Petras Saduikis
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.
MyInterruptHandler.cpp@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 | #include <mbed.h> |
| snatch59 | 0:918566a376fb | 25 | #include "MyInterruptHandler.h" |
| snatch59 | 0:918566a376fb | 26 | #include "FSMDefs.h" |
| snatch59 | 0:918566a376fb | 27 | #include "FSM.h" |
| snatch59 | 0:918566a376fb | 28 | #include "DebugTrace.h" |
| snatch59 | 0:918566a376fb | 29 | |
| snatch59 | 0:918566a376fb | 30 | DebugTrace pc(ON, TO_SERIAL); |
| snatch59 | 0:918566a376fb | 31 | |
| snatch59 | 0:918566a376fb | 32 | typedef void (MyInterruptHandler::* clientActionPtr)( ); |
| snatch59 | 0:918566a376fb | 33 | |
| snatch59 | 0:918566a376fb | 34 | // states |
| snatch59 | 0:918566a376fb | 35 | const char* S_START = "Start"; |
| snatch59 | 0:918566a376fb | 36 | const char* S_LED_SEQ1 = "LedSeq1"; |
| snatch59 | 0:918566a376fb | 37 | const char* S_LED_SEQ2 = "LedSeq2"; |
| snatch59 | 0:918566a376fb | 38 | |
| snatch59 | 0:918566a376fb | 39 | const StateDefinition<clientActionPtr> states[] = |
| snatch59 | 0:918566a376fb | 40 | {// state, entry action, exit action |
| snatch59 | 0:918566a376fb | 41 | S_START, NULL, NULL, |
| snatch59 | 0:918566a376fb | 42 | S_LED_SEQ1, &MyInterruptHandler::ledSequence1, NULL, |
| snatch59 | 0:918566a376fb | 43 | S_LED_SEQ2, &MyInterruptHandler::ledSequence2, NULL |
| snatch59 | 0:918566a376fb | 44 | }; |
| snatch59 | 0:918566a376fb | 45 | const int total_states = sizeof(states)/sizeof(StateDefinition<clientActionPtr>); |
| snatch59 | 0:918566a376fb | 46 | |
| snatch59 | 0:918566a376fb | 47 | // transitions |
| snatch59 | 0:918566a376fb | 48 | const TransitionDefinition<clientActionPtr> transitions[] = |
| snatch59 | 0:918566a376fb | 49 | {// start state, event, type transition action, end state |
| snatch59 | 0:918566a376fb | 50 | S_START, (int)intr1, actions, NULL, S_LED_SEQ1, |
| snatch59 | 0:918566a376fb | 51 | S_LED_SEQ1, (int)intr2, actions, NULL, S_LED_SEQ2, |
| snatch59 | 0:918566a376fb | 52 | S_LED_SEQ2, (int)intr1, actions, NULL, S_LED_SEQ1, |
| snatch59 | 0:918566a376fb | 53 | S_LED_SEQ1, (int)tickr1, actions, NULL, S_LED_SEQ1, |
| snatch59 | 0:918566a376fb | 54 | S_LED_SEQ2, (int)tickr1, actions, NULL, S_LED_SEQ2, |
| snatch59 | 0:918566a376fb | 55 | }; |
| snatch59 | 0:918566a376fb | 56 | const int total_transitions = sizeof(transitions)/sizeof(TransitionDefinition<clientActionPtr>); |
| snatch59 | 0:918566a376fb | 57 | |
| snatch59 | 0:918566a376fb | 58 | // declare a state machine |
| snatch59 | 0:918566a376fb | 59 | static FiniteStateMachine<MyInterruptHandler, clientActionPtr, total_states> itsStateMachine; |
| snatch59 | 0:918566a376fb | 60 | |
| snatch59 | 0:918566a376fb | 61 | // put LEDs on a bus for convenience |
| snatch59 | 0:918566a376fb | 62 | BusOut leds(LED1, LED2, LED3, LED4); |
| snatch59 | 0:918566a376fb | 63 | |
| snatch59 | 0:918566a376fb | 64 | |
| snatch59 | 0:918566a376fb | 65 | MyInterruptHandler::MyInterruptHandler() : interrupt1(p5), interrupt2(p6) |
| snatch59 | 0:918566a376fb | 66 | { |
| snatch59 | 0:918566a376fb | 67 | // init state machine |
| snatch59 | 0:918566a376fb | 68 | itsStateMachine.initialize(this, states, total_states, transitions, total_transitions, S_START); |
| snatch59 | 0:918566a376fb | 69 | |
| snatch59 | 0:918566a376fb | 70 | // attach callbacks for interrupts and timer |
| snatch59 | 0:918566a376fb | 71 | interrupt1.rise(this, &MyInterruptHandler::intrhandler1); |
| snatch59 | 0:918566a376fb | 72 | interrupt2.rise(this, &MyInterruptHandler::intrhandler2); |
| snatch59 | 0:918566a376fb | 73 | ticker1.attach(this, &MyInterruptHandler::tickerhandler1, 0.5); |
| snatch59 | 0:918566a376fb | 74 | } |
| snatch59 | 0:918566a376fb | 75 | |
| snatch59 | 0:918566a376fb | 76 | void MyInterruptHandler::processEvent(clientEvent event_id) |
| snatch59 | 0:918566a376fb | 77 | { |
| snatch59 | 0:918566a376fb | 78 | itsStateMachine.traverse((int)event_id); |
| snatch59 | 0:918566a376fb | 79 | } |
| snatch59 | 0:918566a376fb | 80 | |
| snatch59 | 0:918566a376fb | 81 | void MyInterruptHandler::intrhandler1() |
| snatch59 | 0:918566a376fb | 82 | { |
| snatch59 | 0:918566a376fb | 83 | processEvent(intr1); |
| snatch59 | 0:918566a376fb | 84 | } |
| snatch59 | 0:918566a376fb | 85 | |
| snatch59 | 0:918566a376fb | 86 | void MyInterruptHandler::intrhandler2() |
| snatch59 | 0:918566a376fb | 87 | { |
| snatch59 | 0:918566a376fb | 88 | processEvent(intr2); |
| snatch59 | 0:918566a376fb | 89 | } |
| snatch59 | 0:918566a376fb | 90 | |
| snatch59 | 0:918566a376fb | 91 | void MyInterruptHandler::tickerhandler1() |
| snatch59 | 0:918566a376fb | 92 | { |
| snatch59 | 0:918566a376fb | 93 | processEvent(tickr1); |
| snatch59 | 0:918566a376fb | 94 | } |
| snatch59 | 0:918566a376fb | 95 | |
| snatch59 | 0:918566a376fb | 96 | void MyInterruptHandler::ledSequence1() |
| snatch59 | 0:918566a376fb | 97 | { |
| snatch59 | 0:918566a376fb | 98 | pc.traceOut("ledSequence1\r\n"); |
| snatch59 | 0:918566a376fb | 99 | (0x00 == leds || 0x08 == leds) ? leds = 1 : leds = leds << 1; |
| snatch59 | 0:918566a376fb | 100 | } |
| snatch59 | 0:918566a376fb | 101 | |
| snatch59 | 0:918566a376fb | 102 | void MyInterruptHandler::ledSequence2() |
| snatch59 | 0:918566a376fb | 103 | { |
| snatch59 | 0:918566a376fb | 104 | pc.traceOut("ledSequence2\r\n"); |
| snatch59 | 0:918566a376fb | 105 | (0x00 == leds || 0x01 == leds) ? leds = 8 : leds = leds >> 1; |
| snatch59 | 0:918566a376fb | 106 | } |