From 446fde10b087cead3bf59810947ff495116d737b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 7 May 2011 20:26:16 +0200 Subject: digital/{ai,io}: move FSM to ai --- digital/ai/src/fsm/fsm.h | 566 +++++++++++++++ digital/ai/src/fsm/fsm.host.c | 1571 +++++++++++++++++++++++++++++++++++++++++ 2 files changed, 2137 insertions(+) create mode 100644 digital/ai/src/fsm/fsm.h create mode 100644 digital/ai/src/fsm/fsm.host.c (limited to 'digital/ai') diff --git a/digital/ai/src/fsm/fsm.h b/digital/ai/src/fsm/fsm.h new file mode 100644 index 00000000..6b376d30 --- /dev/null +++ b/digital/ai/src/fsm/fsm.h @@ -0,0 +1,566 @@ +/* + AngFSM - AngFSM - Almost Non Generated Finite State Machine + + Copyright 2011 Jerome Jutteau + +Contact: + * email: j.jutteau _AT_ gmail _DOT_ com + * website: http://fuu.im/angfsm/ + + This file is part of AngFSM. + + AngFSM is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + AngFSM is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with AngFSM. If not, see . + */ + +#include + +#ifndef _FSM_GEN_ +#define _FSM_GEN_ + +#ifndef FSM_NAME +#define FSM_NAME FSM +#endif + +#define XSTR(s) STR(s) +#define STR(s) #s +#define FSM_PASTE(a, b) a ## b +#define FSM_PASTE_EXPAND(a, b) FSM_PASTE (a, b) +#define FSM_PASTE3_EXPAND(a, b, c)\ + FSM_PASTE_EXPAND (a, FSM_PASTE_EXPAND (b, c)) +#define FIRST(first, others...) first + +#ifdef __AVR_ARCH__ +/* Include generated header. */ +#include XSTR (FSM_PASTE_EXPAND (fsm_, FSM_NAME)_gen.h) + +/* Disable init macro. */ +#define FSM_INIT + +/* Disable code generation macro. */ +#define FSM_GENERATE(arch, string) + +/* Disable FSM_IMPORT macro. */ +#define FSM_IMPORT(fsm_name) + +/** Immediatly handle an event by the fsm. */ +#define FSM_HANDLE(fsm, event) fsm_##fsm##_handle (FSM_EVENT_##fsm##_##event ) + +/** Says if an event can actually be handle or not by the fsm. */ +#define FSM_CAN_HANDLE(fsm, event) fsm_##fsm##_can_handle \ + (FSM_EVENT_##fsm##_##event) + +/** Reset fsm to it's initial state. */ +#define FSM_RESET(fsm) fsm_##fsm##_init (); + +/** Disable dot generation. */ +#define FSM_GEN_DOT(fsm) + +/** Disable state defining + * + * Define states of the fsm, can be called several times to add other states. */ +#define FSM_STATES(states...) + +/** Disable event defining */ +#define FSM_EVENTS(events...) + +/** Disable macro. */ +#define FSM_START_WITH(starters...) + +#define FSM_TRANS(state, event, output_branches...)\ + FSM_PASTE3_EXPAND (fsm_, FSM_NAME,_branch_t)\ +FSM_PASTE3_EXPAND (fsm_, FSM_NAME,_trans_func_##state##_##event) () + +#define FSM_NEXT(state, event, branch...)\ + FSM_PASTE3_EXPAND (FSM_BRANCH_, FSM_NAME,_##state##_##event##_##branch) + +/** Transform an event in uint16_t. */ +#define FSM_EVENT(fsm, event) FSM_EVENT_##fsm##_##event + +/** Handle event from uint16_t. */ +#define FSM_HANDLE_VAR(fsm, event) fsm_##fsm##_handle (event) + +/* Can we handle event from uint16_t ? */ +#define FSM_CAN_HANDLE_VAR(fsm, event) fsm_##fsm##_can_handle (event) + +/* Time out macros. */ +#define FSM_TRANS_TIMEOUT(state, timeout, output_branches...)\ + FSM_TRANS (state, state##_TIMEOUT, output_branches) + +#define FSM_NEXT_TIMEOUT(state, branch...)\ + FSM_NEXT (state, state##_TIMEOUT, branch) + +#define FSM_HANDLE_TIMEOUT(fsm_name) fsm_##fsm_name##_handle_timeout () + +#else /* Compiling for HOST */ +#include + +/* Describe an event. */ +typedef struct +{ + /* Name of the event. */ + char *var_name; + /* Unique code of the event. */ + uint code; +} fsm_build_event_t; + +/* Chain of events. */ +typedef struct fsm_build_event_chain_t +{ + fsm_build_event_t event; + struct fsm_build_event_chain_t *next; +} fsm_build_event_chain_t; + +/* Describe a state. Same as event. */ +typedef fsm_build_event_t fsm_build_state_t; + +/* Chain of state */ +typedef struct fsm_build_state_chain_t +{ + fsm_build_state_t state; + struct fsm_build_state_chain_t *next; +} fsm_build_state_chain_t; + +/** + * Describe a branch. It is the output of a transition. + * Branches can be chained when there are several possible output state for + * one event. + */ +typedef struct fsm_build_branch_chain_t +{ + /* Pointer to the output state of the branch. */ + fsm_build_state_t *state; + /* Name of the branch. */ + char *name; + /* Pointer to the next branch when we have the choice of the output */ + struct fsm_build_branch_chain_t *next; +} fsm_build_branch_chain_t; + +/** + * Describe a transition. + * When an event occurs, an active state may react to this event an execute a + * transition. The transition function returns the new state which become + * active. + */ +typedef struct +{ + /* Active state. */ + fsm_build_state_t *state; + /* Active event. */ + fsm_build_event_t *event; + /* Possible states the transition will return. */ + fsm_build_branch_chain_t *output_branches; +} fsm_build_trans_t; + +/* Chain of transitions. */ +typedef struct fsm_build_trans_chain_t +{ + fsm_build_trans_t trans; + struct fsm_build_trans_chain_t *next; +} fsm_build_trans_chain_t; + +/* Pointer to a transition function. */ +typedef fsm_build_state_t* (*fsm_build_run_strans_func_t)(void); + +/* Chain of transitions with associated function's pointer. */ +typedef struct fsm_trans_func_chain_t +{ + fsm_build_run_strans_func_t func; + fsm_build_trans_t trans; + struct fsm_trans_func_chain_t *next; +} fsm_trans_func_chain_t; + +/* Timeout structure. */ +typedef struct fsm_build_timeout_t +{ + uint timeout; + fsm_build_trans_t *trans; +} fsm_build_timeout_t; + +/* Chain of fsm_timeout_t. */ +typedef struct fsm_build_timeout_chain_t +{ + fsm_build_timeout_t timeout; + struct fsm_build_timeout_chain_t *next; +} fsm_build_timeout_chain_t; + +/* Data needed for fsm execution (for host). */ +typedef struct +{ + /* This table store pointers of aff all transition functions. The first + * dimension correspond to the events and the second to the states. If + * there is no transition of a event/state couple, NULL is set. This + * permit to react quickly to an event during execution but is not the + * best for memory cost. + */ + fsm_build_run_strans_func_t **trans_table; + /* Store pointer to active states. */ + fsm_build_state_t **active_states; + /* This array has the size of active_states and store the event who has + * triggered the corresponding active state. This is used for dot + * generation for visual purposes. + */ + fsm_build_event_t **events_before_active_state; + /* Store all pointers of transition functions. */ + fsm_trans_func_chain_t *func_pool; + /* Array of counters for timeout events. + * -1 mean counter is off. */ + int *timeout_counters; +} fsm_build_run_t; + +/* Store all Finite State Machine (fsm) informations. */ +typedef struct +{ + /* All events. */ + fsm_build_event_chain_t *events; + /* All states. */ + fsm_build_state_chain_t *states; + /* All transitions. */ + fsm_build_trans_chain_t *trans; + /* Name of the fsm. */ + char *name; + /* Maximal number of active states. */ + uint max_active_states; + /* Total number of events. */ + uint event_nb; + /* Total number of states. */ + uint state_nb; + /* First active states. */ + fsm_build_state_chain_t *starters; + /* All timeout. */ + fsm_build_timeout_chain_t *timeouts; + /* Data for running purposes. */ + fsm_build_run_t run; +} fsm_build_t; + +/* Store all fsm in a chain. */ +typedef struct fsm_build_chain_t +{ + fsm_build_t *fsm; + struct fsm_build_chain_t *next; +} fsm_build_chain_t; + +/* Store all fsm. */ +extern fsm_build_chain_t *fsm_build_all_fsm; +/* Function to initialize fsm_build_all_fsm. */ +void fsm_build_init_all_fsm () __attribute__((constructor(101))); + +/** Create the fsm and functions who will be executed before and after main + * function. This permits initilialization of the fsm. */ +extern fsm_build_t FSM_PASTE_EXPAND (fsm_, FSM_NAME); +void FSM_PASTE_EXPAND (fsm_build_init_, FSM_NAME)() __attribute__((constructor(102))); +void FSM_PASTE_EXPAND (fsm_build_run_init_, FSM_NAME)() __attribute__((constructor(107))); +void FSM_PASTE_EXPAND (fsm_build_free_, FSM_NAME)() __attribute__((destructor)); + +#define FSM_INIT\ + fsm_build_t FSM_PASTE_EXPAND (fsm_, FSM_NAME);\ +void FSM_PASTE_EXPAND (fsm_build_init_, FSM_NAME)()\ +{\ + fsm_build_init (FSM_PASTE_EXPAND (&fsm_, FSM_NAME), XSTR(FSM_NAME));\ +}\ +void FSM_PASTE_EXPAND (fsm_build_run_init_, FSM_NAME)()\ +{\ + fsm_build_run_init (& FSM_PASTE_EXPAND (fsm_, FSM_NAME));\ +}\ +void FSM_PASTE_EXPAND (fsm_build_free_, FSM_NAME)()\ +{\ + fsm_build_free (& FSM_PASTE_EXPAND (fsm_, FSM_NAME));\ +} + +#define FSM_IMPORT(fsm_name)\ + extern fsm_build_t fsm_##fsm_name; + +/** Generate source ou header files for the specific architecture */ +#define FSM_GENERATE(arch, string) fsm_build_gen (#arch, string); + +/** Immediatly handle an event by the fsm. */ +#define FSM_HANDLE(fsm, event) fsm_build_handle_string (&fsm_##fsm , #event) + +/** Says if an event can actually be handle or not by the fsm. */ +#define FSM_CAN_HANDLE(fsm, event) fsm_build_can_handle_string (&fsm_##fsm, #event) + +/** Reset fsm to it's initial state. */ +#define FSM_RESET(fsm) fsm_build_reset (&fsm_##fsm) + +/** Generate dot. */ +#define FSM_GEN_DOT(fsm) fsm_build_gen_dot (&fsm_##fsm) + +/** Define states of the fsm, can be called several times to add other states. */ +#define FSM_STATES(states...)\ + void FSM_PASTE3_EXPAND (fsm_build_states_, FSM_NAME, FIRST (states)) () __attribute__((constructor(103)));\ +void FSM_PASTE3_EXPAND (fsm_build_states_, FSM_NAME, FIRST (states)) ()\ +{\ + fsm_build_states (& FSM_PASTE_EXPAND (fsm_, FSM_NAME), #states);\ +} + +/** Define events of the fsm, can be called several times to add other events. */ +#define FSM_EVENTS(events...)\ + void FSM_PASTE3_EXPAND (fsm_build_events_, FSM_NAME, FIRST (events)) () __attribute__((constructor(103)));\ +void FSM_PASTE3_EXPAND (fsm_build_events_, FSM_NAME, FIRST (events)) ()\ +{\ + fsm_build_events (& FSM_PASTE_EXPAND (fsm_, FSM_NAME), #events);\ +} + +/** Define wich state(s) will be active at the beginning. */ +#define FSM_START_WITH(starters...)\ + void FSM_PASTE3_EXPAND (fsm_build_start_with_, FSM_NAME, FIRST (starters))() __attribute__((constructor(104)));\ +void FSM_PASTE3_EXPAND (fsm_build_start_with_, FSM_NAME, FIRST (starters))()\ +{\ + fsm_build_start_with (& FSM_PASTE_EXPAND (fsm_, FSM_NAME), #starters);\ +} + +/** + * Define a transition by giving a state, an event and: + * - a event if the transition returns only one state. + * - branches if the transition returns different states. + * See examples for reel usage. + */ +#define FSM_TRANS(state, event, output_branches...)\ + fsm_build_state_t* FSM_PASTE3_EXPAND (fsm_trans_, FSM_NAME,_##state##_##event) ();\ +void FSM_PASTE3_EXPAND (fsm_build_trans_, FSM_NAME,_##state##_##event)() __attribute__((constructor(105)));\ +void FSM_PASTE3_EXPAND (fsm_build_trans_, FSM_NAME,_##state##_##event)()\ +{\ + fsm_build_trans (& FSM_PASTE_EXPAND(fsm_, FSM_NAME), #state, #event,\ +#output_branches,\ + & FSM_PASTE3_EXPAND (fsm_trans_, FSM_NAME,_##state##_##event));\ +}\ +fsm_build_state_t* FSM_PASTE3_EXPAND (fsm_trans_, FSM_NAME,_##state##_##event) () + +/** + * Used to return next state by giving the actual transition informations and + * the branch (if there are several branches). + * Not directly returning the state can avoid some errors. * + */ +#define FSM_NEXT(state, event, branch...)\ + fsm_build_get_next_state (& FSM_PASTE_EXPAND (fsm_, FSM_NAME), #state, #event, #branch) + +/** + * Define a transition when a state times out. + * You have to provide a state, a timeout value and: + * - a event if the transition returns only one state. + * - branches if the transition returns different states. + * See examples for reel usage. + */ +#define FSM_TRANS_TIMEOUT(state, timeout, output_branches...)\ + void FSM_PASTE3_EXPAND (fsm_build_timeout_, FSM_NAME,_##state##_TIMEOUT)() __attribute__((constructor(106)));\ +void FSM_PASTE3_EXPAND (fsm_build_timeout_, FSM_NAME,_##state##_TIMEOUT)()\ +{\ + fsm_build_timeout (& FSM_PASTE_EXPAND(fsm_, FSM_NAME), #state, XSTR(state##_TIMEOUT), timeout);\ +}\ +FSM_EVENTS (state##_TIMEOUT)\ +FSM_TRANS (state, state##_TIMEOUT, output_branches) + +/** + * Used to return next state after a timeout. + * Same as FSM_NEXT but without specifying an event. + */ +#define FSM_NEXT_TIMEOUT(state, branch...)\ + FSM_NEXT (state, state##_TIMEOUT, branch) + +/** Used to handle timeout events. */ +#define FSM_HANDLE_TIMEOUT(fsm_name) fsm_build_handle_timeout (& FSM_PASTE_EXPAND (fsm_, FSM_NAME)) + +/** Transform an event in uint16_t. */ +#define FSM_EVENT(fsm_name, event) fsm_build_get_event_code (& FSM_PASTE_EXPAND (fsm_, FSM_NAME), #event) + +/** Handle event from uint16_t. */ +#define FSM_HANDLE_VAR(fsm, event) fsm_build_handle_integer (& FSM_PASTE_EXPAND (fsm_, FSM_NAME), event) + +/* Can we handle event from uint16_t ? */ +#define FSM_CAN_HANDLE_VAR(fSM, event) fsm_build_can_handle_integer (& FSM_PASTE_EXPAND (fsm_, FSM_NAME), event) + +/** + * Parse a string who contains a list of arguments seperated by comma. + * It will create and store each parameters (without space and ") in an array + * and give the number of parsed arguments. + * \param string string to parse + * \param tab pointer to a table of strings where to store the array + * \param nb pointer where to store the number of parsed arguments + */ +void +fsm_build_arg_parse (char *string, char ***tab, int *nb); + +/** + * Free an array of strings generated by fsm_build_arg_parse. + * \param tab pointer to the array of strings + * \param nb number of arguments stored in the array. + */ +void +fsm_build_arg_free (char ***tab, int nb); + +/** + * This function is executed when a state is returned by a transition. + * \param fsm fsm + * \param trans transition where the return occurs + * \param branch branch to transition has chosen. + */ +void +fsm_build_print (fsm_build_t *fsm, + fsm_build_trans_t* trans, + fsm_build_branch_chain_t* branch); + +/** + * Test the fsm and search for errors. + */ +void +fsm_build_sanity_check (fsm_build_t *fsm); + +/** Reset the fsm to it's initial state. */ +void +fsm_build_reset (fsm_build_t *fsm); + +/** Generate the dot file of the actual fsm state. */ +void +fsm_build_gen_dot (fsm_build_t *fsm); + +/** Initialize the fsm. */ +void +fsm_build_init (fsm_build_t *fsm, char *name); + +/** Initialize the running data of the fsm. */ +void +fsm_build_run_init (fsm_build_t *fsm); + +/** + * Add some states to the fsm. + * \param fsm fsm + * \param states states separated by comma + **/ +void +fsm_build_states (fsm_build_t *fsm, char *states); + +/** + * Add some events to the fsm. + * \param fsm fsm + * \param events events separated by comma + **/ +void +fsm_build_events (fsm_build_t *fsm, char *events); + +/** Get event's pointer by giving it's name. */ +fsm_build_event_t* +fsm_build_get_event (fsm_build_t *fsm, char *event); + +/** Get state's pointer by giving it's name. */ +fsm_build_state_t* +fsm_build_get_state (fsm_build_t *fsm, char *state); + +/** Get event's pointer by giving it's code. */ +fsm_build_event_t* +fsm_build_get_event_by_code (fsm_build_t *fsm, uint event); + +/** Get state's pointer by giving it's code. */ +fsm_build_state_t* +fsm_build_get_state_by_code (fsm_build_t *fsm, uint state); + +/** Get event code as uint16_t */ +uint16_t +fsm_build_get_event_code (fsm_build_t *fsm, char *event); + +/** + * Add a transition to the fsm. + * \param fsm fsm + * \param state state who will be active for the transition + * \param event event to react + * \param output_branches list of output branches seperated by comma or a + * single state (if there is only one branche). + * For example: + * - If the transition return a single state, it will be "stateX" + * - If the transition can return different states, it will be + * "branch1, state1, branch2, state2, branch3, state3" [...] + * \param trans_func pointer to the transition function. + */ +void +fsm_build_trans (fsm_build_t *fsm, + char *state, + char *event, + char *output_branches, + fsm_build_run_strans_func_t trans_func); + +/* Create transition based on a timeout. + * \param fsm fsm + * \param state state who times out + * \param event name of the timeout (specific to this state and described in macro) + * \param timeout value of timeout + */ +void +fsm_build_timeout (fsm_build_t *fsm, char *state, char *event, uint timeout); + +/** + * Define with which states the fsm will start. + * \param fsm fsm + * \param starters list of states seperated by comma + */ +void +fsm_build_start_with (fsm_build_t *fsm, char *starters); + +/** Handle an event by the fsm. + * \param fsm fsm + * \param event event to handle with fsm + * \return zero if event is not handled at all, one otherwise + **/ +int +fsm_build_handle (fsm_build_t *fsm, fsm_build_event_t *event); +int +fsm_build_handle_string (fsm_build_t *fsm, char *event); +int +fsm_build_handle_integer (fsm_build_t *fsm, uint16_t event); + +/** + * Say if the event can be handled or not. + * \param fsm fsm + * \param event event to test with the fsm + * \return zero if the event can be handled, non-zero otherwhise + */ +int +fsm_build_can_handle (fsm_build_t *fsm, fsm_build_event_t *event); +int +fsm_build_can_handle_string (fsm_build_t *fsm, char *event); +int +fsm_build_can_handle_integer (fsm_build_t *fsm, uint16_t event); + +/** + * Handle timeout events of the fsm. + * \param fsm fsm + * \return one if an event has been handled, zero otherwise + */ +int +fsm_build_handle_timeout (fsm_build_t *fsm); + +/** Give the state at the transition output. */ +fsm_build_state_t* +fsm_build_get_next_state (fsm_build_t *fsm, + char *state, + char *event, + char *branch); + +/** Generate header file for target which provides more optimised version of + * fsm execution + * \param arch specify generated architecture + * \param embedded_strings ask to embed states and events strings (0 = not + * embedded) + */ +void +fsm_build_gen (char *arch, uint embedded_strings); +void +fsm_build_gen_avr_h (fsm_build_t *fsm, uint embedded_strings); +void +fsm_build_gen_avr_c (fsm_build_t *fsm, uint embedded_strings); + +/** Free fsm allocated data. */ +void +fsm_build_free (fsm_build_t *fsm); + +#endif /* Architectures */ + +#endif /* #ifdef _FSM_GEN_ */ diff --git a/digital/ai/src/fsm/fsm.host.c b/digital/ai/src/fsm/fsm.host.c new file mode 100644 index 00000000..bf8b761d --- /dev/null +++ b/digital/ai/src/fsm/fsm.host.c @@ -0,0 +1,1571 @@ +/* + AngFSM - AngFSM - Almost Non Generated Finite State Machine + + Copyright 2011 Jerome Jutteau + +Contact: + * email: j.jutteau _AT_ gmail _DOT_ com + * website: http://fuu.im/angfsm/ + + This file is part of AngFSM. + + AngFSM is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + AngFSM is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with AngFSM. If not, see . + */ + +#include "fsm.h" + +#include +#include +#include +#include + +void +fsm_build_arg_parse (char *string, char ***tab, int *nb) +{ + long i = 0; + long buff_cnt = 0; + char *buff; + int nb_cur = 0; + int param = 0; + + assert (string && tab && nb); + if (strlen (string) == 0) + { + *nb = 0; + **tab = NULL; + return; + } + buff = strdup (string); + + /* Count. */ + *nb = 1; + for (i = 0; string[i] != '\0'; i++) + if (string[i] == ',') + (*nb)++; + *tab = (char **) malloc ((*nb) * sizeof (char *)); + + /* Fill. */ + for (i = 0; i < (long) strlen (string) + 1; i++) + { + if (string[i] == ',' || string[i] == '\0') + { + param = 0; + buff[buff_cnt] = '\0'; + (*tab)[nb_cur] = strdup (buff); + buff_cnt=0; + nb_cur++; + } + else if (string[i] != '"' && string[i] != ' ') + { + if (param == 0) + param = 1; + if (param == 2) + printf ("Parse error in \"%s\"\n", string); + buff[buff_cnt++] = string[i]; + } + else if (string[i] == ' ') + { + if (param == 1) + param = 2; + } + } + free (buff); +} + +void +fsm_build_arg_free (char ***tab, int nb) +{ + assert (*tab); + int i; + for (i = 0; i < nb; i++) + { + assert ((*tab)[i]); + free ((*tab)[i]); + } + free (*tab); +} + +void +fsm_build_print (fsm_build_t *fsm, + fsm_build_trans_t *trans, + fsm_build_branch_chain_t *branch) +{ + //XXX What to do here ? + if (branch->name == NULL) + fprintf (stderr, "Transition: %s -- %s --> %s\n", + trans->state->var_name, + trans->event->var_name, + branch->state->var_name); + else + fprintf (stderr, "Transition: %s -- %s --> %s (%s)\n", + trans->state->var_name, + trans->event->var_name, + branch->name, + branch->state->var_name); +} + +void +fsm_build_sanity_check (fsm_build_t *fsm) +{ + fsm_build_event_chain_t *ec; + fsm_build_event_chain_t *ec_tmp; + fsm_build_state_chain_t *sc; + fsm_build_state_chain_t *sc_tmp; + fsm_build_trans_chain_t *tc; + fsm_build_trans_chain_t *tc_tmp; + fsm_build_branch_chain_t *bc; + uint b; + + /* Sanity check 1: are all states has a different name ? */ + sc = fsm->states; + while (sc != NULL) + { + sc_tmp = fsm->states; + while (sc_tmp != NULL) + { + if (sc != sc_tmp + && strcmp (sc->state.var_name, sc_tmp->state.var_name) + == 0) + assert (!"All states must have a different name."); + sc_tmp = sc_tmp->next; + } + sc = sc->next; + } + + /* Sanity check 2: are all events has a different name ? */ + ec = fsm->events; + while (ec != NULL) + { + ec_tmp = fsm->events; + while (ec_tmp != NULL) + { + if (ec != ec_tmp + && strcmp (ec->event.var_name, ec_tmp->event.var_name) + == 0) + assert (!"All events must have a different name."); + ec_tmp = ec_tmp->next; + } + ec = ec->next; + } + + /* Sanity check 3: are all events used in a transition ? */ + ec = fsm->events; + while (ec != NULL) + { + b = 0; + tc = fsm->trans; + while (tc != NULL) + { + if (&ec->event == tc->trans.event) + { + b = 1; + break; + } + tc = tc->next; + } + if (!b) + fprintf (stderr, "Warning, some events are not used in a transition (%s).\n", + ec->event.var_name); + ec = ec->next; + } + + /* Sanity check 4: are all states used in a transition ? */ + sc = fsm->states; + while (sc != NULL) + { + b = 0; + tc = fsm->trans; + while (tc != NULL) + { + if (&sc->state == tc->trans.state) + { + b = 1; + break; + } + /* This state may be a final state. */ + bc = tc->trans.output_branches; + while (bc != NULL) + { + if (&sc->state == bc->state) + { + b = 1; + break; + } + bc = bc->next; + } + + tc = tc->next; + } + if (!b) + fprintf (stderr, "Warning, some states are not used in a transition (%s).\n", + sc->state.var_name); + sc = sc->next; + } + + /* Sanity check 5: are all states can be reached during execution ? */ + fsm_build_state_chain_t *stack = NULL; + fsm_build_state_chain_t *tail = NULL; + uint i; + /* Initialise check array. */ + uint *check_tab = malloc (fsm->state_nb * sizeof (uint)); + memset (check_tab, 0, fsm->state_nb * sizeof (uint)); + /* Initialize by adding first active states the stack. */ + sc = fsm->starters; + while (sc != NULL) + { + sc_tmp = (fsm_build_state_chain_t *) + malloc (sizeof (fsm_build_state_chain_t)); + sc_tmp->state = sc->state; + if (stack == NULL) + stack = sc_tmp; + if (tail != NULL) + tail->next = sc_tmp; + sc_tmp->next = NULL; + tail = sc_tmp; + sc = sc->next; + } + /* Get next states from the stack and check them. */ + while (stack != NULL) + { + /* Check state. */ + check_tab[stack->state.code] = 1; + /* Add to the tail of the stack th next states if they are not checked + * yet. */ + tc = fsm->trans; + while (tc != NULL) + { + if (tc->trans.state->code == stack->state.code) + { + bc = tc->trans.output_branches; + while (bc != NULL) + { + if (!check_tab[bc->state->code]) + { + check_tab[bc->state->code] = 1; + /* Add at the end of the stack. */ + sc_tmp = (fsm_build_state_chain_t *) + malloc (sizeof (fsm_build_state_chain_t)); + sc_tmp->state = *bc->state; + sc_tmp->next = NULL; + tail->next = sc_tmp; + tail = sc_tmp; + } + bc = bc->next; + } + } + tc = tc->next; + } + sc_tmp = stack->next; + free (stack); + stack = sc_tmp; + } + /* Check if some states are not reached. */ + for (i = 0; i < fsm->state_nb; i++) + if (!check_tab[i]) + fprintf (stderr, "Warning, some states won't be reachable during execution (%s).\n", + fsm_build_get_state_by_code (fsm, i)->var_name); + /* Free. */ + free (check_tab); + + /* Sanity check 6: Any transition how have the same state and same event ? + * Useless test ? Making the same state/event couple will cause a + * compilation error. + */ + tc = fsm->trans; + while (tc != NULL) + { + tc_tmp = fsm->trans; + while (tc_tmp != NULL) + { + if (tc != tc_tmp + && tc->trans.state == tc_tmp->trans.state + && tc->trans.event == tc_tmp->trans.event) + assert (!"All transitions must have a different state/event\ + couple."); + tc_tmp = tc_tmp->next; + } + tc = tc->next; + } + + /* Sanity check 7: check that all first active states are unique. */ + sc = fsm->starters; + while (sc != NULL) + { + uint b = 0; + sc_tmp = fsm->starters; + while (sc_tmp != NULL) + { + if (sc_tmp->state.code == sc->state.code) + b++; + if (b > 1) + assert (!"Your first active states must be unique."); + sc_tmp = sc_tmp->next; + } + sc = sc->next; + } + + /* Sanity check 8: any transition output error ? + * for example, as we are in state s42, making a FSM_NEXT (s1, e2) will + * work but this is a user's mistake. + * + * TODO Find a way to check this. + **/ +} + +void +fsm_build_reset (fsm_build_t *fsm) +{ + uint i; + fsm_build_state_chain_t *curs = fsm->starters; + for (i = 0; i < fsm->max_active_states; i++) + { + fsm->run.active_states[i] = NULL; + fsm->run.events_before_active_state[i] = NULL; + } + i = 0; + while (curs != NULL) + { + fsm->run.active_states[i++] = &curs->state; + curs = curs->next; + } +} + +void +fsm_build_gen_dot (fsm_build_t *fsm) +{ + static uint cpt = 1; + uint j; + fsm_build_trans_chain_t *tc; + fsm_build_branch_chain_t *bc; + + uint fns = strlen (fsm->name) + strlen ("dot__.dot") + cpt + 1; + char *fn = malloc (fns * sizeof (char)); + snprintf (fn, fns, "dot_%s_%u.dot", fsm->name, cpt++); + FILE *f = fopen(fn,"w"); + + /* Gen graph. */ + fprintf (f, "digraph %s {\n", fsm->name); + tc = fsm->trans; + while (tc != NULL) + { + bc = tc->trans.output_branches; + while (bc != NULL) + { + fprintf (f, "\t%s -> %s [label=\"%s", + tc->trans.state->var_name, + bc->state->var_name, + tc->trans.event->var_name); + if (bc->name != NULL) + fprintf (f, " (%s)", bc->name); + fprintf (f, "\""); + /* If the next state is an active state we look if this this event + * was handled before. */ + for (j = 0; j < fsm->max_active_states; j++) + if (fsm->run.active_states[j] + && fsm->run.active_states[j]->code == bc->state->code) + if (fsm->run.events_before_active_state[j] + && fsm->run.events_before_active_state[j]->code + == tc->trans.event->code) + fprintf (f, ", color=red"); + + fprintf (f, "];\n"); + bc = bc->next; + } + tc = tc->next; + } + /* Colorise active states. */ + for (j = 0; j < fsm->max_active_states; j++) + if (fsm->run.active_states[j]) + fprintf (f, "\t%s [color=blue, fontcolor=white, style=filled];\n", + fsm->run.active_states[j]->var_name); + + fprintf (f, "}\n\n"); + + /* Close file. */ + fclose (f); + + /* Free. */ + free (fn); +} + +/* All fsm. */ +fsm_build_chain_t *fsm_build_all_fsm; +void fsm_build_init_all_fsm () +{ + fsm_build_all_fsm = NULL; +} + +/* Just initialise structures. */ +void +fsm_build_init (fsm_build_t *fsm, char *name) +{ + assert (fsm); + fsm->events = NULL; + fsm->states = NULL; + fsm->trans = NULL; + fsm->name = name; + fsm->max_active_states = 0; + fsm->event_nb = 0; + fsm->state_nb = 0; + fsm->starters = NULL; + fsm->timeouts = NULL; + + fsm->run.trans_table = NULL; + fsm->run.active_states = NULL; + fsm->run.events_before_active_state = NULL; + fsm->run.func_pool = NULL; + fsm->run.timeout_counters = NULL; + + /* Store fsm. */ + fsm_build_chain_t *niou = (fsm_build_chain_t *) + malloc (sizeof (fsm_build_chain_t)); + niou->fsm = fsm; + niou->next = fsm_build_all_fsm; + fsm_build_all_fsm = niou; +} + +/* Prepare the fsm to run (at very end). */ +void +fsm_build_run_init (fsm_build_t *fsm) +{ + uint i,j; + + /* Sanity check. */ + fsm_build_sanity_check (fsm); + + /* Create empty transition table. */ + fsm->run.trans_table = (fsm_build_run_strans_func_t **) + malloc (fsm->event_nb * sizeof (fsm_build_run_strans_func_t *)); + for (i = 0; i < fsm->event_nb; i++) + { + fsm->run.trans_table[i] = (fsm_build_run_strans_func_t *) + malloc (fsm->state_nb * sizeof (fsm_build_run_strans_func_t)); + for (j = 0; j < fsm->state_nb; j++) + fsm->run.trans_table[i][j] = NULL; + } + + /* Fill with transitions. */ + fsm_trans_func_chain_t *fc = fsm->run.func_pool; + while (fc != NULL) + { + fsm->run.trans_table[fc->trans.event->code][fc->trans.state->code] = + fc->func; + fc = fc->next; + } + + /* Free function pool. */ + fsm_trans_func_chain_t *old_fc; + fc = fsm->run.func_pool; + while (fc != NULL) + { + old_fc = fc; + fc = fc->next; + free (old_fc); + } + fsm->run.func_pool = NULL; + + /* Initialize active states. */ + fsm->run.active_states = (fsm_build_state_t **) malloc + (fsm->max_active_states * sizeof (fsm_build_state_t *)); + for (i = 0; i < fsm->max_active_states; i++) + fsm->run.active_states[i] = NULL; + fsm_build_state_chain_t *s = fsm->starters; + i = 0; + while (s != NULL) + { + fsm->run.active_states[i++] = &s->state; + s = s->next; + } + + /* Initialize last events before active states. */ + fsm->run.events_before_active_state = (fsm_build_event_t **) malloc + (fsm->max_active_states * sizeof (fsm_build_event_t *)); + for (i = 0; i < fsm->max_active_states; i++) + fsm->run.events_before_active_state[i] = NULL; + + /* Initialize timeout counters. */ + fsm->run.timeout_counters = (int *) + malloc (fsm->max_active_states * sizeof (int)); + for (i = 0; i < fsm->max_active_states; i++) + fsm->run.timeout_counters[i] = -1; + fsm_build_timeout_chain_t *toc = fsm->timeouts; + for (i = 0; i < fsm->max_active_states; i++) + while (toc != NULL) + { + if (fsm->run.active_states[i]->code + == toc->timeout.trans->state->code) + fsm->run.timeout_counters[i] = toc->timeout.timeout; + toc = toc->next; + } +} + +void +fsm_build_states (fsm_build_t *fsm, char *states) +{ + fsm_build_state_chain_t *head = fsm->states; + char **args; + int i, nb; + + fsm_build_arg_parse (states, &args, &nb); + for (i = 0; i < nb; i++) + { + fsm_build_state_chain_t *s = (fsm_build_state_chain_t *) + malloc (sizeof (fsm_build_state_chain_t)); + s->state.var_name = strdup (args[i]); + s->state.code = fsm->state_nb++; + s->next = head; + head = s; + } + fsm_build_arg_free (&args, nb); + fsm->states = head; +} + +void +fsm_build_events (fsm_build_t *fsm, char *events) +{ + fsm_build_event_chain_t *head = fsm->events; + char **args; + int i, nb; + + if (strcmp (events, "_TIMEOUT_") == 0 + && fsm_build_get_event (fsm, events) != NULL) + return; + fsm_build_arg_parse (events, &args, &nb); + for (i = 0; i < nb; i++) + { + fsm_build_event_chain_t *e = (fsm_build_event_chain_t *) + malloc (sizeof (fsm_build_event_chain_t)); + e->event.var_name = strdup (args[i]); + e->event.code = fsm->event_nb++; + e->next = head; + head = e; + } + fsm_build_arg_free (&args, nb); + fsm->events = head; +} + +fsm_build_event_t * +fsm_build_get_event (fsm_build_t *fsm, char *event) +{ + fsm_build_event_chain_t *curs = fsm->events; + while (curs != NULL) + { + if (strcmp (curs->event.var_name, event) == 0) + return &(curs->event); + curs = curs->next; + } + return NULL; +} + +fsm_build_state_t * +fsm_build_get_state (fsm_build_t *fsm, char *state) +{ + fsm_build_state_chain_t *curs = fsm->states; + while (curs != NULL) + { + if (strcmp (curs->state.var_name, state) == 0) + return &(curs->state); + curs = curs->next; + } + return NULL; +} + +fsm_build_event_t* +fsm_build_get_event_by_code (fsm_build_t *fsm, uint event) +{ + fsm_build_event_chain_t *curs = fsm->events; + while (curs != NULL) + { + if (curs->event.code == event) + return &(curs->event); + curs = curs->next; + } + return NULL; +} + +fsm_build_state_t* +fsm_build_get_state_by_code (fsm_build_t *fsm, uint state) +{ + fsm_build_state_chain_t *curs = fsm->states; + while (curs != NULL) + { + if (curs->state.code == state) + return &(curs->state); + curs = curs->next; + } + return NULL; +} + +uint16_t +fsm_build_get_event_code (fsm_build_t *fsm, char *event) +{ + assert (fsm); + fsm_build_event_t *e = fsm_build_get_event (fsm, event); + assert (e); + return e->code; +} + +void +fsm_build_trans (fsm_build_t *fsm, + char *state, + char *event, + char *output_branches, + fsm_build_run_strans_func_t trans_func) +{ + fsm_build_trans_t t; + fsm_build_branch_chain_t *b; + char **args; + int i, nb; + + t.output_branches = NULL; + /* Check state and event exists. */ + t.state = fsm_build_get_state (fsm, state); + t.event = fsm_build_get_event (fsm, event); + assert (t.state); + assert (t.event); + + fsm_build_arg_parse (output_branches, &args, &nb); + /* Only one output state. */ + if (nb == 1) + { + t.output_branches = (fsm_build_branch_chain_t *) + malloc (sizeof (fsm_build_branch_chain_t)); + t.output_branches->name = NULL; + t.output_branches->state = fsm_build_get_state (fsm, args[0]); + assert (t.output_branches->state); + t.output_branches->next = NULL; + } + else + for (i = 0; i < nb; i = i + 2) + { + b = (fsm_build_branch_chain_t *) + malloc (sizeof (fsm_build_branch_chain_t)); + b->name = strdup (args[i]); + b->state = fsm_build_get_state (fsm, args[i+1]); + assert (b->state); + b->next = t.output_branches; + t.output_branches = b; + } + fsm_build_arg_free (&args, nb); + + /* Add trans to fsm. */ + fsm_build_trans_chain_t *tc = (fsm_build_trans_chain_t *) + malloc (sizeof (fsm_build_trans_chain_t)); + tc->trans = t; + tc->next = fsm->trans; + fsm->trans = tc; + + /* Add trans function to run context. */ + fsm_trans_func_chain_t *fc = (fsm_trans_func_chain_t *) + malloc (sizeof (fsm_trans_func_chain_t)); + fc->func = trans_func; + fc->trans = tc->trans; + fc->next = fsm->run.func_pool; + fsm->run.func_pool = fc; +} + +void +fsm_build_timeout (fsm_build_t *fsm, char *state, char *event, uint timeout) +{ + fsm_build_trans_chain_t *tc = NULL; + fsm_build_trans_t *t = NULL; + fsm_build_state_t *s = NULL; + fsm_build_event_t *e = NULL; + fsm_build_timeout_chain_t *to = NULL; + + assert (fsm); + assert (state); + assert (event); + + /* Find the corresponding transition. */ + tc = fsm->trans; + s = fsm_build_get_state (fsm, state); + e = fsm_build_get_event (fsm, event); + assert (tc); + assert (s); + assert (e); + while (tc != NULL) + { + if (tc->trans.state == s && tc->trans.event == e) + { + t = &tc->trans; + break; + } + tc = tc->next; + } + assert (t); + + /* Fill a new timeout. */ + to = (fsm_build_timeout_chain_t *) + malloc (sizeof (fsm_build_timeout_chain_t)); + to->timeout.timeout = timeout; + to->timeout.trans = t; + + /* Add timeout to chain. */ + to->next = fsm->timeouts; + fsm->timeouts = to; +} + +void +fsm_build_start_with (fsm_build_t *fsm, char *starters) +{ + char **args; + int nb, i; + fsm_build_arg_parse (starters, &args, &nb); + fsm->max_active_states += nb; + for (i=0; i < nb; i++) + { + fsm_build_state_chain_t *sc = (fsm_build_state_chain_t *) + malloc (sizeof (fsm_build_state_chain_t)); + fsm_build_state_t *s = fsm_build_get_state (fsm, args[i]); + assert (s); + sc->state = *s; + sc->next = fsm->starters; + fsm->starters = sc; + } + fsm_build_arg_free (&args, nb); +} + +int +fsm_build_handle (fsm_build_t *fsm, fsm_build_event_t *e) +{ + fsm_build_state_t *s = NULL; + fsm_build_timeout_chain_t *toc = NULL; + assert (e); + uint i; + int handled = 0; + for (i = 0; i < fsm->max_active_states; i++) + { + s = fsm->run.active_states[i]; + if (s && fsm->run.trans_table[e->code][s->code]) + { + fsm->run.events_before_active_state[i] = e; + fsm->run.active_states[i] = fsm->run.trans_table[e->code][s->code](); + /* Check the new state has a timeout or not. */ + toc = fsm->timeouts; + fsm->run.timeout_counters[i] = -1; + while (toc != NULL) + { + if (toc->timeout.trans->state->code + == fsm->run.active_states[i]->code) + { + fsm->run.timeout_counters[i] = toc->timeout.timeout; + break; + } + toc = toc->next; + } + + handled = 1; + } + } + return handled; +} + +int +fsm_build_handle_string (fsm_build_t *fsm, char *event) +{ + fsm_build_event_t *e = fsm_build_get_event (fsm, event); + return fsm_build_handle (fsm, e); +} + +int +fsm_build_handle_integer (fsm_build_t *fsm, uint16_t event) +{ + fsm_build_event_t *e = fsm_build_get_event_by_code (fsm, event); + return fsm_build_handle (fsm, e); +} + +int +fsm_build_can_handle (fsm_build_t *fsm, fsm_build_event_t *e) +{ + fsm_build_state_t *s = NULL; + assert (e); + uint i; + for (i = 0; i < fsm->max_active_states; i++) + { + s = fsm->run.active_states[i]; + if (s && fsm->run.trans_table[e->code][s->code]) + return 1; + } + return 0; +} + +int +fsm_build_can_handle_string (fsm_build_t *fsm, char *event) +{ + fsm_build_event_t *e = fsm_build_get_event (fsm, event); + return fsm_build_can_handle (fsm, e); +} + +int +fsm_build_can_handle_integer (fsm_build_t *fsm, uint16_t event) +{ + fsm_build_event_t *e = fsm_build_get_event_by_code (fsm, event); + return fsm_build_can_handle (fsm, e); +} + +int +fsm_build_handle_timeout (fsm_build_t *fsm) +{ + int out = 0; + int i; + char *event = NULL; + for (i = 0; i < (int) fsm->max_active_states; i++) + { + if (fsm->run.timeout_counters[i] > 0) + fsm->run.timeout_counters[i]--; + /* We have a timeout event. */ + if (fsm->run.timeout_counters[i] == 0) + { + fsm->run.timeout_counters[i] = -1; + /* build event string */ + event = (char *) malloc ( + (strlen (fsm->run.active_states[i]->var_name) + + strlen ("_TIMEOUT") + 1) * sizeof (char)); + sprintf (event, "%s_TIMEOUT", fsm->run.active_states[i]->var_name); + fsm_build_handle_string (fsm, event); + out = 1; + } + } + return out; +} + +fsm_build_state_t* +fsm_build_get_next_state (fsm_build_t *fsm, + char *state, + char *event, + char *branch) +{ + fsm_build_state_t *s; + fsm_build_event_t *e; + fsm_build_trans_chain_t *t_curs; + fsm_build_branch_chain_t *b_curs; + + /* Convert input data. */ + s = fsm_build_get_state (fsm, state); + e = fsm_build_get_event (fsm, event); + assert (s && e); + + /* Get transition. */ + t_curs = fsm->trans; + while (t_curs != NULL) + { + if (s == t_curs->trans.state && e == t_curs->trans.event) + break; + t_curs = t_curs->next; + } + assert (t_curs); + assert (t_curs->trans.output_branches); + + /* If we have only one branch. */ + if (strlen (branch) == 0) + { + /* Branch has to be given is there are multiple branches. */ + assert (t_curs->trans.output_branches->next == NULL); + fsm_build_print (fsm, &t_curs->trans, t_curs->trans.output_branches); + return t_curs->trans.output_branches->state; + } + + /* Find correct branch. */ + b_curs = t_curs->trans.output_branches; + while (b_curs != NULL) + { + if (strcmp (b_curs->name, branch) == 0) + break; + b_curs = b_curs->next; + } + assert (b_curs); + fsm_build_print (fsm, &t_curs->trans, b_curs); + return b_curs->state; +} + +void +fsm_build_gen_avr_h (fsm_build_t *fsm, uint embedded_strings) +{ + fsm_build_state_chain_t *sc; + fsm_build_event_chain_t *ec; + fsm_build_trans_chain_t *tc; + fsm_build_branch_chain_t *bc; + fsm_build_state_t *s; + fsm_build_event_t *e; + fsm_build_chain_t *all_fsm; + uint i, j; + + /* Open file. */ + char *fn = (char *) malloc ((strlen (fsm->name) + + strlen ("fsm_gen_.h") + 1) * sizeof (char)); + sprintf (fn, "fsm_%s_gen.h", fsm->name); + FILE *f = fopen (fn, "w"); + + /* Introduction. */ + fprintf (f, "/* This file has been generated, do not edit. */\n\n"); + fprintf (f, "#ifndef _FSM_%s_\n", fsm->name); + fprintf (f, "#define _FSM_%s_\n\n", fsm->name); + fprintf (f, "#include \n"); + fprintf (f, "#include \n\n"); + + /* Include all other fsm headers. */ + all_fsm = fsm_build_all_fsm; + while (all_fsm != NULL) + { + fprintf (f, "#include \"fsm_%s_gen.h\"\n",all_fsm->fsm->name); + all_fsm = all_fsm->next; + } + + /* Gen max active states define */ + fprintf (f, "#define fsm_%s_max_active_states %u\n", + fsm->name, + fsm->max_active_states); + + /* Gen state enum. */ + fprintf (f, "typedef enum\n{\n"); + sc = fsm->states; + while (sc != NULL) + { + fprintf (f, "\tFSM_STATE_%s_%s = %u,\n", fsm->name, sc->state.var_name, sc->state.code); + sc = sc->next; + } + fprintf (f, "\tFSM_STATE_%s_NB_ = %u\n", fsm->name, fsm->state_nb); + fprintf (f, "} fsm_%s_state_t;\n\n", fsm->name); + + /* Gen event enum. */ + fprintf (f, "typedef enum\n{\n"); + ec = fsm->events; + while (ec != NULL) + { + fprintf (f, "\tFSM_EVENT_%s_%s = %u,\n", fsm->name, ec->event.var_name, ec->event.code); + ec = ec->next; + } + fprintf (f, "\tFSM_EVENT_%s_NB_ = %u\n", fsm->name, fsm->event_nb); + fprintf (f, "} fsm_%s_event_t;\n\n", fsm->name); + + /* Gen state strings. */ + if (embedded_strings) + { + sc = fsm->states; + while (sc != NULL) + { + fprintf (f, "extern prog_char fsm_%s_state_str_%s[%u] PROGMEM;\n", + fsm->name, + sc->state.var_name, + strlen (sc->state.var_name) + 1); + sc = sc->next; + } + fprintf (f, "extern const char *fsm_%s_state_str[%u] PROGMEM;\n\n", + fsm->name, + fsm->state_nb); + + /* Gen event strings. */ + ec = fsm->events; + while (ec != NULL) + { + fprintf (f, "extern prog_char fsm_%s_event_str_%s[%u] PROGMEM;\n", + fsm->name, + ec->event.var_name, + strlen (ec->event.var_name) + 1); + ec = ec->next; + } + fprintf (f, "extern const char *fsm_%s_event_str[%u] PROGMEM;\n\n", + fsm->name, + fsm->event_nb); + + /* Create a RAM string able to store event or state string. */ + j = 0; + for (i = 0; i < fsm->event_nb; i++) + { + e = fsm_build_get_event_by_code (fsm, i); + if (strlen (e->var_name) > j) + j = strlen (e->var_name); + } + for (i = 0; i < fsm->state_nb; i++) + { + s = fsm_build_get_state_by_code (fsm, i); + if (strlen (s->var_name) > j) + j = strlen (s->var_name); + } + fprintf (f, "extern char fsm_%s_str_buff[%u];\n", fsm->name, j + 1); + + /* Convert an event enum in string. */ + fprintf (f, "char *\nfsm_%s_get_event_string_from_enum \ + (fsm_%s_event_t e);\n", fsm->name, fsm->name); + + /* Convert a event string in enum. */ + fprintf (f, "fsm_%s_event_t\nfsm_%s_get_event_enum_from_string \ + (char *str);\n", fsm->name, fsm->name); + + /* Convert an state enum in string. */ + fprintf (f, "char *\nfsm_%s_get_state_string_from_enum \ + (fsm_%s_state_t s);\n", fsm->name, fsm->name); + + /* Convert a state string in enum. */ + fprintf (f, "fsm_%s_state_t\nfsm_%s_get_state_enum_from_string \ + (char *str);\n", fsm->name, fsm->name); + } + + /* Gen transitions branches enum. */ + fprintf (f, "typedef enum\n{\n"); + tc = fsm->trans; + while (tc != NULL) + { + bc = tc->trans.output_branches; + while (bc != NULL) + { + if (bc->name != NULL) + fprintf (f, "\tFSM_BRANCH_%s_%s_%s_%s = %u,\n", + fsm->name, + tc->trans.state->var_name, + tc->trans.event->var_name, + bc->name, + bc->state->code); + else + fprintf (f, "\tFSM_BRANCH_%s_%s_%s_ = %u,\n", + fsm->name, + tc->trans.state->var_name, + tc->trans.event->var_name, + bc->state->code); + bc = bc->next; + } + tc = tc->next; + } + fprintf (f, "} fsm_%s_branch_t;\n\n", fsm->name); + + /* Gen function headers. */ + tc = fsm->trans; + while (tc != NULL) + { + fprintf (f, "fsm_%s_branch_t fsm_%s_trans_func_%s_%s (void);\n", + fsm->name, + fsm->name, + tc->trans.state->var_name, + tc->trans.event->var_name); + tc = tc->next; + } + fprintf (f, "\n"); + + /* Gen function table. */ + fprintf (f, "typedef fsm_%s_branch_t (*fsm_%s_func_t)(void);\n", fsm->name, + fsm->name); + fprintf (f, "extern const fsm_%s_func_t PROGMEM fsm_%s_trans_table[%u][%u];\n\n", + fsm->name, + fsm->name, + fsm->event_nb, + fsm->state_nb); + + /* Gen active states array. */ + fprintf (f, "extern fsm_%s_state_t fsm_%s_active_states[%u];\n\n", + fsm->name, + fsm->name, + fsm->max_active_states); + + /* Gen initialization function. */ + sc = fsm->starters; + i = 0; + fprintf (f, "void\nfsm_%s_init () __attribute__ ((constructor));\n\n", + fsm->name); + + /* Gen handle function. */ + fprintf (f, "int\nfsm_%s_handle (fsm_%s_event_t e);\n", + fsm->name, + fsm->name); + + /* Gen can handle function. */ + fprintf (f, "uint16_t\nfsm_%s_can_handle (fsm_%s_event_t e);\n\n", + fsm->name, + fsm->name); + + if (fsm->timeouts != NULL) + { + /* Gen handle timeout function. */ + fprintf (f, "int\nfsm_%s_handle_timeout ();\n", + fsm->name); + + /* Gen timeout values. */ + fprintf (f, "extern int32_t fsm_%s_timeout_values[FSM_STATE_%s_NB_];\n", + fsm->name, + fsm->name); + + /* Gen timeout corresponding events. */ + fprintf (f, "extern fsm_%s_event_t fsm_%s_timeout_events[FSM_STATE_%s_NB_];\n", + fsm->name, + fsm->name, + fsm->name); + + /* Gen timeout counters array. */ + fprintf (f, "extern int32_t fsm_%s_timeout_counters[%u];\n\n", + fsm->name, + fsm->max_active_states); + } + + /* Conclusion. */ + fprintf (f, "#endif /* #ifndef _FSM_%s_ */", fsm->name), + + /* Close file. */ + fclose (f); + + /* Free. */ + free (fn); +} + +void +fsm_build_gen_avr_c (fsm_build_t *fsm, uint embedded_strings) +{ + fsm_build_state_chain_t *sc; + fsm_build_event_chain_t *ec; + fsm_build_trans_chain_t *tc; + fsm_build_timeout_chain_t *toc; + fsm_build_state_t *s; + fsm_build_event_t *e; + uint i, j, found; + + /* Open file. */ + char *fn = (char*) malloc ((strlen (fsm->name) + + strlen ("fsm_gen_.c") + 1) * sizeof (char)); + sprintf (fn, "fsm_%s_gen.c", fsm->name); + FILE *f = fopen (fn, "w"); + + /* Introduction. */ + fprintf (f, "/* This file has been generated, do not edit. */\n\n"); + fprintf (f, "#include \"fsm_%s_gen.h\"\n\n", fsm->name); + + /* Gen state strings. */ + if (embedded_strings) + { + sc = fsm->states; + while (sc != NULL) + { + fprintf (f, "prog_char fsm_%s_state_str_%s[] PROGMEM = \"%s\";\n", + fsm->name, + sc->state.var_name, + sc->state.var_name); + sc = sc->next; + } + fprintf (f, "const char *fsm_%s_state_str[] PROGMEM =\n{\n", fsm->name); + for (i = 0; i < fsm->state_nb; i++) + { + s = fsm_build_get_state_by_code (fsm, i); + fprintf (f, "\tfsm_%s_state_str_%s", fsm->name, s->var_name); + if (i == fsm->state_nb - 1) + fprintf (f, "\n"); + else + fprintf (f, ",\n"); + } + fprintf (f, "};\n\n"); + + /* Gen event strings. */ + ec = fsm->events; + while (ec != NULL) + { + fprintf (f, "prog_char fsm_%s_event_str_%s[] PROGMEM = \"%s\";\n", + fsm->name, + ec->event.var_name, + ec->event.var_name); + ec = ec->next; + } + fprintf (f, "const char *fsm_%s_event_str[] PROGMEM =\n{\n", fsm->name); + for (i = 0; i < fsm->event_nb; i++) + { + e = fsm_build_get_event_by_code (fsm, i); + fprintf (f, "\tfsm_%s_event_str_%s", fsm->name, e->var_name); + if (i == fsm->event_nb - 1) + fprintf (f, "\n"); + else + fprintf (f, ",\n"); + } + fprintf (f, "};\n\n"); + + /* Create a RAM string able to store event or state string. */ + j = 0; + for (i = 0; i < fsm->event_nb; i++) + { + e = fsm_build_get_event_by_code (fsm, i); + if (strlen (e->var_name) > j) + j = strlen (e->var_name); + } + for (i = 0; i < fsm->state_nb; i++) + { + s = fsm_build_get_state_by_code (fsm, i); + if (strlen (s->var_name) > j) + j = strlen (s->var_name); + } + fprintf (f, "char fsm_%s_str_buff[%u];\n", fsm->name, j + 1); + + /* Convert an event enum in string. */ + fprintf (f, "char *\nfsm_%s_get_event_string_from_enum \ + (fsm_%s_event_t e)\n{\n", fsm->name, fsm->name); + fprintf (f, "\treturn strcpy_P (fsm_%s_str_buff, \ + (char *) pgm_read_word (&(fsm_%s_event_str[e])));\n", fsm->name, fsm->name); + fprintf (f, "}\n\n"); + + /* Convert a event string in enum. */ + fprintf (f, "fsm_%s_event_t\nfsm_%s_get_event_enum_from_string \ + (char *str)\n{\n", fsm->name, fsm->name); + fprintf (f, "\tuint16_t i;\n"); + fprintf (f, "\tfor (i = 0; i < FSM_EVENT_%s_NB_; i++)\n", fsm->name); + fprintf (f, "\t\tif (strcpy_P (str, \ + (char *) pgm_read_word (&(fsm_%s_event_str[i]))) == 0)\n", fsm->name); + fprintf (f, "\t\t\treturn i;\n"); + fprintf (f, "\treturn FSM_EVENT_%s_NB_;\n", fsm->name); + fprintf (f, "}\n\n"); + + /* Convert an state enum in string. */ + fprintf (f, "char *\nfsm_%s_get_state_string_from_enum \ + (fsm_%s_state_t s)\n{\n", fsm->name, fsm->name); + fprintf (f, "\treturn strcpy_P (fsm_%s_str_buff, \ + (char *) pgm_read_word (&(fsm_%s_state_str[s])));\n", fsm->name, fsm->name); + fprintf (f, "}\n\n"); + + /* Convert a state string in enum. */ + fprintf (f, "fsm_%s_state_t\nfsm_%s_get_state_enum_from_string \ + (char *str)\n{\n", fsm->name, fsm->name); + fprintf (f, "\tuint16_t i;\n"); + fprintf (f, "\tfor (i = 0; i < FSM_STATE_%s_NB_; i++)\n", fsm->name); + fprintf (f, "\t\tif (strcpy_P (str, \ + (char *) pgm_read_word (&(fsm_%s_state_str[i]))) == 0)\n", fsm->name); + fprintf (f, "\t\t\treturn i;\n"); + fprintf (f, "\treturn FSM_STATE_%s_NB_;\n", fsm->name); + fprintf (f, "}\n\n"); + } + + /* Gen function table. */ + fprintf (f, "const fsm_%s_func_t PROGMEM fsm_%s_trans_table[%u][%u] = \n{\n", + fsm->name, + fsm->name, + fsm->event_nb, + fsm->state_nb); + /* for each events and state, see if it exists an associated transition. */ + for (i = 0; i < fsm->event_nb; i++) + { + e = fsm_build_get_event_by_code (fsm, i); + fprintf (f, "\t{"); + for (j = 0; j < fsm->state_nb; j++) + { + s = fsm_build_get_state_by_code (fsm, j); + tc = fsm->trans; + found = 0; + while (tc != NULL) + { + if (tc->trans.state == s && tc->trans.event == e) + { + found = 1; + fprintf (f, "&fsm_%s_trans_func_%s_%s", + fsm->name, + tc->trans.state->var_name, + tc->trans.event->var_name); + tc = tc->next; + break; + } + tc = tc->next; + } + if (!found) + fprintf (f, "(fsm_%s_func_t) 0", fsm->name); + if (j == fsm->state_nb - 1) + fprintf (f, "}"); + else + fprintf (f, ", "); + } + if (i != fsm->event_nb - 1) + fprintf (f, ","); + fprintf (f, "\n"); + } + fprintf (f, "};\n\n"); + + /* Gen active states array. */ + fprintf (f, "fsm_%s_state_t fsm_%s_active_states[%u];\n\n", + fsm->name, + fsm->name, + fsm->max_active_states); + + /* Gen initialization function. */ + sc = fsm->starters; + i = 0; + fprintf (f, "void\nfsm_%s_init ()\n{\n", fsm->name); + while (sc != NULL) + { + fprintf (f, "\tfsm_%s_active_states[%u] = %u;\n", + fsm->name, + i, + sc->state.code); + if (fsm->timeouts != NULL) + { + toc = fsm->timeouts; + while (toc != NULL) + { + if (toc->timeout.trans->state->code == sc->state.code) + { + fprintf (f, "\tfsm_%s_timeout_counters[%u] = %u;\n", + fsm->name, + i, + toc->timeout.timeout); + } + toc = toc->next; + } + } + i++; + sc = sc->next; + } + fprintf (f, "}\n\n"); + + /* Gen handle function. */ + fprintf (f, "int\nfsm_%s_handle (fsm_%s_event_t e)\n{\n", + fsm->name, + fsm->name); + fprintf (f, "\tuint16_t i;\n"); + fprintf (f, "\tint handled = 0;\n"); + fprintf (f, "\tfor (i = 0; i < fsm_%s_max_active_states; i++)\n\t{\n", + fsm->name); + fprintf (f, "\t\tif (fsm_%s_trans_table[e][fsm_%s_active_states[i]])\n", + fsm->name, + fsm->name); + fprintf (f, "\t\t{\n"); + fprintf (f, "\t\t\tfsm_%s_active_states[i] = \ + fsm_%s_trans_table[e][fsm_%s_active_states[i]]();\n", + fsm->name, + fsm->name, + fsm->name); + fprintf (f, "\t\t\thandled = 1;\n"); + if (fsm->timeouts != NULL) + { + fprintf (f, "\t\t\tfsm_%s_timeout_counters[i] = fsm_%s_timeout_values[e];\n", + fsm->name, + fsm->name); + } + fprintf (f, "\t\t}\n"); + fprintf (f, "\t}\n"); + fprintf (f, "\treturn handled;\n"); + fprintf (f, "}\n\n"); + + /* Gen can handle function. */ + fprintf (f, "uint16_t\nfsm_%s_can_handle (fsm_%s_event_t e)\n{\n", + fsm->name, + fsm->name); + fprintf (f, "\tuint16_t i;\n"); + fprintf (f, "\tfor (i = 0; i < fsm_%s_max_active_states; i++)\n", + fsm->name); + fprintf (f, "\t\tif (fsm_%s_trans_table[e][fsm_%s_active_states[i]])\n", + fsm->name, + fsm->name); + fprintf (f, "\t\t\treturn 1;\n"); + fprintf (f, "\treturn 0;\n"); + fprintf (f, "}\n\n"); + + if (fsm->timeouts != NULL) + { + /* Gen timeout counters array. */ + fprintf (f, "int32_t fsm_%s_timeout_counters[%u];\n", + fsm->name, + fsm->max_active_states); + + /* Gen timeout values array. */ + fprintf (f, "int32_t fsm_%s_timeout_values[FSM_STATE_%s_NB_] =\n{\n", + fsm->name, + fsm->name); + int value; + for (i = 0; i < fsm->state_nb; i++) + { + value = -1; + s = fsm_build_get_state_by_code (fsm, i); + assert (s); + toc = fsm->timeouts; + while (toc != NULL) + { + if (s->code == toc->timeout.trans->state->code) + { + value = toc->timeout.timeout; + break; + } + toc = toc->next; + } + fprintf (f, "\t%i", value); + if (i != fsm->state_nb - 1) + fprintf (f, ","); + fprintf (f, "\n"); + } + fprintf (f, "};\n\n"); + + /* Gen timeout corresponding events array. */ + fprintf (f, "fsm_%s_event_t fsm_%s_timeout_events[FSM_STATE_%s_NB_] =\n{\n", + fsm->name, + fsm->name, + fsm->name); + for (i = 0; i < fsm->state_nb; i++) + { + value = -1; + s = fsm_build_get_state_by_code (fsm, i); + assert (s); + toc = fsm->timeouts; + while (toc != NULL) + { + if (s->code == toc->timeout.trans->state->code) + { + value = toc->timeout.trans->event->code; + break; + } + toc = toc->next; + } + if (value == -1) + fprintf (f, "\tFSM_STATE_%s_NB_", fsm->name); + else + fprintf (f, "\t%u", value); + + if (i != fsm->state_nb - 1) + fprintf (f, ","); + fprintf (f, "\n"); + } + fprintf (f, "};\n\n"); + + /* Gen handle timeout function. */ + fprintf (f, "int\nfsm_%s_handle_timeout ()\n{\n", + fsm->name); + fprintf (f, "\tuint16_t i;\n"); + fprintf (f, "\tint out = 0;\n"); + fprintf (f, "\tfor (i = 0; i < fsm_%s_max_active_states; i++)\n\t{\n", + fsm->name); + fprintf (f, "\t\tif (fsm_%s_timeout_counters[i] > 0)\n", + fsm->name); + fprintf (f, "\t\t\tfsm_%s_timeout_counters[i]--;\n", + fsm->name); + fprintf (f, "\t\tif (fsm_%s_timeout_counters[i] == 0)\n\t\t{\n", + fsm->name); + fprintf (f, "\t\t\tfsm_%s_handle (fsm_%s_timeout_events[fsm_%s_active_states[i]]);\n", + fsm->name, + fsm->name, + fsm->name); + fprintf (f, "\t\t\tout = 1;\n"); + fprintf (f, "\t\t}\n\n"); + fprintf (f, "\t}\n"); + fprintf (f, "\treturn out;\n"); + fprintf (f, "}\n\n"); + } + + /* Close file. */ + fclose (f); + + /* Free. */ + free (fn); +} + +void +fsm_build_gen (char *arch, uint embedded_strings) +{ + fsm_build_chain_t *curs = fsm_build_all_fsm; + while (curs != NULL) + { + if (strcmp (arch, "AVR") == 0) + { + fsm_build_gen_avr_h (curs->fsm, embedded_strings); + fsm_build_gen_avr_c (curs->fsm, embedded_strings); + } + curs = curs->next; + } +} + +void +fsm_build_free (fsm_build_t *fsm) +{ + fsm_build_state_chain_t *sc; + fsm_build_state_chain_t *sc_tmp; + fsm_build_event_chain_t *ec; + fsm_build_event_chain_t *ec_tmp; + fsm_build_trans_chain_t *tc; + fsm_build_trans_chain_t *tc_tmp; + fsm_build_branch_chain_t *bc; + fsm_build_branch_chain_t *bc_tmp; + fsm_trans_func_chain_t *fc; + fsm_trans_func_chain_t *fc_tmp; + fsm_build_timeout_chain_t *toc; + fsm_build_timeout_chain_t *toc_tmp; + uint i; + + /* Free states. */ + sc = fsm->states; + while (sc != NULL) + { + sc_tmp = sc; + free (sc->state.var_name); + sc = sc->next; + free (sc_tmp); + } + + /* Free events. */ + ec = fsm->events; + while (sc != NULL) + { + ec_tmp = ec; + free (ec->event.var_name); + ec = ec->next; + free (ec_tmp); + } + + /* Free trans */ + tc = fsm->trans; + while (tc != NULL) + { + tc_tmp = tc; + + /* Free each branches. */ + bc = tc->trans.output_branches; + while (bc != NULL) + { + bc_tmp = bc; + free (bc->name); + bc = bc->next; + free (bc_tmp); + } + + tc = tc->next; + free (tc_tmp); + } + + /* Free start chain. */ + sc = fsm->starters; + while (sc != NULL) + { + sc_tmp = sc; + sc = sc->next; + free (sc_tmp); + } + + /* Free timeout chain. */ + toc = fsm->timeouts; + while (toc != NULL) + { + toc_tmp = toc; + toc = toc->next; + free (toc_tmp); + } + + /* Free run data (trans_table). */ + for (i = 0; i < fsm->event_nb; i++) + free (fsm->run.trans_table[i]); + free (fsm->run.trans_table); + + /* Free run data (active states). */ + free (fsm->run.active_states); + + /* Free last-seen event array*/ + free (fsm->run.events_before_active_state); + + /* Free run data (function pool). */ + fc = fsm->run.func_pool; + while (fc != NULL) + { + fc_tmp = fc; + fc = fc->next; + free (fc_tmp); + } + + /*Free run data (timeout counters). */ + free (fsm->run.timeout_counters); +} + -- cgit v1.2.3