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system/smf: Port SMF .c/.h files to NuttX
This commit add state machine framework lib to the NuttX project. Also an example is added to help users understand and use this feature. Changes: Added some files. No impact in other features are expected. Adjust SMF macro names Fix issues requested during MR review update kconfig fix ci-cd issue Signed-off-by: Felipe Moura <moura.fmo@gmail.com>
This commit is contained in:
Felipe MdeO
Matteo Golin
parent
4f93ec0a43
commit
ca11a7e093
12 changed files with 1913 additions and 0 deletions
267
include/system/smf.h
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267
include/system/smf.h
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/****************************************************************************
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* apps/include/system/smf.h
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __APPS_INCLUDE_SYSTEM_SMF_H
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#define __APPS_INCLUDE_SYSTEM_SMF_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/compiler.h>
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#include <stdbool.h>
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#include <stdint.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#ifdef CONFIG_SYSTEM_SMF_ANCESTOR_SUPPORT
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# ifdef CONFIG_SYSTEM_SMF_INITIAL_TRANSITION
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# define SMF_CREATE_STATE(_entry, _run, _exit, _parent, _initial) \
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{ \
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.entry = (_entry), \
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.run = (_run), \
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.exit = (_exit), \
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.parent = (_parent), \
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.initial = (_initial), \
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}
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# else
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# define SMF_CREATE_STATE(_entry, _run, _exit, _parent, _initial) \
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{ \
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.entry = (_entry), \
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.run = (_run), \
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.exit = (_exit), \
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.parent = (_parent), \
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}
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# endif
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#else
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# define SMF_CREATE_STATE(_entry, _run, _exit, _parent, _initial) \
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{ \
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.entry = (_entry), \
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.run = (_run), \
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.exit = (_exit), \
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}
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#endif
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#define SMF_CTX(o) ((struct smf_ctx *)(o))
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/****************************************************************************
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* Public Types
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****************************************************************************/
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enum smf_state_result
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{
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SMF_EVENT_HANDLED,
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SMF_EVENT_PROPAGATE
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};
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typedef void (*state_method)(void *obj);
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typedef enum smf_state_result (*state_execution)(void *obj);
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struct smf_state
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{
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/* Optional method that will be run when this state is entered. */
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state_method entry;
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/* Optional method that will be run repeatedly during the state machine
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* loop.
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*/
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state_execution run;
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/* Optional method that will be run when this state exits. */
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state_method exit;
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#ifdef CONFIG_SYSTEM_SMF_ANCESTOR_SUPPORT
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/* Optional parent state that contains common entry/run/exit
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* implementation among various child states.
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* entry: Parent function executes BEFORE child function.
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* run: Parent function executes AFTER child function.
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* exit: Parent function executes AFTER child function.
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* Note: When transitioning between two child states with a shared
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* parent, that parent's exit and entry functions do not execute.
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*/
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const struct smf_state *parent;
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# ifdef CONFIG_SYSTEM_SMF_INITIAL_TRANSITION
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/* Optional initial transition state. NULL for leaf states. */
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const struct smf_state *initial;
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# endif /* CONFIG_SYSTEM_SMF_INITIAL_TRANSITION */
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#endif /* CONFIG_SYSTEM_SMF_ANCESTOR_SUPPORT */
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};
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struct smf_ctx
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{
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/* Current state the state machine is executing. */
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const struct smf_state *current;
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/* Previous state the state machine executed. */
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const struct smf_state *previous;
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#ifdef CONFIG_SYSTEM_SMF_ANCESTOR_SUPPORT
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/* Currently executing state (which may be a parent). */
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const struct smf_state *executing;
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#endif /* CONFIG_SYSTEM_SMF_ANCESTOR_SUPPORT */
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/* This value is set by the set_terminate function and should
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* terminate the state machine when its set to a value other than
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* zero when it's returned by the run_state function.
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*/
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int32_t terminate_val;
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/* The state machine casts this to a "struct internal_ctx" and it's
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* used to track state machine context.
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*/
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uint32_t internal;
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};
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/****************************************************************************
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* Public Data
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****************************************************************************/
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#undef EXTERN
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#if defined(__cplusplus)
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: smf_set_initial
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*
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* Description:
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* Initialize the state machine and set its initial state.
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*
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* Input Parameters:
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* ctx - State machine context
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* init_state - Initial state the state machine starts in
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*
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****************************************************************************/
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void smf_set_initial(struct smf_ctx *ctx,
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const struct smf_state *init_state);
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/****************************************************************************
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* Name: smf_set_state
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*
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* Description:
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* Change the state machine state. This handles exiting the previous state
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* and entering the target state. For HSMs the entry and exit actions of
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* the Least Common Ancestor are not run.
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*
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* Input Parameters:
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* ctx - State machine context
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* new_state - State to transition to
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*
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****************************************************************************/
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void smf_set_state(struct smf_ctx *ctx, const struct smf_state *new_state);
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/****************************************************************************
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* Name: smf_set_terminate
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*
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* Description:
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* Terminate a state machine.
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*
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* Input Parameters:
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* ctx - State machine context
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* val - Non-zero termination value returned by smf_run_state
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*
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****************************************************************************/
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void smf_set_terminate(struct smf_ctx *ctx, int32_t val);
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/****************************************************************************
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* Name: smf_run_state
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*
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* Description:
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* Run one iteration of a state machine (including any parent states).
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*
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* Input Parameters:
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* ctx - State machine context
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*
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* Returned Value:
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* A non-zero value terminates the state machine. This non-zero value may
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* represent a terminal state being reached or detection of an error.
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*
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****************************************************************************/
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int32_t smf_run_state(struct smf_ctx *ctx);
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/****************************************************************************
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* Name: smf_get_current_leaf_state
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*
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* Description:
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* Get the current leaf state. This may be a parent state if the HSM is
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* malformed (initial transitions are not set up correctly).
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*
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****************************************************************************/
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static inline const struct smf_state *
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smf_get_current_leaf_state(const struct smf_ctx *ctx)
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{
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return ctx->current;
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}
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/****************************************************************************
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* Name: smf_get_current_executing_state
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*
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* Description:
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* Get the state that is currently executing. This may be a parent state.
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*
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****************************************************************************/
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static inline const struct smf_state *
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smf_get_current_executing_state(const struct smf_ctx *ctx)
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{
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#ifdef CONFIG_SYSTEM_SMF_ANCESTOR_SUPPORT
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return ctx->executing;
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#else
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return ctx->current;
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#endif /* CONFIG_SYSTEM_SMF_ANCESTOR_SUPPORT */
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}
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#undef EXTERN
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#if defined(__cplusplus)
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}
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#endif
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#endif /* __APPS_INCLUDE_SYSTEM_SMF_H */
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