/*..........................................................................*/
void QHsm_init(QHsm * const me, QEvt const * const e) {
QStateHandler t = me->state.fun;
QS_CRIT_STAT_
Q_REQUIRE((me->vptr != (QMsmVtbl const *)0) /* ctor must be executed */
&& (me->temp.fun != Q_STATE_CAST(0)) /* ctor must be executed */
&& (t == Q_STATE_CAST(&QHsm_top))); /*initial tran. NOT taken */
/* the top-most initial transition must be taken */
Q_ALLEGE((*me->temp.fun)(me, e) == (QState)Q_RET_TRAN);
do { /* drill into the target... */
QStateHandler path[QEP_MAX_NEST_DEPTH_];
int_t ip = (int_t)0; /* transition entry path index */
QS_BEGIN_(QS_QEP_STATE_INIT, QS_priv_.smObjFilter, me)
QS_OBJ_(me); /* this state machine object */
QS_FUN_(t); /* the source state */
QS_FUN_(me->temp.fun); /* the target of the initial transition */
QS_END_()
path[0] = me->temp.fun;
(void)QEP_TRIG_(me->temp.fun, QEP_EMPTY_SIG_);
while (me->temp.fun != t) {
++ip;
path[ip] = me->temp.fun;
(void)QEP_TRIG_(me->temp.fun, QEP_EMPTY_SIG_);
}
me->temp.fun = path[0];
/* entry path must not overflow */
Q_ASSERT(ip < (int_t)QEP_MAX_NEST_DEPTH_);
do { /* retrace the entry path in reverse (desired) order... */
QEP_ENTER_(path[ip]); /* enter path[ip] */
--ip;
} while (ip >= (int_t)0);
t = path[0]; /* current state becomes the new source */
} while (QEP_TRIG_(t, Q_INIT_SIG) == (QState)Q_RET_TRAN);
QS_BEGIN_(QS_QEP_INIT_TRAN, QS_priv_.smObjFilter, me)
QS_TIME_(); /* time stamp */
QS_OBJ_(me); /* this state machine object */
QS_FUN_(t); /* the new active state */
QS_END_()
me->state.fun = t; /* change the current active state */
me->temp.fun = t; /* mark the configuration as stable */
}
//............................................................................
void QHsm::init(QEvent const *e) {
QStateHandler t;
QS_INT_LOCK_KEY_
// the top-most initial transition must be taken
Q_ALLEGE((*m_state)(this, e) == Q_RET_TRAN);
t = (QStateHandler)&QHsm::top; // HSM starts in the top state
do { // drill into the target...
QStateHandler path[QEP_MAX_NEST_DEPTH_];
int8_t ip = (int8_t)0; // transition entry path index
QS_BEGIN_(QS_QEP_STATE_INIT, QS::smObj_, this)
QS_OBJ_(this); // this state machine object
QS_FUN_(t); // the source state
QS_FUN_(m_state); // the target of the initial transition
QS_END_()
path[0] = m_state;
(void)QEP_TRIG_(m_state, QEP_EMPTY_SIG_);
while (m_state != t) {
++ip;
path[ip] = m_state;
(void)QEP_TRIG_(m_state, QEP_EMPTY_SIG_);
}
m_state = path[0];
// entry path must not overflow
Q_ASSERT(ip < (int8_t)QEP_MAX_NEST_DEPTH_);
do { // retrace the entry path in reverse (desired) order...
QEP_ENTER_(path[ip]); // enter path[ip]
--ip;
} while (ip >= (int8_t)0);
t = path[0]; // current state becomes the new source
} while (QEP_TRIG_(t, Q_INIT_SIG) == Q_RET_TRAN);
m_state = t;
QS_BEGIN_(QS_QEP_INIT_TRAN, QS::smObj_, this)
QS_TIME_(); // time stamp
QS_OBJ_(this); // this state machine object
QS_FUN_(m_state); // the new active state
QS_END_()
}
/*..........................................................................*/
void QHsm_dispatch(QHsm *me, QEvent const *e) {
QStateHandler path[QEP_MAX_NEST_DEPTH_];
QStateHandler s;
QStateHandler t;
QState r;
QS_INT_LOCK_KEY_
t = me->state; /* save the current state */
QS_BEGIN_(QS_QEP_DISPATCH, QS_smObj_, me)
QS_TIME_(); /* time stamp */
QS_SIG_(e->sig); /* the signal of the event */
QS_OBJ_(me); /* this state machine object */
QS_FUN_(t); /* the current state */
QS_END_()
do { /* process the event hierarchically... */
s = me->state;
r = (*s)(me, e); /* invoke state handler s */
} while (r == Q_RET_SUPER);
if (r == Q_RET_TRAN) { /* transition taken? */
#ifdef Q_SPY
QStateHandler src = s; /* save the transition source for tracing */
#endif
int8_t ip = (int8_t)(-1); /* transition entry path index */
int8_t iq; /* helper transition entry path index */
path[0] = me->state; /* save the target of the transition */
path[1] = t;
while (t != s) { /* exit current state to transition source s... */
if (QEP_TRIG_(t, Q_EXIT_SIG) == Q_RET_HANDLED) {/*exit handled? */
QS_BEGIN_(QS_QEP_STATE_EXIT, QS_smObj_, me)
QS_OBJ_(me); /* this state machine object */
QS_FUN_(t); /* the exited state */
QS_END_()
(void)QEP_TRIG_(t, QEP_EMPTY_SIG_); /* find superstate of t */
}
t = me->state; /* me->state holds the superstate */
}
t = path[0]; /* target of the transition */
if (s == t) { /* (a) check source==target (transition to self) */
QEP_EXIT_(s) /* exit the source */
ip = (int8_t)0; /* enter the target */
}
else {
(void)QEP_TRIG_(t, QEP_EMPTY_SIG_); /* superstate of target */
t = me->state;
if (s == t) { /* (b) check source==target->super */
ip = (int8_t)0; /* enter the target */
}
else {
(void)QEP_TRIG_(s, QEP_EMPTY_SIG_); /* superstate of src */
/* (c) check source->super==target->super */
if (me->state == t) {
QEP_EXIT_(s) /* exit the source */
ip = (int8_t)0; /* enter the target */
}
else {
/* (d) check source->super==target */
if (me->state == path[0]) {
QEP_EXIT_(s) /* exit the source */
}
else { /* (e) check rest of source==target->super->super..
* and store the entry path along the way
*/
iq = (int8_t)0; /* indicate that LCA not found */
ip = (int8_t)1; /* enter target and its superstate */
path[1] = t; /* save the superstate of target */
t = me->state; /* save source->super */
/* find target->super->super */
r = QEP_TRIG_(path[1], QEP_EMPTY_SIG_);
while (r == Q_RET_SUPER) {
++ip;
path[ip] = me->state; /* store the entry path */
if (me->state == s) { /* is it the source? */
iq = (int8_t)1; /* indicate that LCA found */
/* entry path must not overflow */
Q_ASSERT(ip < (int8_t)QEP_MAX_NEST_DEPTH_);
--ip; /* do not enter the source */
r = Q_RET_HANDLED; /* terminate the loop */
}
else { /* it is not the source, keep going up */
r = QEP_TRIG_(me->state, QEP_EMPTY_SIG_);
}
}
if (iq == (int8_t)0) { /* the LCA not found yet? */
/* entry path must not overflow */
Q_ASSERT(ip < (int8_t)QEP_MAX_NEST_DEPTH_);
QEP_EXIT_(s) /* exit the source */
/* (f) check the rest of source->super
* == target->super->super...
*/
iq = ip;
r = Q_RET_IGNORED; /* indicate LCA NOT found */
do {
if (t == path[iq]) { /* is this the LCA? */
r = Q_RET_HANDLED;/* indicate LCA found */
ip = (int8_t)(iq - 1);/*do not enter LCA*/
iq = (int8_t)(-1);/* terminate the loop */
}
else {
--iq; /* try lower superstate of target */
}
} while (iq >= (int8_t)0);
if (r != Q_RET_HANDLED) { /* LCA not found yet? */
/* (g) check each source->super->...
* for each target->super...
*/
r = Q_RET_IGNORED; /* keep looping */
do {
/* exit t unhandled? */
if (QEP_TRIG_(t, Q_EXIT_SIG)
== Q_RET_HANDLED)
{
QS_BEGIN_(QS_QEP_STATE_EXIT,
QS_smObj_, me)
QS_OBJ_(me);
QS_FUN_(t);
QS_END_()
(void)QEP_TRIG_(t, QEP_EMPTY_SIG_);
}
t = me->state; /* set to super of t */
iq = ip;
do {
if (t == path[iq]) {/* is this LCA? */
/* do not enter LCA */
ip = (int8_t)(iq - 1);
iq = (int8_t)(-1);/*break inner */
r = Q_RET_HANDLED;/*break outer */
}
else {
--iq;
}
} while (iq >= (int8_t)0);
} while (r != Q_RET_HANDLED);
}
}
}
}
}
}
/* retrace the entry path in reverse (desired) order... */
for (; ip >= (int8_t)0; --ip) {
QEP_ENTER_(path[ip]) /* enter path[ip] */
}
t = path[0]; /* stick the target into register */
me->state = t; /* update the current state */
/* drill into the target hierarchy... */
while (QEP_TRIG_(t, Q_INIT_SIG) == Q_RET_TRAN) {
QS_BEGIN_(QS_QEP_STATE_INIT, QS_smObj_, me)
QS_OBJ_(me); /* this state machine object */
QS_FUN_(t); /* the source (pseudo)state */
QS_FUN_(me->state); /* the target of the transition */
QS_END_()
ip = (int8_t)0;
path[0] = me->state;
(void)QEP_TRIG_(me->state, QEP_EMPTY_SIG_); /* find superstate */
while (me->state != t) {
++ip;
path[ip] = me->state;
(void)QEP_TRIG_(me->state, QEP_EMPTY_SIG_);/*find superstate*/
}
me->state = path[0];
/* entry path must not overflow */
Q_ASSERT(ip < (int8_t)QEP_MAX_NEST_DEPTH_);
do { /* retrace the entry path in reverse (correct) order... */
QEP_ENTER_(path[ip]) /* enter path[ip] */
--ip;
} while (ip >= (int8_t)0);
t = path[0];
}
QS_BEGIN_(QS_QEP_TRAN, QS_smObj_, me)
QS_TIME_(); /* time stamp */
QS_SIG_(e->sig); /* the signal of the event */
QS_OBJ_(me); /* this state machine object */
QS_FUN_(src); /* the source of the transition */
QS_FUN_(t); /* the new active state */
QS_END_()
}
