v2.2.0 (jonblack#11)

* Add `on_state()` handler to states
* New `run_machine()` method to invoke machine execution (includes a
`check_timed_transitions()` call)
* New `timed_switchoff.ino` example sketch to ilustrate new `on_state()`
and `run_machine()` funcionality
* Corrections:
- `make_transition()` correctly initialices timed transitions start
milliseconds (`make_transition()` is now a fsm method)
- Initial state `on_enter()` handler is now correctly executed on fsm
first run
- Removed `Serial.println(now);` trace in _Fsm.cpp_
- Correct initialization of `m_num_timed_transitions`

Author: Thelmos

Fsm.cpp

@@ -16,8 +16,9 @@
 #include "Fsm.h"
 
 
-State::State(void (*on_enter)(), void (*on_exit)())
+State::State(void (*on_enter)(), void (*on_state)(), void (*on_exit)())
 : on_enter(on_enter),
+  on_state(on_state),
   on_exit(on_exit)
 {
 }
@@ -26,7 +27,9 @@ State::State(void (*on_enter)(), void (*on_exit)())
 Fsm::Fsm(State* initial_state)
 : m_current_state(initial_state),
   m_transitions(NULL),
-  m_num_transitions(0)
+  m_num_transitions(0),
+  m_num_timed_transitions(0),
+  m_initialized(false)
 {
 }
 
@@ -90,20 +93,22 @@ Fsm::Transition Fsm::create_transition(State* state_from, State* state_to,
 
 void Fsm::trigger(int event)
 {
-  // Find the transition with the current state and given event.
-  for (int i = 0; i < m_num_transitions; ++i)
+  if (m_initialized)
   {
-    if (m_transitions[i].state_from == m_current_state &&
-        m_transitions[i].event == event)
+    // Find the transition with the current state and given event.
+    for (int i = 0; i < m_num_transitions; ++i)
     {
-      m_current_state = m_transitions[i].make_transition();
-      return;
+      if (m_transitions[i].state_from == m_current_state &&
+          m_transitions[i].event == event)
+      {
+        Fsm::make_transition(&(m_transitions[i]));
+        return;
+      }
     }
   }
 }
 
-
-void Fsm::check_timer()
+void Fsm::check_timed_transitions()
 {
   for (int i = 0; i < m_num_timed_transitions; ++i)
   {
@@ -114,31 +119,56 @@ void Fsm::check_timer()
       {
         transition->start = millis();
       }
-      else
-      {
+      else{
         unsigned long now = millis();
         if (now - transition->start >= transition->interval)
         {
-          m_current_state = transition->transition.make_transition();
+          Fsm::make_transition(&(transition->transition));
           transition->start = 0;
         }
       }
     }
   }
 }
 
+void Fsm::run_machine()
+{
+  // first run must exec first state "on_enter"
+  if (!m_initialized)
+  {
+    m_initialized = true;
+    if (m_current_state->on_enter != NULL)
+      m_current_state->on_enter();
+  }
+  
+  if (m_current_state->on_state != NULL)
+    m_current_state->on_state();
+    
+  Fsm::check_timed_transitions();
+}
 
-State* Fsm::Transition::make_transition()
+void Fsm::make_transition(Transition* transition)
 {
+ 
   // Execute the handlers in the correct order.
-  if (state_from->on_exit != NULL)
-    state_from->on_exit();
+  if (transition->state_from->on_exit != NULL)
+    transition->state_from->on_exit();
+
+  if (transition->on_transition != NULL)
+    transition->on_transition();
 
-  if (on_transition != NULL)
-    on_transition();
+  if (transition->state_to->on_enter != NULL)
+    transition->state_to->on_enter();
+  
+  m_current_state = transition->state_to;
 
-  if (state_to->on_enter != NULL)
-    state_to->on_enter();
+  //Initialice all timed transitions from m_current_state
+  unsigned long now = millis();
+  for (int i = 0; i < m_num_timed_transitions; ++i)
+  {
+    TimedTransition* ttransition = &m_timed_transitions[i];
+    if (ttransition->transition.state_from == m_current_state)
+      ttransition->start = now;
+  }
 
-  return state_to;
 }

Fsm.h

@@ -26,9 +26,9 @@
 
 struct State
 {
-  State(void (*on_enter)(), void (*on_exit)());
-
+  State(void (*on_enter)(), void (*on_state)(), void (*on_exit)());
   void (*on_enter)();
+  void (*on_state)();
   void (*on_exit)();
 };
 
@@ -45,8 +45,10 @@ class Fsm
   void add_timed_transition(State* state_from, State* state_to,
                             unsigned long interval, void (*on_transition)());
 
+  void check_timed_transitions();
+
   void trigger(int event);
-  void check_timer();
+  void run_machine();
 
 private:
   struct Transition
@@ -56,7 +58,6 @@ class Fsm
     int event;
     void (*on_transition)();
 
-    State* make_transition();
   };
   struct TimedTransition
   {
@@ -68,13 +69,16 @@ class Fsm
   static Transition create_transition(State* state_from, State* state_to,
                                       int event, void (*on_transition)());
 
+  void make_transition(Transition* transition);
+
 private:
   State* m_current_state;
   Transition* m_transitions;
   int m_num_transitions;
 
   TimedTransition* m_timed_transitions;
   int m_num_timed_transitions;
+  bool m_initialized;
 };
 
 

README.md

@@ -22,6 +22,18 @@ feature branch.
 
 # Changelog
 
+**2.2.0 - 12/03/2016**
+
+* Add `on_state()` handler to states
+* New `run_machine()` method to invoke machine execution (includes a `check_timed_transitions()` call)
+* New `timed_switchoff.ino` example sketch to ilustrate new `on_state()` and `run_machine()` funcionality
+* Corrections:
+ - `make_transition()` correctly initialices timed transitions start milliseconds (`make_transition()` is now a fsm method)
+ - Initial state `on_enter()` handler is now correctly executed on fsm first run
+ - Removed `Serial.println(now);` trace in _Fsm.cpp_
+ - Correct initialization of `m_num_timed_transitions`
+ 
+
 **2.1.0 - 21/11/2015**
 
 * Add timed transitions

examples/light_switch/light_switch.ino

@@ -1,10 +1,10 @@
-#include <Fsm.h>
+#include "Fsm.h"
 
 // State machine variables
 #define FLIP_LIGHT_SWITCH 1
 
-State state_light_on(on_light_on_enter, &on_light_on_exit);
-State state_light_off(on_light_off_enter, &on_light_off_exit);
+State state_light_on(on_light_on_enter, NULL, &on_light_on_exit);
+State state_light_off(on_light_off_enter, NULL, &on_light_off_exit);
 Fsm fsm(&state_light_off);
 
 // Transition callback functions
@@ -53,6 +53,7 @@ void setup()
 
 void loop()
 {
+  // No "fsm.run_machine()" call needed as no "on_state" funcions or timmed transitions exists
   delay(2000);
   fsm.trigger(FLIP_LIGHT_SWITCH);
   delay(2000);

examples/multitasking/multitasking.ino

@@ -2,7 +2,7 @@
 // multitasking on an arduino. Two LED's are turned on and off at irregular
 // intervals; the finite state machines take care of the transitions.
 
-#include <Fsm.h>
+#include "Fsm.h"
 
 #define LED1_PIN 10
 #define LED2_PIN 11
@@ -27,11 +27,11 @@ void on_led2_off_enter() {
     digitalWrite(LED2_PIN, LOW);
 }
 
-State state_led1_on(&on_led1_on_enter, NULL);
-State state_led1_off(&on_led1_off_enter, NULL);
+State state_led1_on(&on_led1_on_enter, NULL, NULL);
+State state_led1_off(&on_led1_off_enter, NULL, NULL);
 
-State state_led2_on(&on_led2_on_enter, NULL);
-State state_led2_off(&on_led2_off_enter, NULL);
+State state_led2_on(&on_led2_on_enter, NULL, NULL);
+State state_led2_off(&on_led2_off_enter, NULL, NULL);
 
 Fsm fsm_led1(&state_led1_off);
 Fsm fsm_led2(&state_led2_off);
@@ -50,8 +50,8 @@ void setup() {
 
 
 void loop() {
-    fsm_led1.check_timer();
-    fsm_led2.check_timer();
-
-    delay(100);
+    fsm_led1.run_machine();
+    fsm_led2.run_machine();
+    delay(200);
 }
+