mirror of https://github.com/PentHertz/srsLTE.git
enter/exit moved outside of the states, into the fsm. Now i just use the type_name function to get a state name
This commit is contained in:
parent
4a4827a603
commit
b699e0e490
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@ -31,7 +31,7 @@
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#include <memory>
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#include <tuple>
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// Helper to print a type name for logging
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//! Helper to print the name of a type for logging
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#if defined(__GNUC__) && !defined(__clang__)
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template <typename T>
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std::string get_type_name()
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@ -48,8 +48,16 @@ std::string get_type_name()
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}
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#endif
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//! This version leverages type deduction. (e.g. get_type_name(var))
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template <typename T>
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std::string get_type_name(const T& t)
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{
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return get_type_name<T>();
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}
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namespace srslte {
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//! When there is no state transition
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struct same_state {
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};
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@ -60,26 +68,9 @@ struct state_name_visitor {
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template <typename State>
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void operator()(State&& s)
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{
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name = s.name();
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name = get_type_name(s);
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}
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const char* name = "invalid state";
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};
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template <typename TargetVariant, typename PrevState>
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struct variant_convert {
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template <typename State>
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void operator()(State& s)
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{
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static_assert(not std::is_same<typename std::decay<State>::type, typename std::decay<PrevState>::type>::value,
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"State cannot transition to itself.\n");
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if (p != nullptr) {
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srslte::get<PrevState>(*v).exit();
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}
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v->transit(std::move(s));
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srslte::get<State>(*v).enter();
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}
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TargetVariant* v;
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PrevState* p;
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std::string name = "invalid state";
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};
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struct fsm_helper {
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@ -91,12 +82,51 @@ struct fsm_helper {
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template <typename FSM, typename State>
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using disable_if_fsm_state = typename get_fsm_state_list<FSM>::template disable_if_can_hold<State>;
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template <typename FSM>
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static auto call_init(FSM* f) -> decltype(f->derived()->do_init())
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{
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f->derived()->do_init();
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}
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static void call_init(...) {}
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template <typename FSM, typename State>
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static auto call_enter(FSM* f, State* s) -> decltype(f->enter(*s))
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{
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f->enter(*s);
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call_init(s);
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}
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static void call_enter(...) {}
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template <typename FSM, typename State>
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static auto call_exit(FSM* f, State* s) -> decltype(f->exit(*s))
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{
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f->exit(*s);
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}
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static void call_exit(...) {}
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template <typename FSM, typename PrevState>
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struct variant_convert {
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variant_convert(FSM* f_, PrevState* p_) : f(f_), p(p_) {}
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template <typename State>
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void operator()(State& s)
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{
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static_assert(not std::is_same<typename std::decay<State>::type, typename std::decay<PrevState>::type>::value,
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"State cannot transition to itself.\n");
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call_exit(f, &srslte::get<PrevState>(f->states));
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f->states.transit(std::move(s));
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call_enter(f, &srslte::get<State>(f->states));
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}
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FSM* f;
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PrevState* p;
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};
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template <typename FSM>
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struct enter_visitor {
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enter_visitor(FSM* f_) : f(f_) {}
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template <typename State>
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void operator()(State&& s)
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{
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s.do_enter();
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call_enter(f, &s);
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}
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FSM* f;
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};
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//! Stayed in same state
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@ -109,7 +139,7 @@ struct fsm_helper {
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template <typename FSM, typename... Args, typename PrevState>
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static void handle_state_change(FSM* f, choice_t<Args...>* s, PrevState* p)
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{
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fsm_details::variant_convert<decltype(f->states), PrevState> visitor{.v = &f->states, .p = p};
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fsm_details::fsm_helper::variant_convert<FSM, PrevState> visitor{f, p};
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s->visit(visitor);
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}
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//! Simple state transition in FSM
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@ -117,11 +147,9 @@ struct fsm_helper {
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static enable_if_fsm_state<FSM, State> handle_state_change(FSM* f, State* s, PrevState* p)
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{
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static_assert(not std::is_same<State, PrevState>::value, "State cannot transition to itself.\n");
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if (p != nullptr) {
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srslte::get<PrevState>(f->states).do_exit();
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}
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call_exit(f, &srslte::get<PrevState>(f->states));
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f->states.transit(std::move(*s));
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srslte::get<State>(f->states).do_enter();
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call_enter(f, &srslte::get<State>(f->states));
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}
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//! State not present in current FSM. Attempt state transition in parent FSM in the case of NestedFSM
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template <typename FSM, typename State, typename PrevState>
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@ -129,7 +157,8 @@ struct fsm_helper {
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{
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static_assert(FSM::is_nested, "State is not present in the FSM list of valid states");
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if (p != nullptr) {
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srslte::get<PrevState>(f->states).do_exit();
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// srslte::get<PrevState>(f->states).do_exit();
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call_exit(f, &srslte::get<PrevState>(f->states));
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}
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handle_state_change(f->parent_fsm()->derived(), s, static_cast<typename FSM::derived_t*>(f));
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}
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@ -181,23 +210,9 @@ struct fsm_helper {
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} // namespace fsm_details
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//! Base class for states and FSMs
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class state_t
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{
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public:
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state_t() = default;
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virtual const char* name() const = 0;
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void do_enter() { enter(); }
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void do_exit() { exit(); }
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protected:
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virtual void enter() {}
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virtual void exit() {}
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};
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//! CRTP Class for all non-nested FSMs
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template <typename Derived>
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class fsm_t : public state_t
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class fsm_t
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{
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protected:
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using base_t = fsm_t<Derived>;
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@ -206,6 +221,9 @@ protected:
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{
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public:
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using derived_t = Derived;
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using Derived::do_init;
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using Derived::enter;
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using Derived::exit;
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using Derived::react;
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using Derived::states;
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using Derived::unhandled_event;
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@ -219,10 +237,10 @@ public:
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struct state_list : public choice_t<States...> {
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using base_t = choice_t<States...>;
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template <typename... Args>
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state_list(Args&&... args) : base_t(std::forward<Args>(args)...)
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state_list(fsm_t<Derived>* f, Args&&... args) : base_t(std::forward<Args>(args)...)
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{
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if (not Derived::is_nested) {
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fsm_details::fsm_helper::enter_visitor visitor{};
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fsm_details::fsm_helper::enter_visitor<derived_view> visitor{f->derived()};
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this->visit(visitor);
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}
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}
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@ -255,7 +273,7 @@ public:
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return srslte::get_if<State>(derived()->states);
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}
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const char* get_state_name() const
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std::string get_state_name() const
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{
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fsm_details::state_name_visitor visitor{};
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derived()->states.visit(visitor);
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@ -279,13 +297,15 @@ protected:
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derived_view* derived() { return static_cast<derived_view*>(this); }
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const derived_view* derived() const { return static_cast<const derived_view*>(this); }
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void do_enter()
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void do_init()
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{
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enter();
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fsm_details::fsm_helper::enter_visitor visitor{};
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fsm_details::fsm_helper::enter_visitor<derived_view> visitor{derived()};
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derived()->states.visit(visitor);
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}
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void enter() {}
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void exit() {}
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template <typename Event>
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void unhandled_event(Event&& e)
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{
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@ -327,6 +347,8 @@ public:
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protected:
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using parent_fsm_t = ParentFSM;
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using fsm_t<Derived>::enter;
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using fsm_t<Derived>::do_init;
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ParentFSM* fsm_ptr = nullptr;
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};
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@ -364,22 +386,11 @@ public:
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using fsm_t<Derived>::trigger;
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// states
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struct idle_st : public state_t {
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const char* name() const final { return "idle"; }
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idle_st(Derived* f_) : fsm(f_) {}
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void exit()
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{
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fsm->launch_counter++;
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fsm->log_h->info("Proc %s: Starting run no. %d\n", fsm->derived()->name(), fsm->launch_counter);
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}
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Derived* fsm;
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struct idle_st {
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};
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struct complete_st : public srslte::state_t {
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complete_st(Derived* fsm_, bool success_) : fsm(fsm_), success(success_) {}
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const char* name() const final { return "complete"; }
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void enter() { fsm->trigger(srslte::proc_complete_ev<bool>{success}); }
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Derived* fsm;
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bool success;
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struct complete_st {
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complete_st(bool success_) : success(success_) {}
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bool success;
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};
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explicit proc_fsm_t(srslte::log_ref log_) : fsm_t<Derived>(log_) {}
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trigger(proc_launch_ev<Args...>(std::forward<Args>(args)...));
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}
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// template <typename... Args>
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// void trigger(proc_launch_ev<Args...> e)
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// {
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// if (not base_t::template is_in_state<idle_st>()) {
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// log_h->error("Proc %s: Ignoring launch because procedure is already running\n", base_t::derived()->name());
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// return;
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// }
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// base_t::trigger(std::move(e));
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// }
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// template <typename T>
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// void trigger(T&& t)
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// {
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// base_t::trigger(std::forward<T>(t));
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// }
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protected:
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void exit(idle_st& s)
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{
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launch_counter++;
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log_h->info("Starting run no. %d\n", launch_counter);
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}
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void enter(complete_st& s) { trigger(srslte::proc_complete_ev<bool>{s.success}); }
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private:
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int launch_counter = 0;
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@ -36,48 +36,29 @@ public:
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uint32_t idle_enter_counter = 0, state1_enter_counter = 0;
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uint32_t foo_counter = 0;
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const char* name() const override { return "fsm1"; }
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// states
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struct idle_st {
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};
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struct state1 {
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};
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fsm1(srslte::log_ref log_) : srslte::fsm_t<fsm1>(log_) {}
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// idle state
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struct idle_st : public srslte::state_t {
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idle_st(fsm1* f_) : f(f_) { f->idle_enter_counter++; }
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void enter() final { f->log_h->info("fsm1::%s::enter called\n", name()); }
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void exit() final { f->log_h->info("fsm1::%s::exit called\n", name()); }
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const char* name() const final { return "idle"; }
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fsm1* f;
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};
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// simple state
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class state1 : public srslte::state_t
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{
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public:
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state1(fsm1* f_) : f(f_) { f->state1_enter_counter++; }
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void enter() final { f->log_h->info("fsm1::%s::enter called\n", name()); }
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void exit() final { f->log_h->info("fsm1::%s::exit called\n", name()); }
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const char* name() const final { return "state1"; }
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fsm1* f;
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};
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// this state is another FSM
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class fsm2 : public srslte::nested_fsm_t<fsm2, fsm1>
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{
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public:
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struct state_inner : public srslte::state_t {
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const char* name() const final { return "state_inner"; }
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state_inner(fsm2* f_) : f(f_) {}
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void enter() { f->log_h->info("fsm2::%s::enter called\n", name()); }
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// void exit() final { f->log_h->info("fsm2::%s::exit called\n", name()); }
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fsm2* f;
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// states
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struct state_inner {
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};
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fsm2(fsm1* f_) : nested_fsm_t(f_) {}
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~fsm2() { log_h->info("%s being destroyed!", name()); }
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void enter() final { log_h->info("%s::enter called\n", name()); }
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void exit() { log_h->info("%s::exit called\n", name()); }
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const char* name() const final { return "fsm2"; }
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~fsm2() { log_h->info("%s being destroyed!", get_type_name(*this).c_str()); }
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protected:
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void enter(state_inner& s) { log_h->info("fsm1::%s::enter called\n", get_type_name<state_inner>().c_str()); }
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void exit(state_inner& s) { log_h->info("fsm1::%s::exit called\n", get_type_name<state_inner>().c_str()); }
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// FSM2 transitions
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auto react(state_inner& s, ev1 e) -> srslte::same_state;
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auto react(state_inner& s, ev2 e) -> state1;
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};
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protected:
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// enter/exit
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template <typename State>
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void enter(State& s)
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{
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log_h->info("%s::enter called\n", get_type_name<State>().c_str());
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}
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template <typename State>
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void exit(State& s)
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{
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log_h->info("%s::exit called\n", get_type_name<State>().c_str());
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}
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void enter(idle_st& s);
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void enter(state1& s);
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// transitions
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auto react(idle_st& s, ev1 e) -> state1;
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auto react(state1& s, ev1 e) -> fsm2;
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void foo(ev1 e) { foo_counter++; }
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// list of states
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state_list<idle_st, state1, fsm2> states{idle_st{this}};
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state_list<idle_st, state1, fsm2> states{this, idle_st{}};
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};
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void fsm1::enter(idle_st& s)
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{
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log_h->info("%s::enter custom called\n", get_type_name(s).c_str());
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idle_enter_counter++;
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}
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void fsm1::enter(state1& s)
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{
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log_h->info("%s::enter custom called\n", get_type_name(s).c_str());
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state1_enter_counter++;
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}
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// FSM event handlers
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auto fsm1::fsm2::react(state_inner& s, ev1 e) -> srslte::same_state
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{
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@ -108,24 +114,24 @@ auto fsm1::fsm2::react(state_inner& s, ev1 e) -> srslte::same_state
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auto fsm1::fsm2::react(state_inner& s, ev2 e) -> state1
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{
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log_h->info("fsm2::state_inner::react called\n");
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return state1{parent_fsm()};
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return {};
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}
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auto fsm1::react(idle_st& s, ev1 e) -> state1
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{
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log_h->info("fsm1::%s::react called\n", s.name());
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log_h->info("%s::react called\n", get_type_name(s).c_str());
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foo(e);
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return state1{this};
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return {};
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}
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auto fsm1::react(state1& s, ev1 e) -> fsm2
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{
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log_h->info("fsm1::%s::react called\n", s.name());
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return fsm2{this};
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log_h->info("%s::react called\n", get_type_name(s).c_str());
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return {this};
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}
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auto fsm1::react(state1& s, ev2 e) -> srslte::choice_t<idle_st, fsm2>
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{
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log_h->info("fsm1::%s::react called\n", s.name());
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return idle_st{this};
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log_h->info("%s::react called\n", get_type_name(s).c_str());
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return idle_st{};
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}
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// Static Checks
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@ -154,39 +160,39 @@ int test_hsm()
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log_h->set_level(srslte::LOG_LEVEL_INFO);
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fsm1 f{log_h};
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TESTASSERT(std::string{f.name()} == "fsm1");
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TESTASSERT(std::string{f.get_state_name()} == "idle");
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TESTASSERT(f.idle_enter_counter == 1);
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TESTASSERT(get_type_name(f) == "fsm1");
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TESTASSERT(f.get_state_name() == "fsm1::idle_st");
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TESTASSERT(f.is_in_state<fsm1::idle_st>());
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TESTASSERT(f.foo_counter == 0);
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TESTASSERT(f.idle_enter_counter == 1);
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// Moving Idle -> State1
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ev1 e;
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f.trigger(e);
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TESTASSERT(std::string{f.get_state_name()} == "state1");
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TESTASSERT(f.get_state_name() == "fsm1::state1");
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TESTASSERT(f.is_in_state<fsm1::state1>());
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||||
// Moving State1 -> fsm2
|
||||
f.trigger(e);
|
||||
TESTASSERT(std::string{f.get_state_name()} == "fsm2");
|
||||
TESTASSERT(f.get_state_name() == "fsm1::fsm2");
|
||||
TESTASSERT(f.is_in_state<fsm1::fsm2>());
|
||||
TESTASSERT(std::string{f.get_state<fsm1::fsm2>()->get_state_name()} == "state_inner");
|
||||
TESTASSERT(f.get_state<fsm1::fsm2>()->get_state_name() == "fsm1::fsm2::state_inner");
|
||||
|
||||
// Fsm2 does not listen to ev1
|
||||
f.trigger(e);
|
||||
TESTASSERT(std::string{f.get_state_name()} == "fsm2");
|
||||
TESTASSERT(std::string{f.get_state_name()} == "fsm1::fsm2");
|
||||
TESTASSERT(f.is_in_state<fsm1::fsm2>());
|
||||
TESTASSERT(std::string{f.get_state<fsm1::fsm2>()->get_state_name()} == "state_inner");
|
||||
TESTASSERT(f.get_state<fsm1::fsm2>()->get_state_name() == "fsm1::fsm2::state_inner");
|
||||
|
||||
// Moving fsm2 -> state1
|
||||
f.trigger(ev2{});
|
||||
TESTASSERT(std::string{f.get_state_name()} == "state1");
|
||||
TESTASSERT(std::string{f.get_state_name()} == "fsm1::state1");
|
||||
TESTASSERT(f.is_in_state<fsm1::state1>());
|
||||
TESTASSERT(f.state1_enter_counter == 2);
|
||||
|
||||
// Moving state1 -> idle
|
||||
f.trigger(ev2{});
|
||||
TESTASSERT(std::string{f.get_state_name()} == "idle");
|
||||
TESTASSERT(std::string{f.get_state_name()} == "fsm1::idle_st");
|
||||
TESTASSERT(f.is_in_state<fsm1::idle_st>());
|
||||
TESTASSERT(f.foo_counter == 1);
|
||||
TESTASSERT(f.idle_enter_counter == 2);
|
||||
|
@ -203,14 +209,11 @@ struct procevent2 {
|
|||
|
||||
struct proc1 : public srslte::proc_fsm_t<proc1, int> {
|
||||
public:
|
||||
struct procstate1 : public srslte::state_t {
|
||||
const char* name() const final { return "procstate1"; }
|
||||
struct procstate1 {
|
||||
};
|
||||
|
||||
proc1(srslte::log_ref log_) : base_t(log_) {}
|
||||
|
||||
const char* name() const final { return "proc1"; }
|
||||
|
||||
protected:
|
||||
// Transitions
|
||||
auto react(idle_st& s, srslte::proc_launch_ev<int*> ev) -> procstate1;
|
||||
|
@ -232,17 +235,17 @@ auto proc1::react(idle_st& s, srslte::proc_launch_ev<int*> ev) -> procstate1
|
|||
auto proc1::react(procstate1& s, procevent1 ev) -> complete_st
|
||||
{
|
||||
log_h->info("success!\n");
|
||||
return {this, true};
|
||||
return {true};
|
||||
}
|
||||
auto proc1::react(procstate1& s, procevent2 ev) -> complete_st
|
||||
{
|
||||
log_h->info("failure!\n");
|
||||
return {this, false};
|
||||
return {false};
|
||||
}
|
||||
auto proc1::react(complete_st& s, srslte::proc_complete_ev<bool> ev) -> idle_st
|
||||
{
|
||||
log_h->info("propagate results %s\n", s.success ? "success" : "failure");
|
||||
return {this};
|
||||
return {}; //{this};
|
||||
}
|
||||
|
||||
int test_fsm_proc()
|
||||
|
|
Loading…
Reference in New Issue