/**************************************************************************** * * 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 * 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 * @author: Julian Oes */ #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) StateTable::Action(_target) virtual ~StateTable() {} void dispatch(unsigned const sig) { /* get transition using state table */ Tran const *t = myTable + myState*myNsignals + sig; /* accept new state */ myState = t->nextState; /* */ (this->*(t->action))(); } void doNothing() { return; } protected: unsigned myState; private: Tran const *myTable; unsigned myNsignals; unsigned myNstates; }; #endif