253 lines
7.3 KiB
C++
253 lines
7.3 KiB
C++
/*
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* TinyFSM - Tiny Finite State Machine Processor
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*
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* Copyright (c) 2012-2018 Axel Burri
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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/* ---------------------------------------------------------------------
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* Version: 0.3.2
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*
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* API documentation: see "../doc/50-API.md"
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*
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* The official TinyFSM website is located at:
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* https://digint.ch/tinyfsm/
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*
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* Author:
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* Axel Burri <axel@tty0.ch>
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* ---------------------------------------------------------------------
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*/
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#ifndef TINYFSM_HPP_INCLUDED
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#define TINYFSM_HPP_INCLUDED
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#ifndef TINYFSM_NOSTDLIB
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#include <type_traits>
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#endif
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// #include <iostream>
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// #define DBG(str) do { std::cerr << str << std::endl; } while( false )
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// DBG("*** dbg_example *** " << __PRETTY_FUNCTION__);
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namespace tinyfsm
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{
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// --------------------------------------------------------------------------
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struct Event { };
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// --------------------------------------------------------------------------
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#ifdef TINYFSM_NOSTDLIB
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// remove dependency on standard library (silent fail!).
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// useful in conjunction with -nostdlib option, e.g. if your compiler
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// does not provide a standard library.
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// NOTE: this silently disables all static_assert() calls below!
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template<typename F, typename S>
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struct is_same_fsm { static constexpr bool value = true; };
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#else
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// check if both fsm and state class share same fsmtype
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template<typename F, typename S>
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struct is_same_fsm : std::is_same< typename F::fsmtype, typename S::fsmtype > { };
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#endif
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template<typename S>
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struct _state_instance
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{
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using value_type = S;
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using type = _state_instance<S>;
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static S value;
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};
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template<typename S>
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typename _state_instance<S>::value_type _state_instance<S>::value;
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// --------------------------------------------------------------------------
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template<typename F>
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class Fsm
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{
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public:
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using fsmtype = Fsm<F>;
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using state_ptr_t = F *;
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static state_ptr_t current_state_ptr;
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// public, leaving ability to access state instance (e.g. on reset)
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template<typename S>
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static constexpr S & state(void) {
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static_assert(is_same_fsm<F, S>::value, "accessing state of different state machine");
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return _state_instance<S>::value;
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}
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template<typename S>
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static constexpr bool is_in_state(void) {
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static_assert(is_same_fsm<F, S>::value, "accessing state of different state machine");
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return current_state_ptr == &_state_instance<S>::value;
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}
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/// state machine functions
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public:
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// explicitely specialized in FSM_INITIAL_STATE macro
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static void set_initial_state();
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static void reset() { };
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static void enter() {
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current_state_ptr->entry();
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}
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static void start() {
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set_initial_state();
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enter();
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}
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template<typename E>
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static void dispatch(E const & event) {
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current_state_ptr->react(event);
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}
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/// state transition functions
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protected:
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template<typename S>
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void transit(void) {
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static_assert(is_same_fsm<F, S>::value, "transit to different state machine");
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current_state_ptr->exit();
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current_state_ptr = &_state_instance<S>::value;
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current_state_ptr->entry();
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}
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template<typename S, typename ActionFunction>
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void transit(ActionFunction action_function) {
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static_assert(is_same_fsm<F, S>::value, "transit to different state machine");
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current_state_ptr->exit();
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// NOTE: we get into deep trouble if the action_function sends a new event.
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// TODO: implement a mechanism to check for reentrancy
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action_function();
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current_state_ptr = &_state_instance<S>::value;
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current_state_ptr->entry();
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}
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template<typename S, typename ActionFunction, typename ConditionFunction>
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void transit(ActionFunction action_function, ConditionFunction condition_function) {
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if(condition_function()) {
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transit<S>(action_function);
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}
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}
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};
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template<typename F>
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typename Fsm<F>::state_ptr_t Fsm<F>::current_state_ptr;
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// --------------------------------------------------------------------------
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template<typename... FF>
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struct FsmList;
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template<> struct FsmList<> {
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static void set_initial_state() { }
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static void reset() { }
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static void enter() { }
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template<typename E>
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static void dispatch(E const &) { }
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};
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template<typename F, typename... FF>
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struct FsmList<F, FF...>
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{
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using fsmtype = Fsm<F>;
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static void set_initial_state() {
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fsmtype::set_initial_state();
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FsmList<FF...>::set_initial_state();
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}
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static void reset() {
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F::reset();
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FsmList<FF...>::reset();
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}
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static void enter() {
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fsmtype::enter();
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FsmList<FF...>::enter();
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}
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static void start() {
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set_initial_state();
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enter();
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}
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template<typename E>
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static void dispatch(E const & event) {
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fsmtype::template dispatch<E>(event);
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FsmList<FF...>::template dispatch<E>(event);
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}
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};
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// --------------------------------------------------------------------------
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template<typename... SS> struct StateList;
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template<> struct StateList<> {
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static void reset() { }
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};
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template<typename S, typename... SS>
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struct StateList<S, SS...>
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{
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static void reset() {
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_state_instance<S>::value = S();
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StateList<SS...>::reset();
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}
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};
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// --------------------------------------------------------------------------
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template<typename F>
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struct MooreMachine : tinyfsm::Fsm<F>
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{
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virtual void entry(void) { }; /* entry actions in some states */
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void exit(void) { }; /* no exit actions */
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};
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template<typename F>
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struct MealyMachine : tinyfsm::Fsm<F>
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{
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// input actions are modeled in react():
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// - conditional dependent of event type or payload
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// - transit<>(ActionFunction)
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void entry(void) { }; /* no entry actions */
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void exit(void) { }; /* no exit actions */
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};
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} /* namespace tinyfsm */
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#define FSM_INITIAL_STATE(_FSM, _STATE) \
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namespace tinyfsm { \
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template<> void Fsm< _FSM >::set_initial_state(void) { \
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current_state_ptr = &_state_instance< _STATE >::value; \
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} \
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}
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#endif /* TINYFSM_HPP_INCLUDED */
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