path: root/lib/tinyfsm/include/tinyfsm.hpp

/*
 * TinyFSM - Tiny Finite State Machine Processor
 *
 * Copyright (c) 2012-2022 Axel Burri
 *
 * 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.
 */

/* ---------------------------------------------------------------------
 * Version: 0.3.3
 *
 * API documentation: see "../doc/50-API.md"
 *
 * The official TinyFSM website is located at:
 * https://digint.ch/tinyfsm/
 *
 * Author:
 * Axel Burri <axel@tty0.ch>
 * ---------------------------------------------------------------------
 */

#ifndef TINYFSM_HPP_INCLUDED
#define TINYFSM_HPP_INCLUDED

#ifndef TINYFSM_NOSTDLIB
#include <type_traits>
#endif

// #include <iostream>
// #define DBG(str) do { std::cerr << str << std::endl; } while( false )
// DBG("*** dbg_example *** " << __PRETTY_FUNCTION__);

namespace tinyfsm
{

  // --------------------------------------------------------------------------

  struct Event { };

  // --------------------------------------------------------------------------

#ifdef TINYFSM_NOSTDLIB
  // remove dependency on standard library (silent fail!).
  // useful in conjunction with -nostdlib option, e.g. if your compiler
  // does not provide a standard library.
  // NOTE: this silently disables all static_assert() calls below!
  template<typename F, typename S>
  struct is_same_fsm { static constexpr bool value = true; };
#else
  // check if both fsm and state class share same fsmtype
  template<typename F, typename S>
  struct is_same_fsm : std::is_same< typename F::fsmtype, typename S::fsmtype > { };
#endif

  template<typename S>
  struct _state_instance
  {
    using value_type = S;
    using type = _state_instance<S>;
    static S value;
  };

  template<typename S>
  typename _state_instance<S>::value_type _state_instance<S>::value;

  // --------------------------------------------------------------------------

  template<typename F>
  class Fsm
  {
  public:

    using fsmtype = Fsm<F>;
    using state_ptr_t = F *;

    static state_ptr_t current_state_ptr;

    // public, leaving ability to access state instance (e.g. on reset)
    template<typename S>
    static constexpr S & state(void) {
      static_assert(is_same_fsm<F, S>::value, "accessing state of different state machine");
      return _state_instance<S>::value;
    }

    template<typename S>
    static constexpr bool is_in_state(void) {
      static_assert(is_same_fsm<F, S>::value, "accessing state of different state machine");
      return current_state_ptr == &_state_instance<S>::value;
    }

  /// state machine functions
  public:

    // explicitely specialized in FSM_INITIAL_STATE macro
    static void set_initial_state();

    static void reset() { };

    static void enter() {
      current_state_ptr->entry();
    }

    static void start() {
      set_initial_state();
      enter();
    }

    template<typename E>
    static void dispatch(E const & event) {
      current_state_ptr->react(event);
    }


  /// state transition functions
  protected:

    template<typename S>
    void transit(void) {
      static_assert(is_same_fsm<F, S>::value, "transit to different state machine");
      current_state_ptr->exit();
      current_state_ptr = &_state_instance<S>::value;
      current_state_ptr->entry();
    }

    template<typename S, typename ActionFunction>
    void transit(ActionFunction action_function) {
      static_assert(is_same_fsm<F, S>::value, "transit to different state machine");
      current_state_ptr->exit();
      // NOTE: do not send events in action_function definisions.
      action_function();
      current_state_ptr = &_state_instance<S>::value;
      current_state_ptr->entry();
    }

    template<typename S, typename ActionFunction, typename ConditionFunction>
    void transit(ActionFunction action_function, ConditionFunction condition_function) {
      if(condition_function()) {
        transit<S>(action_function);
      }
    }
  };

  template<typename F>
  typename Fsm<F>::state_ptr_t Fsm<F>::current_state_ptr;

  // --------------------------------------------------------------------------

  template<typename... FF>
  struct FsmList;

  template<> struct FsmList<> {
    static void set_initial_state() { }
    static void reset() { }
    static void enter() { }
    template<typename E>
    static void dispatch(E const &) { }
  };

  template<typename F, typename... FF>
  struct FsmList<F, FF...>
  {
    using fsmtype = Fsm<F>;

    static void set_initial_state() {
      fsmtype::set_initial_state();
      FsmList<FF...>::set_initial_state();
    }

    static void reset() {
      F::reset();
      FsmList<FF...>::reset();
    }

    static void enter() {
      fsmtype::enter();
      FsmList<FF...>::enter();
    }

    static void start() {
      set_initial_state();
      enter();
    }

    template<typename E>
    static void dispatch(E const & event) {
      fsmtype::template dispatch<E>(event);
      FsmList<FF...>::template dispatch<E>(event);
    }
  };

  // --------------------------------------------------------------------------

  template<typename... SS> struct StateList;
  template<> struct StateList<> {
    static void reset() { }
  };
  template<typename S, typename... SS>
  struct StateList<S, SS...>
  {
    static void reset() {
      _state_instance<S>::value = S();
      StateList<SS...>::reset();
    }
  };

  // --------------------------------------------------------------------------

  template<typename F>
  struct MooreMachine : tinyfsm::Fsm<F>
  {
    virtual void entry(void) { };  /* entry actions in some states */
    void exit(void) { };           /* no exit actions */
  };

  template<typename F>
  struct MealyMachine : tinyfsm::Fsm<F>
  {
    // input actions are modeled in react():
    // - conditional dependent of event type or payload
    // - transit<>(ActionFunction)
    void entry(void) { };  /* no entry actions */
    void exit(void) { };   /* no exit actions */
  };

} /* namespace tinyfsm */


#define FSM_INITIAL_STATE(_FSM, _STATE)                               \
namespace tinyfsm {                                                   \
  template<> void Fsm< _FSM >::set_initial_state(void) {              \
    current_state_ptr = &_state_instance< _STATE >::value;            \
  }                                                                   \
}

#endif /* TINYFSM_HPP_INCLUDED */