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Changes from the Meshtastic fork #41

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2edf392
Let TimedTransitions be modified
geeksville Feb 22, 2020
da91ddd
add string labels for states and transitions
geeksville Feb 22, 2020
8fb0083
Fix build for NRF52 arduino
geeksville Apr 15, 2020
2f10614
add getState()
geeksville Oct 11, 2020
55c47b6
do not do logspam it messes up serial parsers
geeksville Mar 12, 2021
829e967
Fix heap corruption - timed_transitions was not dynamically allocated
geeksville Apr 1, 2021
7db3702
don't spam serial with debug strings
geeksville Aug 3, 2021
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77 changes: 37 additions & 40 deletions Fsm.cpp
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Expand Up @@ -14,85 +14,81 @@
// along with arduino-fsm. If not, see <http://www.gnu.org/licenses/>.

#include "Fsm.h"
#include <assert.h>


State::State(void (*on_enter)(), void (*on_state)(), void (*on_exit)())
: on_enter(on_enter),
on_state(on_state),
on_exit(on_exit)
State::State(void (*on_enter)(), void (*on_state)(), void (*on_exit)(), const char *name)
: on_enter(on_enter),
on_state(on_state),
on_exit(on_exit),
name(name)
{
}


Fsm::Fsm(State* initial_state)
: m_current_state(initial_state),
m_transitions(NULL),
m_num_transitions(0),
m_num_timed_transitions(0),
m_initialized(false)
Fsm::Fsm(State *initial_state)
: m_current_state(initial_state),
m_transitions(NULL),
m_num_transitions(0),
m_num_timed_transitions(0),
m_initialized(false)
{
}


Fsm::~Fsm()
{
free(m_transitions);
free(m_timed_transitions);
m_transitions = NULL;
m_timed_transitions = NULL;
}


void Fsm::add_transition(State* state_from, State* state_to, int event,
void (*on_transition)())
void Fsm::add_transition(State *state_from, State *state_to, int event,
void (*on_transition)(), const char *name)
{
if (state_from == NULL || state_to == NULL)
return;

Transition transition = Fsm::create_transition(state_from, state_to, event,
on_transition);
m_transitions = (Transition*) realloc(m_transitions, (m_num_transitions + 1)
* sizeof(Transition));
on_transition, name);
m_transitions = (Transition *)realloc(m_transitions, (m_num_transitions + 1) * sizeof(Transition));
m_transitions[m_num_transitions] = transition;
m_num_transitions++;
}


void Fsm::add_timed_transition(State* state_from, State* state_to,
unsigned long interval, void (*on_transition)())
TimedTransition *Fsm::add_timed_transition(State *state_from, State *state_to,
unsigned long interval, void (*on_transition)(), const char *name)
{
if (state_from == NULL || state_to == NULL)
return;
return NULL;

Transition transition = Fsm::create_transition(state_from, state_to, 0,
on_transition);
on_transition, name);

TimedTransition timed_transition;
timed_transition.transition = transition;
timed_transition.start = 0;
timed_transition.interval = interval;

m_timed_transitions = (TimedTransition*) realloc(
m_timed_transitions, (m_num_timed_transitions + 1) * sizeof(TimedTransition));
assert(m_num_timed_transitions < MAX_TIMED_TRANSITIONS);
m_timed_transitions[m_num_timed_transitions] = timed_transition;
m_num_timed_transitions++;
}

return &m_timed_transitions[m_num_timed_transitions];
}

Fsm::Transition Fsm::create_transition(State* state_from, State* state_to,
int event, void (*on_transition)())
Transition Fsm::create_transition(State *state_from, State *state_to,
int event, void (*on_transition)(), const char *name)
{
Transition t;
t.state_from = state_from;
t.state_to = state_to;
t.event = event;
t.on_transition = on_transition;
t.name = name;

return t;
}

void Fsm::trigger(int event)
{
// Serial.printf("Trigger powerFSM %d\n", event);
if (m_initialized)
{
// Find the transition with the current state and given event.
Expand All @@ -112,14 +108,15 @@ void Fsm::check_timed_transitions()
{
for (int i = 0; i < m_num_timed_transitions; ++i)
{
TimedTransition* transition = &m_timed_transitions[i];
TimedTransition *transition = &m_timed_transitions[i];
if (transition->transition.state_from == m_current_state)
{
if (transition->start == 0)
{
transition->start = millis();
}
else{
else
{
unsigned long now = millis();
if (now - transition->start >= transition->interval)
{
Expand All @@ -140,16 +137,17 @@ void Fsm::run_machine()
if (m_current_state->on_enter != NULL)
m_current_state->on_enter();
}

if (m_current_state->on_state != NULL)
m_current_state->on_state();

Fsm::check_timed_transitions();
}

void Fsm::make_transition(Transition* transition)
void Fsm::make_transition(Transition *transition)
{

// Serial.printf("Transition powerFSM transition=%s, from=%s to=%s\n", transition->name, transition->state_from->name, transition->state_to->name);

// Execute the handlers in the correct order.
if (transition->state_from->on_exit != NULL)
transition->state_from->on_exit();
Expand All @@ -159,16 +157,15 @@ void Fsm::make_transition(Transition* transition)

if (transition->state_to->on_enter != NULL)
transition->state_to->on_enter();

m_current_state = transition->state_to;

//Initialice all timed transitions from m_current_state
unsigned long now = millis();
for (int i = 0; i < m_num_timed_transitions; ++i)
{
TimedTransition* ttransition = &m_timed_transitions[i];
TimedTransition *ttransition = &m_timed_transitions[i];
if (ttransition->transition.state_from == m_current_state)
ttransition->start = now;
}

}
68 changes: 35 additions & 33 deletions Fsm.h
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Expand Up @@ -16,70 +16,72 @@
#ifndef FSM_H
#define FSM_H


#if defined(ARDUINO) && ARDUINO >= 100
#include <Arduino.h>
#include <Arduino.h>
#else
#include <WProgram.h>
#include <WProgram.h>
#endif


struct State
{
State(void (*on_enter)(), void (*on_state)(), void (*on_exit)());
State(void (*on_enter)(), void (*on_state)(), void (*on_exit)(), const char *name);
void (*on_enter)();
void (*on_state)();
void (*on_exit)();
const char *name;
};

struct Transition
{
State *state_from;
State *state_to;
int event;
void (*on_transition)();
const char *name;
};

struct TimedTransition
{
Transition transition;
unsigned long start;
unsigned long interval;
};

#define MAX_TIMED_TRANSITIONS 8

class Fsm
{
public:
Fsm(State* initial_state);
Fsm(State *initial_state);
~Fsm();

void add_transition(State* state_from, State* state_to, int event,
void (*on_transition)());
void add_transition(State *state_from, State *state_to, int event,
void (*on_transition)(), const char *name);

TimedTransition *add_timed_transition(State *state_from, State *state_to,
unsigned long interval, void (*on_transition)(), const char *name);

void add_timed_transition(State* state_from, State* state_to,
unsigned long interval, void (*on_transition)());
State *getState() const { return m_current_state; }

void check_timed_transitions();

void trigger(int event);
void run_machine();

private:
struct Transition
{
State* state_from;
State* state_to;
int event;
void (*on_transition)();

};
struct TimedTransition
{
Transition transition;
unsigned long start;
unsigned long interval;
};

static Transition create_transition(State* state_from, State* state_to,
int event, void (*on_transition)());

void make_transition(Transition* transition);
static Transition create_transition(State *state_from, State *state_to,
int event, void (*on_transition)(), const char *name);

void make_transition(Transition *transition);

private:
State* m_current_state;
Transition* m_transitions;
State *m_current_state;
Transition *m_transitions;
int m_num_transitions;

TimedTransition* m_timed_transitions;
TimedTransition m_timed_transitions[MAX_TIMED_TRANSITIONS];
int m_num_timed_transitions;
bool m_initialized;
};


#endif
7 changes: 4 additions & 3 deletions examples/timed_switchoff/Fsm.cpp
View file
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Expand Up @@ -59,13 +59,13 @@ void Fsm::add_transition(State* state_from, State* state_to, int event,


void Fsm::add_timed_transition(State* state_from, State* state_to,
unsigned long interval, void (*on_transition)())
unsigned long interval, void (*on_transition)(), const char *name)
{
if (state_from == NULL || state_to == NULL)
return;

Transition transition = Fsm::create_transition(state_from, state_to, 0,
on_transition);
on_transition, name);

TimedTransition timed_transition;
timed_transition.transition = transition;
Expand All @@ -80,13 +80,14 @@ void Fsm::add_timed_transition(State* state_from, State* state_to,


Fsm::Transition Fsm::create_transition(State* state_from, State* state_to,
int event, void (*on_transition)())
int event, void (*on_transition)(), const char *name)
{
Transition t;
t.state_from = state_from;
t.state_to = state_to;
t.event = event;
t.on_transition = on_transition;
t.name = name;

return t;
}
Expand Down