Add tinyfsm, start converting core functions to an FSM-based event loop

7 files changed, 659 insertions, 0 deletions

diff --git a/lib/tinyfsm/examples/api/Makefile b/lib/tinyfsm/examples/api/Makefile
new file mode 100644
index 00000000..63b110e0
--- /dev/null
+++ b/lib/tinyfsm/examples/api/Makefile
@@ -0,0 +1,63 @@
+# Compiler prefix, in case your default compiler does not implement all C++11 features:
+#CROSS = /opt/toolchain/x86_64-pc-linux-gnu-gcc-4.7.0/bin/x86_64-pc-linux-gnu-
+
+# HINT: g++ -Q -O2 --help=optimizers
+OPTIMIZER    = -Os
+
+CC           = $(CROSS)gcc
+CXX          = $(CROSS)g++
+SIZE         = size -d
+RM           = rm -f
+
+SRC_DIRS     = .
+INCLUDE      = -I ../../include
+
+SRCS         = $(wildcard $(addsuffix /*.cpp, $(SRC_DIRS)))
+OBJS         = $(SRCS:.cpp=.o)
+DEPENDS      = $(OBJS:.o=.d)
+
+EXE          = $(SRCS:.cpp=)
+
+
+#------------------------------------------------------------------------------
+# flags
+#
+
+FLAGS       += $(INCLUDE)
+FLAGS       += -MMD
+
+CXXFLAGS     = $(FLAGS)
+CXXFLAGS    += $(OPTIMIZER)
+CXXFLAGS    += -std=c++11
+CXXFLAGS    += -fno-exceptions
+CXXFLAGS    += -fno-rtti
+
+CXXFLAGS    += -Wall -Wextra
+CXXFLAGS    += -Wctor-dtor-privacy
+CXXFLAGS    += -Wcast-align -Wpointer-arith -Wredundant-decls
+CXXFLAGS    += -Wshadow -Wcast-qual -Wcast-align -pedantic
+
+# Produce debugging information (for use with gdb)
+#OPTIMIZER  = -Og
+#FLAGS     += -g
+
+# Use LLVM
+#CXX = $(CROSS)clang++
+#CXXFLAGS  += -stdlib=libc++
+#LDFLAGS   += -lc++
+
+
+.PHONY: all clean
+
+all: $(EXE)
+
+%: %.cpp
+	$(CXX) $(CXXFLAGS) -o $@ $<
+	$(SIZE) $@
+
+clean:
+	$(RM) *.d
+	$(RM) $(EXE)
+
+
+-include $(DEPENDS)
diff --git a/lib/tinyfsm/examples/api/debugging_switch.cpp b/lib/tinyfsm/examples/api/debugging_switch.cpp
new file mode 100644
index 00000000..065d0e13
--- /dev/null
+++ b/lib/tinyfsm/examples/api/debugging_switch.cpp
@@ -0,0 +1,122 @@
+#include <tinyfsm.hpp>
+#include <iostream>
+#include <cassert>
+
+struct Off; // forward declaration
+
+
+// ----------------------------------------------------------------------------
+// Event Declarations
+//
+struct Toggle : tinyfsm::Event { }; // Event Declarations
+
+
+// ----------------------------------------------------------------------------
+// State Machine Declaration
+//
+struct Switch
+: tinyfsm::Fsm<Switch>
+{
+  static void reset(void);
+
+  // NOTE: on reset: "tinyfsm::StateList<Off, On>::reset()", copy
+  // constructor is used by default, so "this" points to neither
+  // "Off" nor "On" (see operator=() below).
+  Switch() : counter(0) {
+    std::cout << "* Switch()" << std::endl
+              << "  this          = " << this << std::endl;
+  }
+
+  ~Switch() {
+    std::cout << "* ~Switch()" << std::endl
+              << "  this          = " << this << std::endl;
+  }
+
+  Switch & operator=(const Switch & other) {
+    std::cout << "* operator=()" << std::endl
+              << "  this          = " << this << std::endl
+              << "  other         = " << &other << std::endl;
+    counter = other.counter;
+    return *this;
+  }
+
+  virtual void react(Toggle const &) { };
+  void entry(void);
+  void exit(void);
+
+  int counter;
+};
+
+struct On : Switch {
+  void react(Toggle const &) override { transit<Off>(); };
+};
+
+struct Off : Switch {
+  void react(Toggle const &) override { transit<On>(); };
+};
+
+FSM_INITIAL_STATE(Switch, Off)
+
+
+// ----------------------------------------------------------------------------
+// State Machine Definitions
+//
+void Switch::reset() {
+  tinyfsm::StateList<Off, On>::reset();
+}
+
+void Switch::entry() {
+  counter++;
+
+  // debugging only. properly designed state machines don't need this:
+  if(is_in_state<On>())       { std::cout << "* On::entry()"  << std::endl; }
+  else if(is_in_state<Off>()) { std::cout << "* Off::entry()" << std::endl; }
+  else assert(true);
+
+  assert(current_state_ptr == this);
+  std::cout << "  this (cur)    = " << this << std::endl
+            << "  state<On>     = " << &state<On>()  << std::endl
+            << "  state<Off>    = " << &state<Off>() << std::endl;
+}
+
+void Switch::exit() {
+  assert(current_state_ptr == this);
+  std::cout << "* exit()" << std::endl
+            << "  this (cur)    = " << this << std::endl
+            << "  state<On>     = " << &state<On>()  << std::endl
+            << "  state<Off>    = " << &state<Off>() << std::endl;
+}
+
+
+// ----------------------------------------------------------------------------
+// Main
+//
+int main()
+{
+  Switch::start();
+
+  while(1)
+  {
+    char c;
+    std::cout << "* main()" << std::endl
+              << "  cur_counter   = " << Switch::current_state_ptr->counter  << std::endl
+              << "  on_counter    = " << Switch::state<On>().counter  << std::endl
+              << "  off_counter   = " << Switch::state<Off>().counter << std::endl;
+
+    std::cout << std::endl << "t=Toggle, r=Restart, q=Quit ? ";
+    std::cin >> c;
+    switch(c) {
+    case 't':
+      Switch::dispatch(Toggle());
+      break;
+    case 'r':
+      Switch::reset();
+      Switch::start();
+      break;
+    case 'q':
+      return 0;
+    default:
+      std::cout << "> Invalid input" << std::endl;
+    };
+  }
+}
diff --git a/lib/tinyfsm/examples/api/mealy_machine.cpp b/lib/tinyfsm/examples/api/mealy_machine.cpp
new file mode 100644
index 00000000..a4fadff6
--- /dev/null
+++ b/lib/tinyfsm/examples/api/mealy_machine.cpp
@@ -0,0 +1,70 @@
+#include <tinyfsm.hpp>
+#include <iostream>
+
+// ----------------------------------------------------------------------------
+// 1. Event Declarations
+//
+struct Toggle : tinyfsm::Event { };
+
+
+// ----------------------------------------------------------------------------
+// 2. State Machine Base Class Declaration
+//
+struct Switch : tinyfsm::MealyMachine<Switch>
+{
+  /* pure virtual reaction (override required in all states) */
+  virtual void react(Toggle const &) = 0;
+
+  /* transition actions */
+  static void OpenCircuit() {
+    std::cout << "* Opening ciruit (light goes OFF)" << std::endl;
+  }
+  static void CloseCircuit()  {
+    std::cout << "* Closing ciruit (light goes ON)"  << std::endl;
+  }
+};
+
+
+// ----------------------------------------------------------------------------
+// 3. State Declarations
+//
+struct Off; // forward declaration
+
+struct On : Switch
+{
+  void react(Toggle const &) override { transit<Off>(OpenCircuit); };
+};
+
+struct Off : Switch
+{
+  void react(Toggle const &) override { transit<On>(CloseCircuit); };
+};
+
+FSM_INITIAL_STATE(Switch, Off)
+
+
+// ----------------------------------------------------------------------------
+// Main
+//
+int main()
+{
+  Switch::start();
+
+  std::cout << "> You are facing a light switch..." << std::endl;
+  while(1)
+  {
+    char c;
+    std::cout << std::endl << "t=Toggle, q=Quit ? ";
+    std::cin >> c;
+    switch(c) {
+    case 't':
+      std::cout << "> Toggling switch..." << std::endl;
+      Switch::dispatch(Toggle());
+      break;
+    case 'q':
+      return 0;
+    default:
+      std::cout << "> Invalid input" << std::endl;
+    };
+  }
+}
diff --git a/lib/tinyfsm/examples/api/moore_machine.cpp b/lib/tinyfsm/examples/api/moore_machine.cpp
new file mode 100644
index 00000000..02a77da2
--- /dev/null
+++ b/lib/tinyfsm/examples/api/moore_machine.cpp
@@ -0,0 +1,64 @@
+#include <tinyfsm.hpp>
+#include <iostream>
+
+// ----------------------------------------------------------------------------
+// 1. Event Declarations
+//
+struct Toggle : tinyfsm::Event { };
+
+
+// ----------------------------------------------------------------------------
+// 2. State Machine Base Class Declaration
+//
+struct Switch : tinyfsm::MooreMachine<Switch>
+{
+  /* pure virtual reaction (override required in all states) */
+  virtual void react(Toggle const &) = 0;
+};
+
+
+// ----------------------------------------------------------------------------
+// 3. State Declarations
+//
+struct Off; // forward declaration
+
+struct On : Switch
+{
+  void entry() override { std::cout << "* Closing ciruit (light goes ON)" << std::endl; };
+  void react(Toggle const &) override { transit<Off>(); };
+};
+
+struct Off : Switch
+{
+  void entry() override { std::cout << "* Opening ciruit (light goes OFF)" << std::endl; };
+  void react(Toggle const &) override { transit<On>(); };
+};
+
+FSM_INITIAL_STATE(Switch, Off)
+
+
+// ----------------------------------------------------------------------------
+// Main
+//
+int main()
+{
+  Switch::start();
+
+  std::cout << "> You are facing a light switch..." << std::endl;
+  while(1)
+  {
+    char c;
+    std::cout << std::endl << "t=Toggle, q=Quit ? ";
+    std::cin >> c;
+    switch(c) {
+    case 't':
+      std::cout << "> Toggling switch..." << std::endl;
+      Switch::dispatch(Toggle());
+      break;
+    case 'q':
+      return 0;
+    default:
+      std::cout << "> Invalid input" << std::endl;
+    };
+  }
+}
diff --git a/lib/tinyfsm/examples/api/multiple_switch.cpp b/lib/tinyfsm/examples/api/multiple_switch.cpp
new file mode 100644
index 00000000..6bf844fb
--- /dev/null
+++ b/lib/tinyfsm/examples/api/multiple_switch.cpp
@@ -0,0 +1,145 @@
+//
+// In this example, we want to use the DefectiveSwitch FSM multiple
+// times. As TinyFSM is all about templates, we need to declare it as
+// a template class.
+//
+// This is a bit cumbersome, as the C++ syntax is really ugly when it
+// comes to derived template classes.
+//
+#include <tinyfsm.hpp>
+#include <iostream>
+#include <stdlib.h> /* rand */
+
+template<int inum>
+class Off; // forward declaration
+
+static void DumpState(int inum, const char * state, int on_counter, int defect_level) {
+  std::cout << "* Switch[" << inum << "] is " << state << " (on_counter=" << on_counter << ", defect_level=" << defect_level << ")" << std::endl;
+}
+
+// ----------------------------------------------------------------------------
+// 1. Event Declarations
+//
+struct Toggle : tinyfsm::Event { };
+
+
+// ----------------------------------------------------------------------------
+// 2. State Machine Base Class Declaration
+//
+template<int inum>
+class DefectiveSwitch
+: public tinyfsm::Fsm< DefectiveSwitch<inum> >
+{
+public:
+  static constexpr unsigned int defect_level = (inum * 2);
+
+  static void reset(void) {
+    on_counter = 0;
+  }
+
+  /* default reaction for unhandled events */
+  void react(tinyfsm::Event const &) { };
+
+  virtual void react(Toggle const &) { };
+  virtual void entry(void) { };  /* entry actions in some states */
+  void         exit(void)  { };  /* no exit actions */
+
+protected:
+  static unsigned int on_counter;
+};
+
+// state variable definitions
+template<int inum>
+unsigned int DefectiveSwitch<inum>::on_counter{0};
+
+
+// ----------------------------------------------------------------------------
+// 3. State Declarations
+//
+template<int inum>
+class On
+: public DefectiveSwitch<inum>
+{
+  // note: base class is not known in dependend template
+  using base = DefectiveSwitch<inum>;
+  void entry() override {
+    base::on_counter++;
+    DumpState(inum, "ON ", base::on_counter, base::defect_level);
+  };
+  void react(Toggle const &) override {
+    base::template transit< Off<inum> >();
+  };
+};
+
+
+template<int inum>
+class Off
+: public DefectiveSwitch<inum>
+{
+  using base = DefectiveSwitch<inum>;
+  void entry() override {
+    DumpState(inum, "OFF", base::on_counter, base::defect_level);
+  };
+  void react(Toggle const &) override {
+    if((rand() % (base::defect_level + 1)) == 0)
+      base::template transit< On<inum> >();
+    else {
+      std::cout << "* Kzzz kzzzzzz" << std::endl;
+      base::template transit< Off<inum> >();
+    }
+  };
+};
+
+FSM_INITIAL_STATE(DefectiveSwitch<0>, Off<0> )
+FSM_INITIAL_STATE(DefectiveSwitch<1>, Off<1> )
+FSM_INITIAL_STATE(DefectiveSwitch<2>, Off<2> )
+
+
+// ----------------------------------------------------------------------------
+// 4. State Machine List Declaration
+//
+
+using fsm_handle = tinyfsm::FsmList<
+  DefectiveSwitch<0>,
+  DefectiveSwitch<1>,
+  DefectiveSwitch<2>
+  >;
+
+template<int inum>
+void ToggleSingle() {
+  std::cout << "> Toggling switch " << inum << "..." << std::endl;
+  DefectiveSwitch<inum>::dispatch(Toggle());
+}
+
+
+// ----------------------------------------------------------------------------
+// Main
+//
+int main()
+{
+  fsm_handle::start();
+
+  while(1)
+  {
+    char c;
+    std::cout << std::endl << "0,1,2=Toggle single, a=Toggle all, r=Restart, q=Quit ? ";
+    std::cin >> c;
+    switch(c) {
+    case '0': ToggleSingle<0>(); break;
+    case '1': ToggleSingle<1>(); break;
+    case '2': ToggleSingle<2>(); break;
+    case 'a':
+      std::cout << "> Toggling all switches..." << std::endl;
+      fsm_handle::dispatch(Toggle());
+      break;
+    case 'r':
+      fsm_handle::reset();
+      fsm_handle::start();
+      break;
+    case 'q':
+      return 0;
+    default:
+      std::cout << "> Invalid input" << std::endl;
+    };
+  }
+}
diff --git a/lib/tinyfsm/examples/api/resetting_switch.cpp b/lib/tinyfsm/examples/api/resetting_switch.cpp
new file mode 100644
index 00000000..5642fc92
--- /dev/null
+++ b/lib/tinyfsm/examples/api/resetting_switch.cpp
@@ -0,0 +1,110 @@
+#include <tinyfsm.hpp>
+#include <iostream>
+
+class Off; // forward declaration
+
+
+// ----------------------------------------------------------------------------
+// 1. Event Declarations
+//
+struct Toggle : tinyfsm::Event { };
+
+
+// ----------------------------------------------------------------------------
+// 2. State Machine Base Class Declaration
+//
+class Switch
+: public tinyfsm::Fsm<Switch>
+{
+  // entry(), exit() and react() are called from Fsm<Switch>::transit()
+  // in derived states, make friends:
+  friend class tinyfsm::Fsm<Switch>;
+
+  /* default reaction for unhandled events */
+  void react(tinyfsm::Event const &) { };
+
+  virtual void react(Toggle const &) { };
+  virtual void entry(void) { };  /* entry actions in some states */
+  void         exit(void)  { };  /* no exit actions */
+
+public:
+  static void reset(void);   /* implemented below */
+};
+
+
+// ----------------------------------------------------------------------------
+// 3. State Declarations
+//
+class On
+: public Switch
+{
+  void entry() override { counter++; std::cout << "* Switch is ON, counter=" << counter << std::endl; };
+  void react(Toggle const &) override { transit<Off>(); };
+  int counter;
+
+public:
+  On() : counter(0) { std::cout << "** RESET State=On" << std::endl; }
+};
+
+class Off
+: public Switch
+{
+  void entry() override { counter++; std::cout << "* Switch is OFF, counter=" << counter << std::endl; };
+  void react(Toggle const &) override { transit<On>(); };
+  int counter;
+
+public:
+  Off() : counter(0) { std::cout << "** RESET State=Off" << std::endl; }
+};
+
+
+void Switch::reset() {
+  std::cout << "** RESET Switch" << std::endl;
+  // Reset all states (calls constructor on all states in list)
+  tinyfsm::StateList<Off, On>::reset();
+
+  // Alternatively, make counter public above and reset the values
+  // here instead of using a copy-constructor with StateList<>:
+  //state<On>().counter = 0;
+  //state<Off>().counter = 0;
+}
+
+FSM_INITIAL_STATE(Switch, Off)
+
+
+// ----------------------------------------------------------------------------
+// 4. State Machine List Declaration (dispatches events to multiple FSM's)
+//
+// In this example, we only have a single state machine, no need to use FsmList<>:
+//using fsm_handle = tinyfsm::FsmList< Switch >;
+using fsm_handle = Switch;
+
+
+// ----------------------------------------------------------------------------
+// Main
+//
+int main()
+{
+  fsm_handle::start();
+
+  while(1)
+  {
+    char c;
+    std::cout << std::endl << "t=Toggle, r=Restart, q=Quit ? ";
+    std::cin >> c;
+    switch(c) {
+    case 't':
+      std::cout << "> Toggling switch..." << std::endl;
+      fsm_handle::dispatch(Toggle());
+      break;
+    case 'r':
+      fsm_handle::reset();
+      fsm_handle::start();
+      break;
+    case 'q':
+      return 0;
+    default:
+      std::cout << "> Invalid input" << std::endl;
+    };
+  }
+}
diff --git a/lib/tinyfsm/examples/api/simple_switch.cpp b/lib/tinyfsm/examples/api/simple_switch.cpp
new file mode 100644
index 00000000..b20b2abd
--- /dev/null
+++ b/lib/tinyfsm/examples/api/simple_switch.cpp
@@ -0,0 +1,85 @@
+#include <tinyfsm.hpp>
+#include <iostream>
+
+struct Off; // forward declaration
+
+
+// ----------------------------------------------------------------------------
+// 1. Event Declarations
+//
+struct Toggle : tinyfsm::Event { };
+
+
+// ----------------------------------------------------------------------------
+// 2. State Machine Base Class Declaration
+//
+struct Switch : tinyfsm::Fsm<Switch>
+{
+  virtual void react(Toggle const &) { };
+
+  // alternative: enforce handling of Toggle in all states (pure virtual)
+  //virtual void react(Toggle const &) = 0;
+
+  virtual void entry(void) { };  /* entry actions in some states */
+  void         exit(void)  { };  /* no exit actions */
+
+  // alternative: enforce entry actions in all states (pure virtual)
+  //virtual void entry(void) = 0;
+};
+
+
+// ----------------------------------------------------------------------------
+// 3. State Declarations
+//
+struct On : Switch
+{
+  void entry() override { std::cout << "* Switch is ON" << std::endl; };
+  void react(Toggle const &) override { transit<Off>(); };
+};
+
+struct Off : Switch
+{
+  void entry() override { std::cout << "* Switch is OFF" << std::endl; };
+  void react(Toggle const &) override { transit<On>(); };
+};
+
+FSM_INITIAL_STATE(Switch, Off)
+
+
+// ----------------------------------------------------------------------------
+// 4. State Machine List Declaration (dispatches events to multiple FSM's)
+//
+// In this example, we only have a single state machine, no need to use FsmList<>:
+//using fsm_handle = tinyfsm::FsmList< Switch >;
+using fsm_handle = Switch;
+
+
+// ----------------------------------------------------------------------------
+// Main
+//
+int main()
+{
+  // instantiate events
+  Toggle toggle;
+
+  fsm_handle::start();
+
+  while(1)
+  {
+    char c;
+    std::cout << std::endl << "t=Toggle, q=Quit ? ";
+    std::cin >> c;
+    switch(c) {
+    case 't':
+      std::cout << "> Toggling switch..." << std::endl;
+      fsm_handle::dispatch(toggle);
+      // alternative: instantiating causes no overhead (empty declaration)
+      //fsm_handle::dispatch(Toggle());
+      break;
+    case 'q':
+      return 0;
+    default:
+      std::cout << "> Invalid input" << std::endl;
+    };
+  }
+}