inspiration/ETL/test/smach.cpp

/*! ========================================================================
** Extended Template and Library Test Suite
** Angle Class Test
**
** Copyright (c) 2002 Robert B. Quattlebaum Jr.
**
** This package is free software; you can redistribute it and/or
** modify it under the terms of the GNU General Public License as
** published by the Free Software Foundation; either version 2 of
** the License, or (at your option) any later version.
**
** This package is distributed in the hope that it will be useful,
** but WITHOUT ANY WARRANTY; without even the implied warranty of
** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
** General Public License for more details.
**
** === N O T E S ===========================================================
**
** ========================================================================= */

#include <ETL/smach>
#include <cstdio>

using namespace std;
using namespace etl;

enum EventKey {
    EVENT_1,
    EVENT_2,
    EVENT_3,
    EVENT_4
};

struct MachineContext {
    smach<MachineContext, EventKey> machine;

    MachineContext(): machine(this)
    {
    }
};

typedef smach<MachineContext, EventKey> Smach;

class Event1 : public Smach::event
{
public:
    Event1(): Smach::event(EVENT_1) { }
};

class DefaultStateContext
{
    MachineContext *context;
public:
    DefaultStateContext(MachineContext *context): context(context)
    {
        printf("Entered Default State\n");
    }
    ~DefaultStateContext()
    {
        printf("Left Default State\n");
    }

    Smach::event_result event1_handler(const Smach::event& x __attribute__((unused)))
    {
        printf("DEFAULT STATE: Received Event 1\n");
        return Smach::RESULT_ACCEPT;
    }
};

class DefaultState : public Smach::state<DefaultStateContext>
{
public:
    DefaultState(): Smach::state<DefaultStateContext>("DefaultState")
    {
        insert(event_def(EVENT_1, &DefaultStateContext::event1_handler));
    }

} default_state;

class State1Context
{
    MachineContext *context;
public:
    State1Context(MachineContext *context): context(context)
    {
        printf("Entered State 1\n");
    }
    ~State1Context()
    {
        printf("Left State 1\n");
    }

    Smach::event_result event1_handler(const Smach::event& x __attribute__((unused)))
    {
        printf("STATE1: Received Event 1\n");
        return Smach::RESULT_OK;
    }

    Smach::event_result event3_handler(const Smach::event& x);
};

class State1 : public Smach::state<State1Context>
{
public:
    State1(): Smach::state<State1Context>("State1")
    {
        insert(event_def(EVENT_1, &State1Context::event1_handler));
        insert(event_def(EVENT_3, &State1Context::event3_handler));
    }

} state_1;

class State2Context
{
    MachineContext *context;
public:
    State2Context(MachineContext *context): context(context)
    {
        printf("Entered State 2\n");
    }
    ~State2Context()
    {
        printf("Left State 2\n");
    }

    Smach::event_result event1_handler(const Smach::event& x __attribute__((unused)))
    {
        printf("STATE2: Received Event 1\n");
        return Smach::RESULT_OK;
    }

    Smach::event_result event2_handler(const Smach::event& x __attribute__((unused)))
    {
        printf("STATE2: Received Event 2\n");
        return Smach::RESULT_OK;
    }

    Smach::event_result event3_handler(const Smach::event& x __attribute__((unused)))
    {
        printf("STATE2: Received Event 3\n");
        return Smach::RESULT_OK;
    }
};

class State2 : public Smach::state<State2Context>
{
public:
    State2(): Smach::state<State2Context>("State2")
    {
        insert(event_def(EVENT_1, &State2Context::event1_handler));
        insert(event_def(EVENT_2, &State2Context::event2_handler));
        insert(event_def(EVENT_3, &State2Context::event3_handler));
    }

} state_2;

Smach::event_result
State1Context::event3_handler(const Smach::event& x __attribute__((unused)))
{
    printf("STATE1: Received Event 3, throwing state to change to...\n");

    throw &state_2;
}

int main()
{
    int error = 0;

    MachineContext context;

    try {
        Smach& state_machine(context.machine);

        state_machine.set_default_state(&default_state);

        state_machine.enter(&state_1);

        state_machine.process_event(Event1());
        state_machine.process_event(EVENT_1);
        state_machine.process_event(EVENT_2);
        state_machine.process_event(EVENT_3);

        state_machine.process_event(Event1());
        state_machine.process_event(EVENT_1);
        state_machine.process_event(EVENT_2);
        state_machine.process_event(EVENT_3);

        state_machine.process_event(Event1());
        state_machine.process_event(EVENT_1);
        state_machine.process_event(EVENT_2);
        state_machine.process_event(EVENT_3);
    } catch (...) {
        printf("Uncaught exception\n");
        error++;
    }

    return error;
}