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state_machine_example.c
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state_machine_example.c
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/*
* Copyright (c) 2013 Andreas Misje
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation
* the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
* DEALINGS IN THE SOFTWARE.
*/
#include <stdint.h>
#include <stdio.h>
#include "state_machine.h"
#include "rtthread.h"
/* This simple example checks keyboad input against the two allowed strings
* "han" and "hin". If an unrecognised character is read, a group state will
* handle this by printing a message and returning to the idle state. If the
* character '!' is encountered, a "reset" message is printed, and the group
* state's entry state will be entered (the idle state).
*
* print 'reset'
* o +---------------------+
* | | | '!'
* | v group state |
* +-----v-----------------------------------+----+
* | +------+ 'h' +---+ 'a' +---+ 'n' |
* +->| idle | ----> | h | ----> | a | ---------+ |
* | +------+ +---+\ +---+ | |
* | ^ ^ ^ \'i' +---+ 'n' | |
* | | | | \--> | i | ------+ | |
* | | | | +---+ | | |
* +---|-|-|----------------+----------------|--|-+
* | | | | | |
* | | | | '[^hai!\n]' | |
* | | | print unrecog. | | |
* | | +----------------+ print 'hi' | |
* | +-----------------------------------+ |
* | print 'ha' |
* +----------------------------------------+
*/
/* Types of events */
enum event_type {
EVENT_KEYBOARD,
};
/* Compare keyboard character from transition's condition variable against
* data in event. */
static bool keyboard_char_compare( void *ch, struct event *event );
static void print_msg_recognised_char( void *state_data, struct event *event );
static void print_msg_unrecognised_char( void *oldstate_data, struct event *event,
void *state_new_data );
static void print_msg_reset( void *oldstate_data, struct event *event,
void *state_new_data );
static void print_msg_hi( void *oldstate_data, struct event *event,
void *state_new_data );
static void print_msg_ha( void *oldstate_data, struct event *event,
void *state_new_data );
static void print_msg_err( void *state_data, struct event *event );
static void print_msg_enter( void *state_data, struct event *event );
static void print_msg_exit( void *state_data, struct event *event );
/* Forward declaration of states so that they can be defined in an logical
* order: */
static struct state state_charsgroup_check, state_idle, state_h, state_i, state_a;
/* All the following states (apart from the error state) are children of this
* group state. This way, any unrecognised character will be handled by this
* state's transition, eliminating the need for adding the same transition to
* all the children states. */
static struct state state_charsgroup_check = {
.state_parent = NULL,
/* The entry state is defined in order to demontrate that the 'reset'
* transtition, going to this group state, will be 'redirected' to the
* 'idle' state (the transition could of course go directly to the 'idle'
* state): */
.state_entry = &state_idle,
.transitions = (struct transition[]){
/* event_type data guard action next state */
{ EVENT_KEYBOARD, (void *)(intptr_t)'!', &keyboard_char_compare,
&print_msg_reset, &state_idle, },
{ EVENT_KEYBOARD, NULL, NULL, &print_msg_unrecognised_char, &state_idle, },
},
.transition_nums = 2,
.data = "group",
.action_entry = &print_msg_enter,
.action_exti = &print_msg_exit,
};
static struct state state_idle = {
.state_parent = &state_charsgroup_check,
.state_entry = NULL,
.transitions = (struct transition[]){
{ EVENT_KEYBOARD, (void *)(intptr_t)'h', &keyboard_char_compare, NULL, &state_h },
},
.transition_nums = 1,
.data = "idle",
.action_entry = &print_msg_enter,
.action_exti = &print_msg_exit,
};
static struct state state_h = {
.state_parent = &state_charsgroup_check,
.state_entry = NULL,
.transitions = (struct transition[]){
{ EVENT_KEYBOARD, (void *)(intptr_t)'a', &keyboard_char_compare, NULL, &state_a },
{ EVENT_KEYBOARD, (void *)(intptr_t)'i', &keyboard_char_compare, NULL, &state_i },
},
.transition_nums = 2,
.data = "H",
.action_entry = &print_msg_recognised_char,
.action_exti = &print_msg_exit,
};
static struct state state_i = {
.state_parent = &state_charsgroup_check,
.state_entry = NULL,
.transitions = (struct transition[]){
{ EVENT_KEYBOARD, (void *)(intptr_t)'n', &keyboard_char_compare, &print_msg_hi, &state_idle }
},
.transition_nums = 1,
.data = "I",
.action_entry = &print_msg_recognised_char,
.action_exti = &print_msg_exit,
};
static struct state state_a = {
.state_parent = &state_charsgroup_check,
.state_entry = NULL,
.transitions = (struct transition[]){
{ EVENT_KEYBOARD, (void *)(intptr_t)'n', &keyboard_char_compare, &print_msg_ha, &state_idle }
},
.transition_nums = 1,
.data = "A",
.action_entry = &print_msg_recognised_char,
.action_exti = &print_msg_exit
};
static struct state state_error = {
.transitions = (struct transition[]){
{ EVENT_KEYBOARD, (void *)(intptr_t)'i', &keyboard_char_compare, NULL, &state_i },
},
.transition_nums = 1,
.data = "Error",
.action_entry = &print_msg_err
};
static bool keyboard_char_compare( void *ch, struct event *event )
{
if ( event->type != EVENT_KEYBOARD )
{
return false;
}
// ch = t->conditon
// t->conditon == event->data
// 就是说当前转移的条件要和事件的data吻合
return ((intptr_t)ch == (intptr_t)event->data);
}
static void print_msg_recognised_char( void *state_data, struct event *event )
{
print_msg_enter( state_data, event );
rt_kprintf( "parsed: %c\n", (char)(intptr_t)event->data );
}
static void print_msg_unrecognised_char( void *oldstate_data, struct event *event,
void *state_new_data )
{
rt_kprintf( "unrecognised character: %c\n",(char)(intptr_t)event->data );
}
static void print_msg_reset( void *oldstate_data, struct event *event,
void *state_new_data )
{
rt_kprintf( "Resetting\n" );
}
static void print_msg_hi( void *oldstate_data, struct event *event,
void *state_new_data )
{
rt_kprintf( "Hi!\n" );
}
static void print_msg_ha( void *oldstate_data, struct event *event,
void *state_new_data )
{
rt_kprintf( "Ha-ha\n" );
}
static void print_msg_err( void *state_data, struct event *event )
{
rt_kprintf( "ENTERED ERROR STATE!\n" );
}
static void print_msg_enter( void *state_data, struct event *event )
{
rt_kprintf( "Entering %s state\n", (char *)state_data );
}
static void print_msg_exit( void *state_data, struct event *event )
{
rt_kprintf( "Exiting %s state\n", (char *)state_data );
}
rt_mailbox_t mb_key;
static void state_process(void *parameter)
{
struct state_machine m;
int ch;
statem_init( &m, &state_idle, &state_error );
while(1)
{
if(RT_EOK == rt_mb_recv(mb_key, (rt_ubase_t*)&ch, 20))
{
statem_handle_event( &m, &(struct event){ EVENT_KEYBOARD, (void *)(intptr_t)ch } );
}
}
}
static int state_init(void)
{
rt_thread_t tid = RT_NULL;
mb_key = rt_mb_create("key", 8, RT_IPC_FLAG_FIFO);
tid = rt_thread_create("state", state_process, RT_NULL,
1024, 10, 100);
if (tid == RT_NULL)
{
rt_kprintf("state initialize failed! thread create failed!\r\n");
return -RT_ENOMEM;
}
rt_thread_startup(tid);
return RT_EOK;
}
INIT_APP_EXPORT(state_init);
#ifdef FINSH_USING_MSH
static void state_key_set(uint8_t argc, char **argv)
{
if (argc == 2)
{
rt_kprintf("state key set:%c\n",argv[1][0]);
rt_mb_send(mb_key, argv[1][0]);
}
else
{
rt_kprintf("state key set<a-z>\n");
}
}
MSH_CMD_EXPORT(state_key_set, state key set<a-z>.);
#endif /* FINSH_USING_MSH */