tinyfsm/examples/elevator/elevator.cpp at master · jerry520-coder/tinyfsm · GitHub

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#include <tinyfsm.hpp>

#include "elevator.hpp"

#include "fsmlist.hpp"

#include <iostream>

class Idle; // forward declaration

// ----------------------------------------------------------------------------

// Transition functions

static void CallMaintenance() {

std::cout << "*** calling maintenance ***" << std::endl;

}

static void CallFirefighters() {

std::cout << "*** calling firefighters ***" << std::endl;

}

// ----------------------------------------------------------------------------

// State: Panic

class Panic

: public Elevator

{

void entry() override {

send_event(MotorStop());

}

};

// ----------------------------------------------------------------------------

// State: Moving

class Moving

: public Elevator

{

void react(FloorSensor const & e) override {

int floor_expected = current_floor + Motor::getDirection();

if(floor_expected != e.floor)

{

std::cout << "Floor sensor defect (expected " << floor_expected << ", got " << e.floor << ")" << std::endl;

transit<Panic>(CallMaintenance);

}

else

{

std::cout << "Reached floor " << e.floor << std::endl;

current_floor = e.floor;

if(e.floor == dest_floor)

transit<Idle>();

}

};

// ----------------------------------------------------------------------------

// State: Idle

class Idle

: public Elevator

{

void entry() override {

send_event(MotorStop());

}

void react(Call const & e) override {

dest_floor = e.floor;

if(dest_floor == current_floor)

return;

/* lambda function used for transition action */

auto action = [] {

if(dest_floor > current_floor)

send_event(MotorUp());

else if(dest_floor < current_floor)

send_event(MotorDown());

};

transit<Moving>(action);

};

// ----------------------------------------------------------------------------

// Base state: default implementations

void Elevator::react(Call const &) {

std::cout << "Call event ignored" << std::endl;

}

void Elevator::react(FloorSensor const &) {

std::cout << "FloorSensor event ignored" << std::endl;

}

void Elevator::react(Alarm const &) {

transit<Panic>(CallFirefighters);

}

int Elevator::current_floor = Elevator::initial_floor;

int Elevator::dest_floor = Elevator::initial_floor;

// ----------------------------------------------------------------------------

// Initial state definition

FSM_INITIAL_STATE(Elevator, Idle)

tinyfsm/examples/elevator/elevator.cpp at master · jerry520-coder/tinyfsm · GitHub

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