376fb	106	for (int i = 0; i < totalStates; i++)
snatch59	0:918566a376fb	107	{
snatch59	0:918566a376fb	108	delete itsStates[i];
snatch59	0:918566a376fb	109	}
snatch59	0:918566a376fb	110	}
snatch59	0:918566a376fb	111	}
snatch59	0:918566a376fb	112
snatch59	0:918566a376fb	113	FSM_TEMPLATE_
snatch59	0:918566a376fb	114	void FINITE_STATE_MACHINE_::initialize(StateObjectType* owner,
snatch59	0:918566a376fb	115	const STATE_DEFINITION_* states, const int total_states,
snatch59	0:918566a376fb	116	const TRANSITION_DEFINITION_* transitions, const int total_transitions,
snatch59	0:918566a376fb	117	const char* this_state)
snatch59	0:918566a376fb	118	{
snatch59	0:918566a376fb	119	itsStateObject = owner;
snatch59	0:918566a376fb	120
snatch59	0:918566a376fb	121	for (int k = 0; k < total_states; k++)
snatch59	0:918566a376fb	122	{
snatch59	0:918566a376fb	123	addStates(states, total_states, transitions, total_transitions);
snatch59	0:918566a376fb	124	}
snatch59	0:918566a376fb	125
snatch59	0:918566a376fb	126	forceToState(this_state);
snatch59	0:918566a376fb	127	}
snatch59	0:918566a376fb	128
snatch59	0:918566a376fb	129	FSM_TEMPLATE_
snatch59	0:918566a376fb	130	void FINITE_STATE_MACHINE_::traverse(const int new_event)
snatch59	0:918566a376fb	131	{
snatch59	0:918566a376fb	132	if (0 == totalStates)
snatch59	0:918566a376fb	133	{
snatch59	0:918566a376fb	134	return;
snatch59	0:918566a376fb	135	}
snatch59	0:918566a376fb	136
snatch59	0:918566a376fb	137	STATE_TRANSITION_* associated_transition = NULL;
snatch59	0:918566a376fb	138	STATE_* new_state = currentState->match(new_event, associated_transition);
snatch59	0:918566a376fb	139
snatch59	0:918566a376fb	140	if (new_state != NULL && associated_transition != NULL)
snatch59	0:918566a376fb	141	{
snatch59	0:918566a376fb	142	StateBehaviour behaviour = associated_transition->getStateBehaviour();
snatch59	0:918566a376fb	143
snatch59	0:918566a376fb	144	if (actions == behaviour)
snatch59	0:918566a376fb	145	{
snatch59	0:918566a376fb	146	currentState->doExitAction(itsStateObject);
snatch59	0:918566a376fb	147	}
snatch59	0:918566a376fb	148
snatch59	0:918566a376fb	149	currentState = new_state;
snatch59	0:918566a376fb	150
snatch59	0:918566a376fb	151	associated_transition->doAction(itsStateObject);
snatch59	0:918566a376fb	152
snatch59	0:918566a376fb	153	if (actions == behaviour)
snatch59	0:918566a376fb	154	{
snatch59	0:918566a376fb	155	new_state->doEntryAction(itsStateObject);
snatch59	0:918566a376fb	156	}
snatch59	0:918566a376fb	157	}
snatch59	0:918566a376fb	158	}
snatch59	0:918566a376fb	159
snatch59	0:918566a376fb	160	FSM_TEMPLATE_
snatch59	0:918566a376fb	161	void FINITE_STATE_MACHINE_::forceToState(const char* state_name)
snatch59	0:918566a376fb	162	{
snatch59	0:918566a376fb	163	for (int i = 0; i < totalStates; i++)
snatch59	0:918566a376fb	164	{
snatch59	0:918566a376fb	165	if (0 == strcmp(itsStates[i]->getName(), state_name))
snatch59	0:918566a376fb	166	{
snatch59	0:918566a376fb	167	currentState = itsStates[i];
snatch59	0:918566a376fb	168	break;
snatch59	0:918566a376fb	169	}
snatch59	0:918566a376fb	170	}
snatch59	0:918566a376fb	171	}
snatch59	0:918566a376fb	172
snatch59	0:918566a376fb	173	FSM_TEMPLATE_
snatch59	0:918566a376fb	174	void FINITE_STATE_MACHINE_::addStates(const STATE_DEFINITION_* states, const int total_states,
snatch59	0:918566a376fb	175	const TRANSITION_DEFINITION_* &transitions, const int total_transitions)
snatch59	0:918566a376fb	176	{
snatch59	0:918566a376fb	177	for (int i = 0; i < total_states; i++)
snatch59	0:918566a376fb	178	{
snatch59	0:918566a376fb	179
snatch59	0:918566a376fb	180	itsStates[i] = new STATE_(states[i].stateName,
snatch59	0:918566a376fb	181	states[i].stateEntryAction,
snatch59	0:918566a376fb	182	states[i].stateExitAction);
snatch59	0:918566a376fb	183	}
snatch59	0:918566a376fb	184	totalStates = total_states;
snatch59	0:918566a376fb	185
snatch59	0:918566a376fb	186	for (int i = 0; i < total_states; i++)
snatch59	0:918566a376fb	187	{
snatch59	0:918566a376fb	188	itsStates[i]->addTransitions(transitions, total_transitions, itsStates, total_states);
snatch59	0:918566a376fb	189	}
snatch59	0:918566a376fb	190	}
snatch59	0:918566a376fb	191
snatch59	0:918566a376fb	192	#endif

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	03 Jan 2010
Imports:	88
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	4

FSM.h@0:918566a376fb, 2010-01-03 (annotated)

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