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82 lines
2.6 KiB
C++
82 lines
2.6 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2013-2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file state_table.h
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*
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* Finite-State-Machine helper class for state table
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* @author: Julian Oes <julian@oes.ch>
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*/
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#ifndef __SYSTEMLIB_STATE_TABLE_H
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#define __SYSTEMLIB_STATE_TABLE_H
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class StateTable
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{
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public:
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typedef void (StateTable::*Action)();
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struct Tran {
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Action action;
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unsigned nextState;
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};
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StateTable(Tran const *table, unsigned nStates, unsigned nSignals)
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: myTable(table), myNsignals(nSignals) {}
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#define NO_ACTION &StateTable::doNothing
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#define ACTION(_target) StateTable::Action(_target)
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virtual ~StateTable() {}
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void dispatch(unsigned const sig) {
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/* get transition using state table */
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Tran const *t = myTable + myState*myNsignals + sig;
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/* accept new state */
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myState = t->nextState;
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/* */
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(this->*(t->action))();
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}
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void doNothing() {
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return;
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}
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protected:
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unsigned myState;
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private:
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Tran const *myTable;
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unsigned myNsignals;
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};
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#endif
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