From cb9ddc2d8162ac2ec0d82579657b984335ec9aef Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 1 Apr 2010 23:57:40 +0200 Subject: digital/io/src: use one FSM with several active states, closes #83 --- digital/io/src/fsm.h | 50 +++++++++++++++++++++----------------------------- 1 file changed, 21 insertions(+), 29 deletions(-) (limited to 'digital/io/src/fsm.h') diff --git a/digital/io/src/fsm.h b/digital/io/src/fsm.h index 57e7ae30..a90d1e83 100644 --- a/digital/io/src/fsm.h +++ b/digital/io/src/fsm.h @@ -26,27 +26,19 @@ * }}} */ /** - * 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 io board includes an FSM with several concurrent active states. * * 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 (&top_fsm, TOP_EVENT_position_reached); - * fsm_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_position_reached); - * } + * fsm_handle_event (&ai_fsm, AI_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. + * function (for example move_start), which will set parameters, then trigger + * its start event. * * The sub machine is expected to generate an event for the top machine to * make it continue. @@ -63,21 +55,26 @@ typedef u8 fsm_branch_t; /** Transition function. */ typedef fsm_branch_t (*fsm_transition_t) (void); -/** Context of a FSM or sub-FSM. */ +/** Maximum number of active states. */ +#define FSM_ACTIVE_STATES_MAX 3 + +/** Context of an 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; + /** Initial states. */ + u8 states_init[FSM_ACTIVE_STATES_MAX]; + /** Current active states. */ + u8 states_active[FSM_ACTIVE_STATES_MAX]; + /** Nomber of active states. */ + u8 active_states_nb; /** State timeout table. */ const u16 *state_timeout_table; - /** Current state timeout if not 0xffff. */ - u16 state_timeout; + /** Current active states timeout if not 0xffff. */ + u16 states_timeout[FSM_ACTIVE_STATES_MAX]; /** Event to generate on state timeout. */ u8 state_timeout_event; #ifdef HOST @@ -95,20 +92,15 @@ typedef struct fsm_t fsm_t; void fsm_init (fsm_t *fsm); -/** Handle state timeout, return 1 if a event was handled. */ +/** Handle state timeout, return non-zero if at least an event was handled. */ uint8_t fsm_handle_timeout (fsm_t *fsm); -/** Handle an event on the given FSM. - * @return - * - 0 if this FSM does not handle this event ; - * - 1 if this FSM handles this event in its current state. - */ +/** Handle an event on the given FSM, return non-zero if at least an event was + * handled. */ uint8_t -fsm_handle_event (fsm_t *fsm, u8 event); +fsm_handle_event (fsm_t *fsm, uint8_t event); -#include "move_fsm.h" -#include "top_fsm.h" -#include "init_fsm.h" +#include "ai_fsm.h" #endif /* fsm_h */ -- cgit v1.2.3