fsm.h File Reference

Author:

Tran Duy Khanh

More...

#include <stdlib.h>
#include <pthread.h>
#include <semaphore.h>
#include <sys/time.h>
#include <errno.h>
#include "fsm_common_events.h"

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Classes
struct	robo_fsm
	Structure describing FSM. More...
Defines
#define	EV_NOEVENT   __COMMON_EV_NOEVENT
#define	EV_INIT   __COMMON_EV_INIT
#define	EV_EXIT   __COMMON_EV_EXIT
#define	EV_STATE_ENTERED   __COMMON_EV_STATE_ENTERED
#define	EV_RETURN   __COMMON_EV_RETURN
#define	EV_TIMEOUT   __COMMON_EV_TIMEOUT
#define	EV_TIMER   __COMMON_EV_TIMER
#define	FSM_SIGNAL(fsm_id, event)   __fsm_signal(FSM_GET_BY_ID(fsm_id), __##fsm_id##_##event)
	Sends an event to another automaton (FSM), running in another thread.
#define	DBG_STATE()   DBG_FSM_STATE(__FUNCTION__)
#define	DBG_FSM_STATE(name)   do { if (fsm->debug_states) DBG("fsm %s: %s(%s)\n", fsm->debug_name, name, fsm_event_str(fsm->event)); } while(0)
#define	DBG_PRINT_EVENT(msg)   DBG("%s: event: %s\n", msg, fsm_event_str(fsm->event))
	Prints current event in a human readable form.
#define	FSM_STATE(name)
	Defines a state function for finite state machine.
#define	FSM_STATE_DECL(name)   int fsm_state_##name(struct robo_fsm *fsm)
	Declares a prototype of state function defined later.
#define	FSM_TIMEOUT(ms)   __fsm_timespec_add_ms(&fsm->timeout, &fsm->now, (ms))
	Sets FSM's timeout.
#define	FSM_TIMER(ms)   __fsm_timespec_add_ms(&fsm->timer, &fsm->now, (ms))
	Sets FSM's one-shot timer.
#define	FSM_TIMER_STOP()   __fsm_timespec_invalidate(&fsm->timer)
	Stops the timer.
#define	__FSM_EVENT_ENUM   enum fsm_common_events
#define	FSM_EVENT   ((__FSM_EVENT_ENUM)(fsm->event))
	Value of current event in state functions.
#define	FSM_TRANSITION(next)
	Sets current state to next.
#define	SUBFSM_TRANSITION(substate)
	Invoke state transition to sub-FSM.
#define	SUBFSM_RET()
	Return from sub-FSM.
Return codes of state functions
#define	RC_WAIT   0
	After return, FSM thread starts waiting for the new event.
#define	RC_PROC   1
	After return, current state function (fnc_act) will be immediately called again.
Typedefs
typedef int	fsm_event
	Type for FSM events.
Functions
void	fsm_init (struct robo_fsm *fsm, char *debug_name)
	FSM initialization.
int	fsm_start (struct robo_fsm *fsm, pthread_attr_t *attr)
	Starts previously initialized FSM.
int	fsm_destroy (struct robo_fsm *fsm)
	Deallocates all resources allocated by fsm_init().
void	__fsm_timespec_add_ms (struct timespec *ts, struct timespec *now, long ms)
	Set timespec to some time from now.
void	__fsm_timespec_invalidate (struct timespec *ts)
int	fsm_nop_state (struct robo_fsm *fsm)
	Non operative state, do nothing.
const char *	fsm_event_str (fsm_event ev)
	Returns string with the name of event submitted as parameter.
const char *	fsm_common_event_str (enum fsm_common_events ev)
static void	__fsm_signal (struct robo_fsm *fsm, fsm_event event)

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Detailed Description

Author:

Tran Duy Khanh

Author:

Michal Sojka

Date:

07/04/17

Finite State Machine

Definition in file fsm.h.

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Define Documentation

#define RC_PROC   1

After return, current state function (fnc_act) will be immediately called again.

Used by FSM_TRANSITION().

Definition at line 233 of file fsm.h.

#define RC_WAIT   0

After return, FSM thread starts waiting for the new event.

Definition at line 230 of file fsm.h.

Referenced by fsm_nop_state(), and handle_event().

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Function Documentation

void __fsm_timespec_add_ms	(	struct timespec *	ts,
		struct timespec *	now,
		long	ms
	)

Set timespec to some time from now.

Parameters:

[out]	ts	Result
[in]	now	Actual time or NULL. If NULL, actual time is determined by calling gettimeofday().
[in]	ms	number of milliseconds to be set

Definition at line 55 of file fsm.c.

References gettimeofday_ts().

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