Program Listing for File hfsm.hpp

↰ Return to documentation for file (rcppsw/patterns/fsm/hfsm.hpp)

#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include <string>
#include "rcppsw/patterns/fsm/base_fsm.hpp"
#include "rcppsw/patterns/fsm/hfsm_state.hpp"

/*******************************************************************************
 * Namespaces/Decls
 ******************************************************************************/
namespace rcppsw::patterns::fsm {

/*******************************************************************************
 * Class Definitions
 ******************************************************************************/
class hfsm : public base_fsm, public er::client<hfsm> {
 public:
  explicit hfsm(uint8_t max_states,
                uint8_t initial_state = 0)
      : base_fsm(max_states, initial_state),
        ER_CLIENT_INIT(),
        m_top_state(nullptr) {}

  ~hfsm() override = default;

  void init(void) override {
    ER_ASSERT(initial_state() < event_signal::ekIGNORED,
                     "Bad initial state");
    base_fsm::init();
  }

  void change_parent(uint8_t state,
                     rcppsw::patterns::fsm::state* new_parent);

 protected:
  int ST_top_state(void) {
    ER_FATAL_SENTINEL("Top state in HFSM");
    return 0;
  }
  hfsm_state_action0<hfsm, &hfsm::ST_top_state>* top_state(void) {
    return &m_top_state;
  }

 private:
  void state_engine_step(const state_map_row* c_row) override;
  void state_engine_step(const state_map_ex_row* c_row_ex) override;

  /* clang-format off */
  hfsm_state_action0<hfsm, &hfsm::ST_top_state> m_top_state;
  /* clang-format on */
};

/*******************************************************************************
 * State Macros With Data
 ******************************************************************************/
#define RCPPSW_HFSM_STATE_INHERIT(BASE_FSM, inherited_name, event_data)               \
 private:                                                                      \
  rcppsw::patterns::fsm::                                            \
      hfsm_state_action1<BASE_FSM, event_data, &BASE_FSM::ST_##inherited_name> \
          inherited_name

#define RCPPSW_HFSM_STATE_DECLARE(FSM, state_name, event_data)          \
 public:                                                         \
  int ST_##state_name(event_data*);                        \
                                                                 \
 private:                                                        \
  rcppsw::patterns::fsm::                              \
      hfsm_state_action1<FSM, event_data, &FSM::ST_##state_name> \
          state_name

#define RCPPSW_HFSM_STATE_DEFINE(FSM, state_name, event_data)    \
  RCPPSW_FSM_STATE_DEFINE(FSM, state_name, event_data)

#define RCPPSW_HFSM_GUARD_DECLARE(FSM, guard_name, event_data) \
  RCPPSW_FSM_GUARD_DECLARE(FSM, guard_name, event_data)
#define RCPPSW_HFSM_GUARD_DEFINE(FSM, guard_name, event_data)    \
  RCPPSW_FSM_GUARD_DEFINE(FSM, guard_name, event_data)

#define RCPPSW_HFSM_ENTRY_DECLARE(FSM, entry_name, event_data)           \
 public:                                                          \
  void EN_##entry_name(const event_data*);                        \
                                                                  \
 private:                                                         \
  rcppsw::patterns::fsm::                               \
      state_entry_action1<FSM, event_data, &FSM::EN_##entry_name> \
          entry_name

#define RCPPSW_HFSM_ENTRY_INHERIT(BASE_FSM, inherited_name, event_data)                \
 private:                                                                       \
  rcppsw::patterns::fsm::                                             \
      state_entry_action1<BASE_FSM, event_data, &BASE_FSM::EN_##inherited_name> \
          inherited_name

#define RCPPSW_HFSM_ENTRY_DEFINE(FSM, entry_name, event_data)   \
  RCPPSW_FSM_ENTRY_DEFINE(FSM, entry_name, event_data)

#define RCPPSW_HFSM_EXIT_INHERIT(BASE_FSM, inherited_name)               \
 private:                                                         \
  rcppsw::patterns::fsm::                               \
      state_exit_action<BASE_FSM, &BASE_FSM::EX_##inherited_name> \
 inherited_name{}

#define RCPPSW_HFSM_EXIT_DECLARE(FSM, exit_name)                        \
  public:                                                               \
  void EX_##exit_name(void);                                            \
                                                                        \
private:                                                                \
rcppsw::patterns::fsm::state_exit_action<FSM, &FSM::EX_##exit_name>     \
exit_name{}

#define RCPPSW_HFSM_EXIT_DEFINE(FSM, exit_name) RCPPSW_FSM_EXIT_DEFINE(FSM, exit_name)

#define RCPPSW_HFSM_CONSTRUCT_STATE(state_name, parent)                        \
  state_name(static_cast<rcppsw::patterns::fsm::hfsm_state*>(parent))

/*******************************************************************************
 * State Macros Without Data
 ******************************************************************************/
#define RCPPSW_HFSM_STATE_INHERIT_ND(BASE_FSM, inherited_name)            \
 private:                                                          \
  rcppsw::patterns::fsm::                                \
      hfsm_state_action0<BASE_FSM, &BASE_FSM::ST_##inherited_name> \
          inherited_name

#define RCPPSW_HFSM_STATE_DECLARE_ND(FSM, state_name, ...)                     \
  public:                                                               \
  int ST_##state_name(void) __VA_ARGS__;                                \
                                                                        \
private:                                                                \
rcppsw::patterns::fsm::hfsm_state_action0<FSM, &FSM::ST_##state_name> \
state_name

#define RCPPSW_HFSM_STATE_DEFINE_ND(FSM, state_name) \
  RCPPSW_FSM_STATE_DEFINE_ND(FSM, state_name)

#define RCPPSW_HFSM_GUARD_DECLARE_ND(FSM, guard_name) \
  RCPPSW_FSM_GUARD_DECLARE_ND(FSM, guard_name)
#define RCPPSW_HFSM_GUARD_DEFINE_ND(FSM, guard_name) \
  RCPPSW_FSM_GUARD_DEFINE_ND(FSM, guard_name)

#define RCPPSW_HFSM_ENTRY_DECLARE_ND(FSM, entry_name)                          \
  public:                                                               \
  void EN_##entry_name(void);                                           \
                                                                        \
private:                                                                \
rcppsw::patterns::fsm::state_entry_action0<FSM, &FSM::EN_##entry_name> \
entry_name{}

#define RCPPSW_HFSM_ENTRY_INHERIT_ND(BASE_FSM, inherited_name)             \
 private:                                                           \
  rcppsw::patterns::fsm::                                 \
      state_entry_action0<BASE_FSM, &BASE_FSM::EN_##inherited_name> \
 inherited_name{}

#define RCPPSW_HFSM_ENTRY_DEFINE_ND(FSM, entry_name) \
  RCPPSW_FSM_ENTRY_DEFINE_ND(FSM, entry_name)

/*******************************************************************************
 * Transition Map Macros
 ******************************************************************************/
#define RCPPSW_HFSM_DEFINE_TRANSITION_MAP(name)        \
  RCPPSW_FSM_DEFINE_TRANSITION_MAP(name)

#define RCPPSW_HFSM_VERIFY_TRANSITION_MAP(name, n_entries)      \
  RCPPSW_FSM_VERIFY_TRANSITION_MAP(name, n_entries)

/*******************************************************************************
 * State Map Macros
 ******************************************************************************/
#define RCPPSW_HFSM_DEFINE_STATE_MAP_ACCESSOR(type, index_var) \
  RCPPSW_FSM_DEFINE_STATE_MAP_ACCESSOR(type, index_var)

#define RCPPSW_HFSM_DECLARE_STATE_MAP(type, name, n_entries)   \
  RCPPSW_FSM_DECLARE_STATE_MAP(type, name, n_entries)

#define RCPPSW_HFSM_DEFINE_STATE_MAP(name, ...) RCPPSW_FSM_DEFINE_STATE_MAP(name, __VA_ARGS__)

#define RCPPSW_HFSM_STATE_MAP_ENTRY_EX(state_name) RCPPSW_FSM_STATE_MAP_ENTRY_EX(state_name)
#define RCPPSW_HFSM_STATE_MAP_ENTRY(state_name) RCPPSW_FSM_STATE_MAP_ENTRY(state_name)

#define RCPPSW_HFSM_STATE_MAP_ENTRY_EX_ALL(               \
    state_name, guard_name, entry_name, exit_name) \
  RCPPSW_FSM_STATE_MAP_ENTRY_EX_ALL(state_name, guard_name, entry_name, exit_name)

} /* namespace rcppsw::patterns::fsm */