170 lines
5.7 KiB
C
170 lines
5.7 KiB
C
#ifndef __HSM_H__
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#define __HSM_H__
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//#include "linux/stdio.h"
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#include "printf.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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//----HSM OPTIONAL FEATURES SECTION[BEGIN]----
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// Enable for HSM debugging
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// #define HSM_DEBUG_ENABLE
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// Enable safety checks. Can be disabled after validating all states
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// #define HSM_CHECK_ENABLE
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//----HSM OPTIONAL FEATURES SECTION[END]----
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// Set the maximum nested levels
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#define HSM_MAX_DEPTH 4
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//----State definitions----
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#define HSME_INIT (-3)
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#define HSME_ENTRY (-2)
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#define HSME_EXIT (-1)
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#define HSME_NULL 0
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#define HSME_START 1
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//----Debug Macros----
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#ifdef HSM_DEBUG_ENABLE
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// Use this macro to Enable/Disable HSM debugging for that object / define custom "event to string" function / changing the prefix for that object
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#define HSM_SET_DEBUG(hsm, bEnable, preFix, evt2str_func) { (hsm)->hsmDebug = (bEnable);(hsm)->prefix = (preFix);(hsm)->evt2str = (evt2str_func);}
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// Use this macro to get the current HSM debugging state for that object
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#define HSM_GET_DEBUG(hsm) ((hsm)->hsmDebug)
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// Using printf for DEBUG
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#define HSM_DEBUG(x, ...) { if (This->hsmDebug) printf("%s" x "\r\n", This->prefix, __VA_ARGS__); }
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#else
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#define HSM_SET_DEBUG(hsm, bEnable, preFix, evt2str_func)
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#define HSM_GET_DEBUG(hsm)
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#define HSM_DEBUG(...)
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#endif // HSM_DEBUG_ENABLE
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#define HSM_ERROR(x, ...) { printf("%s" x "\r\n", This->prefix, __VA_ARGS__); }
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//----Structure declaration----
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typedef struct HSM_STATE_T HSM_STATE;
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typedef struct HSM_T HSM;
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typedef int (* HSM_FN)(HSM *This, int event, void *param);
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struct HSM_STATE_T {
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HSM_STATE *parent; // parent state
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HSM_FN handler; // associated event handler for state
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const char *name; // name of state
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unsigned char level; // depth level of the state
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};
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struct HSM_T {
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HSM_STATE *curState; // Current HSM State
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#ifdef HSM_DEBUG_ENABLE
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const char *name; // Name of HSM Machine
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const char *prefix; // Prefix for debugging (e.g. grep)
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unsigned char hsmDebug; // HSM run-time debug flag
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const char *(*evt2str)(int event); //"event to string" function
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#endif // HSM_DEBUG_ENABLE
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#ifdef HSM_CHECK_ENABLE
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unsigned char hsmTran; // HSM Transition Flag
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#endif // HSM_CHECK_ENABLE
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};
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//----Function Declarations----
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// Func: void HSM_STATE_Create(HSM_STATE *This, const char *name, HSM_FN handler, HSM_STATE *parent)
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// Desc: Create an HSM State for the HSM.
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// This: Pointer to HSM_STATE object
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// name: Name of state (for debugging)
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// handler: State Event Handler
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// parent: Parent state. If NULL, then internal ROOT handler is used as catch-all
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void HSM_STATE_Create(HSM_STATE *This, const char *name, HSM_FN handler, HSM_STATE *parent);
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// Func: void HSM_Create(HSM *This, const char *name, HSM_STATE *initState)
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// Desc: Create the HSM instance. Required for each instance
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// name: Name of state machine (for debugging)
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// initState: Initial state of statemachine
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void HSM_Create(HSM *This, const char *name, HSM_STATE *initState);
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// Func: HSM_STATE *HSM_GetState(HSM *This)
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// Desc: Get the current HSM STATE
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// This: Pointer to HSM instance
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// return|HSM_STATE *: Pointer to HSM STATE
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HSM_STATE *HSM_GetState(HSM *This);
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// Func: unsigned char HSM_IsInState(HSM *This, HSM_STATE *state)
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// Desc: Tests whether HSM is in state or parent state
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// This: Pointer to HSM instance
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// state: Pointer to HSM_STATE to test
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// return|unsigned char: 1 - HSM instance is in state or parent state, 0 - otherwise
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unsigned char HSM_IsInState(HSM *This, HSM_STATE *state);
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// Func: void HSM_Run(HSM *This, int event, void *param)
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// Desc: Run the HSM with event
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// This: Pointer to HSM instance
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// event: int processed by HSM
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// param: Parameter associated with int
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void HSM_Run(HSM *This, int event, void *param);
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// Func: void HSM_Tran(HSM *This, HSM_STATE *nextState, int event, void *param, void (*method)(HSM *This, void *param))
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// Desc: Transition to another HSM STATE
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// This: Pointer to HSM instance
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// nextState: Pointer to next HSM STATE
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// event : int processed by next HSM STATE
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// param: Optional Parameter associated with HSME_ENTRY and HSME_EXIT event
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// method: Optional function hook between the HSME_ENTRY and HSME_EXIT event handling
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void HSM_Tran(HSM *This, HSM_STATE *nextState, int event, void *param, void (*method)(HSM *This, void *param));
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/**
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* ------------------------------------------------ FSM --------------------------------------------------------
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*/
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typedef unsigned char fsm_ret_t;
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typedef struct fsm_s fsm_t;
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typedef struct fsm_event_s {
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int sig;
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void *event;
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} fsm_event_t;
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typedef fsm_ret_t (*fsm_state_handler_t)(fsm_t *fsm, fsm_event_t const *e);
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struct fsm_s {
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fsm_state_handler_t state;
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fsm_state_handler_t temp;
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};
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enum {
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FSM_RET_HANDLED,
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FSM_RET_IGNORE,
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FSM_RET_UNHANDLED,
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FSM_RET_TRAN,
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};
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#define FSM_RET_CAST(x) ( (fsm_ret_t)(x) )
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#define FSM_HANDLED() SM_RET_CAST(SM_RET_HANDLED)
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#define FSM_IGNORE() SM_RET_CAST(SM_RET_IGNORE)
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#define FSM_UNHANDLED() SM_RET_CAST(SM_RET_UNHANDLED)
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#define FSM_TRAN(me, target) \
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((me)->temp = (target), FSM_RET_CAST(SM_RET_TRAN))
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#define FSM_SUPER(me, super) \
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((me)->temp = (super), FSM_RET_CAST(FSM_RET_SUPER))
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#define FSM_TRIG(me, state, sig) ((state)(me, &fsm_reserved_event[5 + (sig)]))
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#define FSM_ENTRY(me, state) FSM_TRIG(me, state, FSM_ENTRY_SIG)
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#define FSM_EXIT(me, state) FSM_TRIG(me, state, FSM_EXIT_SIG)
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enum fsm_reserved_sig {
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FSM_EMPTY_SIG = -5,
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FSM_ENTRY_SIG = -4,
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FSM_EXIT_SIG = -3,
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FSM_INIT_SIG = -2,
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FSM_USER_SIG = -1,
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};
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extern void fsm_ctor(fsm_t *me, fsm_state_handler_t init);
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extern fsm_ret_t fsm_init(fsm_t *me, fsm_event_t *e);
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extern void fsm_dispatch(fsm_t *me, fsm_event_t *e);
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#ifdef __cplusplus
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}
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#endif
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#endif // __HSM_H__
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