ResetStrategy::ResetStrategy(const NSFString& name, NSFCompositeState* parentState)
: NSFStateMachine(name, parentState), hardwareReset(false), commReady(false), hardwareResetDelayTime(1000), commReadyDelayTime(1000),
// State Machine Components
// Define and initialize in the order:
// 1) Events
// 2) Regions and states, from outer to inner
// 3) Transitions, ordered internal, local, external
// 4) Group states and transitions within a region together.
// Maintain the same order of declaration and initialization.
// Events
commReadyEvent("CommReady", this),
hardwareResetEvent("HardwareReset", this),
// Regions and states, from outer to inner
// Initial state construtors take the form (name, parent)
initialResetStrategyState("InitialResetStrategy", this),
// Composite state construtors take the form (name, parent, entry action, exit action)
resetHardwareState("ResetHardware", this, NSFAction(this, &ResetStrategy::resetHardwareEntryActions), NULL),
reestablishCommunicationsState("ReestablishCommunications", this, NSFAction(this, &ResetStrategy::reestablishCommunicationsEntryActions), NULL),
readyState("Ready", this, NULL, NULL),
// Transitions, ordered internal, local, external
// External transition construtors take the form (name, source, target, trigger, guard, action)
initialResetStrategyToResetHardwareTransition("InitialToResetHardware", &initialResetStrategyState, &resetHardwareState, NULL, NULL, NSFAction(this, &ResetStrategy::resetVariables)),
resetHardwareToReestablishCommunicationsTransition("ResetHardwareToReestablishCommunications", &resetHardwareState, &reestablishCommunicationsState, NULL, NSFGuard(this, &ResetStrategy::isHardwareReset), NULL),
reestablishCommunicationsStateToReadyTransition("ReestablishCommunicationsStateToReady", &reestablishCommunicationsState, &readyState, NULL, NSFGuard(this, &ResetStrategy::isCommReady), NULL),
// Actions
resetHardwareAction("ReadHardware", NSFAction(this, &ResetStrategy::resetHardware), getEventThread()),
readyCommAction("ResetComm", NSFAction(this, &ResetStrategy::resetComm), getEventThread())
{
}
void NSFState::construct()
{
if (parentRegion != NULL)
{
parentRegion->addSubstate(this);
}
EntryActions.setExceptionAction(NSFAction(this, &NSFState::handleEntryActionException));
ExitActions.setExceptionAction(NSFAction(this, &NSFState::handleExitActionException));
}
NSFThread::NSFThread(const NSFString& name, int priority)
: NSFTaggedObject(name),
osThread(NSFOSThread::create(name, NSFAction(this, &NSFThread::threadEntry), priority)), threadMutex(NSFOSMutex::create()),
terminationStatus(ThreadReady)
{
NSFEnvironment::getEnvironment().addThread(this);
}
StrategyTest::StrategyTest(const NSFString& name)
: NSFStateMachine(name, new NSFEventThread(name)),
// Events
event1("Event1", this),
event2("Event2", this),
// Regions and states, from outer to inner
initialState("InitialTest15", this),
state1("State1", this, NULL, NULL),
state2("State2", this, NSFAction(this, &StrategyTest::state5EntryActions), NULL),
state3("State3", this, NULL, NULL),
//Transitions
initialToState1Transition("InitialToState1", &initialState, &state1, NULL, NULL, NULL),
state1ToState2Transition("State1ToState2", &state1, &state2, &event1, NULL, NULL),
state2ToState3Transition("State2ToState3", &state2, &state3, &event2, NULL, NULL),
state3ToState2Transition("State3ToState2", &state3, &state2, &event1, NULL, NULL),
state2ToState1Transition("State2ToState1", &state2, &state1, &event1, NULL, NULL),
state2Strategy("State2Strategy", &state2)
{
state2Strategy.getState5().EntryActions += NSFAction(&event2, &NSFEvent::queueEvent);
}
StateMachineRestartTest::StateMachineRestartTest(const NSFString& name)
: NSFStateMachine(name, new NSFEventThread(name)),
// Events
event1("Event1", this),
event2("Event2", this),
// Regions and states, from outer to inner
initialState("InitialTest10", this),
state1("State1", this, NULL, NULL),
state2("State2", this, NULL, NULL),
state3("State3", this, NULL, NULL),
// Transitions, ordered internal, local, external
test1ReactionToEvent2("Test1ReactionToEvent2", this, &event2, NULL, NSFAction(this, &StateMachineRestartTest::test1ReactionToEvent2Actions)),
state2ReactionToEvent1("State2ReactionToEvent1", &state2, &event1, NULL, NSFAction(this, &StateMachineRestartTest::state2ReactionToEvent1Actions)),
initialToState1Transition("InitialToState1", &initialState, &state1, NULL, NULL, NULL),
state1ToState2Transition("State1ToState2", &state1, &state2, &event1, NULL, NULL),
state2ToState3Transition("State2ToState3", &state2, &state3, &event2, NULL, NULL),
state3ToState2Transition("State3ToState2", &state3, &state2, &event1, NULL, NULL),
state2ToState1Transition("State2ToState1", &state2, &state1, &event1, NULL, NULL)
{
}
TransitionOrderTest::TransitionOrderTest(const NSFString& name)
: NSFStateMachine(name, new NSFEventThread(name)),
// Events
event1("Event1", this),
event2("Event2", this),
event3("Event3", this),
// Regions and states, from outer to inner
initialTest15("InitialTest16", this),
state1("State1", this, NULL, NULL),
state2("State2", this, NULL, NULL),
intialState2("IntialState2", &state2),
state2_1("State2_1", &state2, NULL, NSFAction(this, &TransitionOrderTest::state2_1ExitActions)),
state3("State3", this, NULL, NULL),
initialState3("InitialState3", &state3),
state3_1("State3_1", &state3, NULL, NSFAction(this, &TransitionOrderTest::state3_1ExitActions)),
state4("State4", this, NULL, NULL),
errorState("Error", this, NULL, NULL),
// Transitions, ordered internal, local, external
initialTest15ToState1Transition("InitialTest15ToState1", &initialTest15, &state1, NULL, NULL, NULL),
state1ToState2Transition("State1ToState2", &state1, &state2, &event2, NULL, NULL),
state1ReactionToEvent1("State1ReactionToEvent1", &state1, &event1, NULL, NSFAction(this, &TransitionOrderTest::state1ReactionToEvent1Actions)),
state1ToErrorTransition("State1ToError", &state1, &errorState, &event1, NULL, NULL),
state2ToState3Transition("State2ToState3Transition", &state2, &state3, &event2, NULL, NULL),
state2ToErrorTransition("State2ToErrorTransition", &state2, &errorState, &event1, NULL, NULL),
state2ToState2Transition("State2ToState2Transition", &state2, &state2, &event1, NULL, NULL),
intialState2ToState2_1Transition("intialState2ToState2_1Transition", &intialState2, &state2_1, NULL, NULL, NULL),
state3ToState4Transition("State3ToState4Transition", &state3, &state4, &event2, NULL, NULL),
state3ToState3Transition("State3ToState3Transition", &state3, &state3, &event1, NULL, NULL),
state3ReactionToEvent1("state3ReactionToEvent1", &state3, &event1, NULL, NSFAction(this, &TransitionOrderTest::state3ReactionToEvent1Actions)),
initialState3ToState3_1Transition("InitialState3ToState3_1Transition", &initialState3, &state3_1, NULL, NULL, NULL),
state3ToErrorTransition("State3ToErrorTransition", &state3, &errorState, &event3, NULL, NULL)
{
}
bool TimerAccuracyTest::runTest(NSFString& errorMessage)
{
eventHandler.addEventReaction(&testEvent, NSFAction(this, &TimerAccuracyTest::testEventAction));
// Schedule test event to fire every millisecond
testEvent.schedule(0, 1);
// Wait for test to end
NSFOSThread::sleep(1000);
// Unschedule test event
testEvent.unschedule();
// Add results to name for test visibility
name += "; Min / Max Delta Time = " + toString(minDeltaTime) + " / " + toString(maxDeltaTime) + " mS";
return true;
}
CycleAB::CycleAB(const NSFString& name)
: NSFStateMachine(name, new NSFEventThread(name)),
// State Machine Components
// Define and initialize in the order:
// 1) Events
// 2) Regions and states, from outer to inner
// 3) Transitions, ordered internal, local, external
// 4) Group states and transitions within a region together.
// Maintain the same order of declaration and initialization.
// Events
// Event constructors take the form (name, parent)
cycleEvent("CycleEvent", this),
aReadyEvent("AReadyEvent", this),
bReadyEvent("BReadyEvent", this),
aCompleteEvent("ACompleteEvent", this),
bCompleteEvent("BCompleteEvent", this),
// Regions and states, from outer to inner
systemRegion("SystemRegion", this),
subsystemARegion("SubsystemARegion", this),
subsystemBRegion("SubsystemBRegion", this),
initializeForkJoin("InitializeForkJoin", this),
cycleForkJoin("CycleForkJoin", this),
completeForkJoin("CompleteForkJoin", this),
// System Region
// Regions and states, from outer to inner
// Initial state construtors take the form (name, parent)
systemInitialState("SystemInitial", &systemRegion),
// Composite state construtors take the form (name, parent, entry actions, exit actions)
waitForCycleEventState("WaitForCycleEvent", &systemRegion, NULL, NULL),
// Transitions, ordered internal, local, external
// External transition construtors take the form (name, source, target, trigger, guard, action)
systemInitialToInitializeForkJoinTransition("SystemInitialToInitializeForkJoin", &systemInitialState, &initializeForkJoin, NULL, NULL, NULL),
initializeForkJoinToWaitForCycleEventTransition("InitializeForkJoinToWaitForCycleEvent", &initializeForkJoin, &waitForCycleEventState, NULL, NULL, NULL),
waitForCycleEventToCycleForkJoinTransition("WaitForCycleEventToCycleForkJoin", &waitForCycleEventState, &cycleForkJoin, &cycleEvent, NULL, NULL),
cycleForkJoinToCompleteForkJoinTransiiton("CycleForkJoinToCompleteForkJoin", &cycleForkJoin, &completeForkJoin, &systemRegion, NULL),
completeForkJoinToWaitForCycleEventTransition("CompleteForkJoinToWaitForCycleEvent", &completeForkJoin, &waitForCycleEventState, NULL, NULL, NULL),
// Subystem A Region
// Regions and states, from outer to inner
// Initial state construtors take the form (name, parent)
subsystemAInitialState("SubsystemAInitial", &subsystemARegion),
// Composite state construtors take the form (name, parent, entry actions, exit actions)
initializeAState("InitializeA", &subsystemARegion, NSFAction(this, &CycleAB::initializeAEntryActions), NULL),
cycleAState("CycleA", &subsystemARegion, NSFAction(this, &CycleAB::cycleAEntryActions), NULL),
// Transitions, ordered internal, local, external
// External transition construtors take the form (name, source, target, trigger, guard, action)
subsystemAInitialToInitializeATransition("SubsystemAInitialToInitializeA", &subsystemAInitialState, &initializeAState, NULL, NULL, NULL),
initializeAToInitializeForkJoinTransition("InitializeAToInitializeForkJoin", &initializeAState, &initializeForkJoin, &aReadyEvent, NULL, NULL),
initializeForkJoinToCycleForkJoinARegionTransition("InitializeForkJoinToCycleForkJoinARegion", &initializeForkJoin, &cycleForkJoin, &subsystemARegion, NULL),
cycleForkJoinToCycleATransition("CycleForkJoinToCycleA", &cycleForkJoin, &cycleAState, NULL, NULL, NULL),
cycleAToCompleteForkJoinTransition("CycleAToCompleteForkJoin", &cycleAState, &completeForkJoin, &aCompleteEvent, NULL, NULL),
// Subystem B Region
// Regions and states, from outer to inner
// Initial state construtors take the form (name, parent)
subsystemBInitialState("SubsystemBInitial", &subsystemBRegion),
// Composite state construtors take the form (name, parent, entry actions, exit actions)
initializeBState("InitializeB", &subsystemBRegion, NSFAction(this, &CycleAB::initializeBEntryActions), NULL),
cycleBState("CycleB", &subsystemBRegion, NSFAction(this, &CycleAB::cycleBEntryActions), NULL),
// Transitions, ordered internal, local, external
// External transition construtors take the form (name, source, target, trigger, guard, action)
subsystemBInitialToInitializeBTransition("SubsystemBInitialToInitializeB", &subsystemBInitialState, &initializeBState, NULL, NULL, NULL),
initializeBToInitializeForkJoinTransition("InitializeBToInitializeForkJoin", &initializeBState, &initializeForkJoin, &bReadyEvent, NULL, NULL),
initializeForkJoinToCycleForkJoinBRegionTransition("InitializeForkJoinToCycleForkJoinBRegion", &initializeForkJoin, &cycleForkJoin, &subsystemBRegion, NULL),
cycleForkJoinToCycleBTransition("CycleForkJoinToCycleB", &cycleForkJoin, &cycleBState, NULL, NULL, NULL),
cycleBToCompleteForkJoinTransition("CycleBToCompleteForkJoin", &cycleBState, &completeForkJoin, &bCompleteEvent, NULL, NULL)
{
}
ChoiceStateTest::ChoiceStateTest(const NSFString& name)
: NSFStateMachine(name, new NSFEventThread(name)), value (0),
// Events
evaluateEvent("EvaluateEvent", this),
waitEvent("WaitEvent", this),
// Regions and states, from outer to inner
initialChoiceStateTestState("InitialChoiceStateTest", this),
waitToEvaluateState("WaitToEvaluate", this, NULL, NULL),
evaluateValueState("EvaluateValue", this),
evaluatedState("Evaluated", this, NULL, NULL),
initialEvaluatedState("InitialEvaluatedState", &evaluatedState),
valueLowState("ValueLow", &evaluatedState, NULL, NULL),
valueMiddleState("ValueMiddle", &evaluatedState, NULL, NULL),
valueHighState("ValueHigh", &evaluatedState, NULL, NULL),
// Transitions, ordered internal, local, external
initialChoiceStateTestToWaitToEvaluateTransition("InitialChoiceStateTestToWaitToEvaluate", &initialChoiceStateTestState, &waitToEvaluateState, NULL, NULL, NULL),
waitToEvaluateToEvaluateValueTransition("WaitToEvaluateToEvaluateValueTransition", &waitToEvaluateState, &evaluateValueState, &evaluateEvent, NULL, NULL),
initialEvaluatedToValueLowTransition("InitialEvaluatedToValueLowTransition", &initialEvaluatedState, &valueLowState, NULL, NULL, NULL),
evaluateValueToValueLowTransition("EvaluateValueToValueLowTransition", &evaluateValueState, &valueLowState, NULL, NSFGuard(this, &ChoiceStateTest::isValueLow), NULL),
evaluateValueToValueMiddleTransition("EvaluateValueToValueMiddleTransition", &evaluateValueState, &valueMiddleState, NULL, Else, NULL),
evaluateValueToValueHighTransition("EvaluateValueToValueHighTransition", &evaluateValueState, &valueHighState, NULL, NSFGuard(this, &ChoiceStateTest::isValueHigh), NULL),
evaluatedToWaitToEvaluateTransition("EvaluatedToWaitToEvaluateTransition", &evaluatedState, &waitToEvaluateState, &waitEvent, NULL, NSFAction(this, &ChoiceStateTest::addValue))
{
}
