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#ifndef MOTOR_HPP_INCLUDED
#define MOTOR_HPP_INCLUDED
#include <tinyfsm.hpp>
// ----------------------------------------------------------------------------
// Event declarations
//
struct MotorUp : tinyfsm::Event { };
struct MotorDown : tinyfsm::Event { };
struct MotorStop : tinyfsm::Event { };
// ----------------------------------------------------------------------------
// Motor (FSM base class) declaration
//
class Motor
: public tinyfsm::Fsm<Motor>
{
/* NOTE: react(), entry() and exit() functions need to be accessible
* from tinyfsm::Fsm class. You might as well declare friendship to
* tinyfsm::Fsm, and make these functions private:
*
* friend class Fsm;
*/
public:
/* default reaction for unhandled events */
void react(tinyfsm::Event const &) { };
/* non-virtual declaration: reactions are the same for all states */
void react(MotorUp const &);
void react(MotorDown const &);
void react(MotorStop const &);
virtual void entry(void) = 0; /* pure virtual: enforce implementation in all states */
void exit(void) { }; /* no exit actions at all */
protected:
static int direction;
public:
static int getDirection() { return direction; }
};
#endif
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