From 9d3573134462335051e46b990e97e1d32bef4b29 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 31 Mar 2008 13:03:47 +0200 Subject: * digital/io/src: - adapted FSM to AVR program. --- digital/io/src/fsm.h | 91 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 91 insertions(+) create mode 100644 digital/io/src/fsm.h (limited to 'digital/io/src/fsm.h') diff --git a/digital/io/src/fsm.h b/digital/io/src/fsm.h new file mode 100644 index 00000000..bfdaf19b --- /dev/null +++ b/digital/io/src/fsm.h @@ -0,0 +1,91 @@ +#ifndef fsm_h +#define fsm_h +/* fsm.h - Finite State Machine code. */ +/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ + * + * Copyright (C) 2008 Nicolas Schodet + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * This program 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 2 of the License, or + * (at your option) any later version. + * + * This program 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 this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ + +/** + * The io board includes several concurrent FSM. The code to handle events is + * generic, but as events are not compatibles (they do not share the same + * identifier), events should be generated for each FSM separately. + * + * The main loop tests for each possible event and generate the corresponding + * FSM events. For example: + * + * if (asserv_move_cmd_status () == success) + * { + * fsm_handle_event (fsm_top, TOP_EVENT_position_reached); + * fsm_handle_event (fsm_getsamples, GETSAMPLES_EVENT_position_reached); + * } + * + * Any unhandled event will be ignored. + * + * To start a sub machine from the top FSM, call the sub machine start + * function (for example getsamples_start), which will set parameters, reset + * its fsm, then trigger its start event. + * + * To abandon a FSM, reset it using fsm_init or it will continue to run + * concurrently. + * + * The sub machine is expected to generate an event for the top machine to + * make it continue. + */ + +#ifdef HOST +/** On host, check branches. */ +typedef u32 fsm_branch_t; +#else +/** On AVR, no check. */ +typedef u8 fsm_branch_t; +#endif + +/** Transition function. */ +typedef fsm_branch_t (*fsm_transition_t) (void); + +/** Context of a FSM or sub-FSM. */ +struct fsm_t +{ + /** Transition table. */ + const fsm_transition_t *transition_table; + /** Number of events, used to index the right transition. */ + u8 events_nb; + /** Initial state. */ + u8 state_init; + /** Current active state. */ + u8 state_current; +}; +typedef struct fsm_t fsm_t; + +/** Reset a FSM. */ +void +fsm_init (fsm_t *fsm); + +/** Handle an event on the given FSM. */ +void +fsm_handle_event (fsm_t *fsm, u8 event); + +#include "getsamples_fsm.h" +#include "gutter_fsm.h" + +#endif /* fsm_h */ -- cgit v1.2.3