diff options
Diffstat (limited to 'src/modules/systemlib/state_table.h')
| -rw-r--r-- | src/modules/systemlib/state_table.h | 27 |
1 files changed, 17 insertions, 10 deletions
diff --git a/src/modules/systemlib/state_table.h b/src/modules/systemlib/state_table.h index f2709d29f..e6011fdef 100644 --- a/src/modules/systemlib/state_table.h +++ b/src/modules/systemlib/state_table.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2013-2014 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 @@ -33,8 +33,9 @@ /** * @file state_table.h - * + * * Finite-State-Machine helper class for state table + * @author: Julian Oes <julian@oes.ch> */ #ifndef __SYSTEMLIB_STATE_TABLE_H @@ -48,22 +49,28 @@ public: 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) + #define ACTION(_target) StateTable::Action(_target) virtual ~StateTable() {} - + void dispatch(unsigned const sig) { - register Tran const *t = myTable + myState*myNsignals + sig; - (this->*(t->action))(); + /* get transition using state table */ + Tran const *t = myTable + myState*myNsignals + sig; + /* accept new state */ myState = t->nextState; + + /* */ + (this->*(t->action))(); + } + void doNothing() { + return; } - void doNothing() {} protected: unsigned myState; private: @@ -72,4 +79,4 @@ private: unsigned myNstates; }; -#endif
\ No newline at end of file +#endif |