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author | Julian Oes <julian@oes.ch> | 2013-12-14 20:55:03 +0100 |
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committer | Julian Oes <julian@oes.ch> | 2013-12-16 17:13:40 +0100 |
commit | 624ae85efa078ddd63209fe53c2c215986116ad1 (patch) | |
tree | 86ac8d8704a299fb21642fa9fcc02dab835800b7 /src/modules/systemlib/state_table.h | |
parent | 6a624abd7c8fe9cf32b5f5a91bceeb93f730a0ec (diff) | |
download | px4-firmware-624ae85efa078ddd63209fe53c2c215986116ad1.tar.gz px4-firmware-624ae85efa078ddd63209fe53c2c215986116ad1.tar.bz2 px4-firmware-624ae85efa078ddd63209fe53c2c215986116ad1.zip |
Navigator: Use state table for main FSM
Diffstat (limited to 'src/modules/systemlib/state_table.h')
-rw-r--r-- | src/modules/systemlib/state_table.h | 75 |
1 files changed, 75 insertions, 0 deletions
diff --git a/src/modules/systemlib/state_table.h b/src/modules/systemlib/state_table.h new file mode 100644 index 000000000..f2709d29f --- /dev/null +++ b/src/modules/systemlib/state_table.h @@ -0,0 +1,75 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file state_table.h + * + * Finite-State-Machine helper class for state table + */ + +#ifndef __SYSTEMLIB_STATE_TABLE_H +#define __SYSTEMLIB_STATE_TABLE_H + +class StateTable +{ +public: + typedef void (StateTable::*Action)(); + struct Tran { + Action action; + unsigned nextState; + }; + + StateTable(Tran const *table, unsigned nStates, unsigned nSignals) + : myTable(table), myNsignals(nSignals), myNstates(nStates) {} + + #define NO_ACTION &StateTable::doNothing + #define ACTION(_target) static_cast<StateTable::Action>(_target) + + virtual ~StateTable() {} + + void dispatch(unsigned const sig) { + register Tran const *t = myTable + myState*myNsignals + sig; + (this->*(t->action))(); + + myState = t->nextState; + } + void doNothing() {} +protected: + unsigned myState; +private: + Tran const *myTable; + unsigned myNsignals; + unsigned myNstates; +}; + +#endif
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