HAHA! commit
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gauthiier
Executable
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/*
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Copyright (c) 2007 Gerhard Reitmayr <gerhard.reitmayr@gmail.com>
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Permission to use, copy, modify, and distribute this software for any
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purpose with or without fee is hereby granted, provided that the above
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copyright notice and this permission notice appear in all copies.
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THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
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WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
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ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
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WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
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ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
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OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
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*/
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#ifndef _FSM_H
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#define _FSM_H
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/// list of ints as recursive type
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template <int HEAD, class TAIL> struct IntList {
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enum { head = HEAD };
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typedef TAIL tail;
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};
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/// end of list marker type
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struct IntListEnd {};
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/// switch statement implementation through iterating over the type list and
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/// comparing it to a given state
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template <class STATELIST>
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struct SwitchTemplate {
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template <class CONTEXT>
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static typename CONTEXT::ReturnType work( int state, CONTEXT & context){
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return ((STATELIST::head == state) ?
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context.template operator()<STATELIST::head>() :
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SwitchTemplate<typename STATELIST::tail>::work( state, context ));
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}
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};
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/// end of list marker specialization
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template <>
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struct SwitchTemplate<IntListEnd> {
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template <class CONTEXT>
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static typename CONTEXT::ReturnType work( int state, CONTEXT & context){
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return typename CONTEXT::ReturnType();
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}
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};
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/// The actual state machine implementation
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/// sub types are functors passed to the Worker class to execute the
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/// right template specialization of the underlying member function of the
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/// context object.
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template <class CONTEXT, class STATELIST = typename CONTEXT::StateList>
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struct StateMachine {
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CONTEXT & context;
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int state;
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template <class RET, class DATA> struct CallEvent {
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typedef RET ReturnType;
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CONTEXT & context;
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DATA & data;
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template <int STATE> RET operator()(){
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return context.template event<STATE>(data);
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}
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};
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template <class RET, class DATA> struct CallEventConst {
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typedef RET ReturnType;
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CONTEXT & context;
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const DATA & data;
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template <int STATE> RET operator()(){
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return context.template event<STATE>(data);
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}
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};
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template <class RET> struct CallEventNoData {
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typedef RET ReturnType;
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CONTEXT & context;
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template <int STATE> RET operator()(){
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return context.template event<STATE>();
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}
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};
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struct CallEnter {
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typedef void ReturnType;
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CONTEXT & context;
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template <int STATE> ReturnType operator()(){
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return context.template enter<STATE>();
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}
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};
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struct CallExit {
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typedef void ReturnType;
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CONTEXT & context;
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template <int STATE> ReturnType operator()(){
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return context.template exit<STATE>();
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}
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};
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struct CallTick {
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typedef void ReturnType;
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CONTEXT & context;
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template <int STATE> ReturnType operator()(){
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return context.template tick<STATE>();
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}
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};
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StateMachine( CONTEXT & c ) : context(c), state(STATELIST::head) {
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CallEnter cee = {context};
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SwitchTemplate<STATELIST>::work(state, cee);
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}
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void changeState(const int newstate){
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CallExit cl = {context};
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SwitchTemplate<STATELIST>::work(state, cl);
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state = newstate;
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CallEnter cee = {context};
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SwitchTemplate<STATELIST>::work(state, cee);
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}
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void tick() {
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CallTick ct = {context};
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SwitchTemplate<STATELIST>::work(state, ct);
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}
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void work(){
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CallEventNoData<int> ce = {context};
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int newstate = SwitchTemplate<STATELIST>::work(state, ce);
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if(newstate != state)
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changeState(newstate);
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}
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template <class EVENT>
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void work( const EVENT & ev ){
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CallEventConst<int, EVENT> ce = {context, ev};
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int newstate = SwitchTemplate<STATELIST>::work(state, ce);
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if(newstate != state)
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changeState(newstate);
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}
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template <class EVENT>
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void work( EVENT & ev ){
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CallEvent<int, EVENT> ce = {context, ev};
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int newstate = SwitchTemplate<STATELIST>::work(state, ce);
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if(newstate != state)
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changeState(newstate);
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}
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};
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/// macros for simple state list definition
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#define LIST1(a) IntList<a,IntListEnd>
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#define LIST2(a,b) IntList<a,LIST1(b) >
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#define LIST3(a,b,c) IntList<a,LIST2(b,c) >
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#define LIST4(a,b,c,d) IntList<a,LIST3(b,c,d) >
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#define LIST5(a,b,c,d,e) IntList<a,LIST4(b,c,d,e) >
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#define LIST6(a,b,c,d,e,f) IntList<a,LIST5(b,c,d,e,f) >
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#define LIST7(a,b,c,d,e,f,g) IntList<a,LIST6(b,c,d,e,f,g) >
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#define LIST8(a,b,c,d,e,f,g,h) IntList<a,LIST7(b,c,d,e,f,g,h) >
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#endif // _FSM_H
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Executable
+76
@@ -0,0 +1,76 @@
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#include "fsm.h"
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using namespace std;
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struct Event { int state; };
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enum States { AAAA, BBBB, CCCC };
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struct QQQQSwitch {
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typedef LIST3(AAAA, BBBB, CCCC) StateList;
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template <int> int event(Event & ev) { Serial.println("undefined event -- event"); return ev.state; }
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template <int> int event() { Serial.println("undefined enter"); return 0; }
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template <int> void enter() { Serial.println("undefined enter"); }
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template <int> void exit() { Serial.println("undefined leave"); };
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template <int> void tick() { Serial.println("undefined enter");}
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};
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template <> void QQQQSwitch::enter<AAAA>() { Serial.println("enter AAAA"); }
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template <> void QQQQSwitch::exit<AAAA>() { Serial.println("exit AAAA"); }
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template <> void QQQQSwitch::tick<AAAA>() { Serial.println("tick AAAA"); }
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template <> void QQQQSwitch::enter<BBBB>() { Serial.println("enter BBBB"); }
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template <> void QQQQSwitch::exit<BBBB>() { Serial.println("exit BBBB"); }
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template <> void QQQQSwitch::tick<BBBB>() { Serial.println("tick BBBB"); }
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template <> void QQQQSwitch::enter<CCCC>() { Serial.println("enter CCCC"); }
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template <> void QQQQSwitch::exit<CCCC>() { Serial.println("exit CCCC"); }
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template <> void QQQQSwitch::tick<CCCC>() { Serial.println("tick CCCC"); }
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StateMachine<QQQQSwitch>* sm;
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Event event_AAAA = {AAAA};
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Event event_BBBB = {BBBB};
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Event event_CCCC = {CCCC};
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void setup() {
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Serial.begin(115200);
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Serial.println("starts");
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QQQQSwitch c;
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sm = new StateMachine<QQQQSwitch>(c);
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}
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void loop() {
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delay(2000);
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Serial.println("...");
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if (Serial.available() > 0) {
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char in = (char) Serial.read();
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switch(in) {
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case 'a':
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sm->work(event_AAAA);
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return;
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case 'b':
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sm->work(event_BBBB);
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return;
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case 'c':
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sm->work(event_CCCC);
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return;
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default:
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Serial.println('??');
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break;
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}
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}
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sm->tick();
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}
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