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clean up enter/exit state methods

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master
Francisco Paisana 5 years ago committed by Francisco Paisana
parent 8d3427e88a
commit 4036a6887a
2 changed files with 109 additions and 90 deletions
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180
lib/include/srslte/common/fsm.h
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@ -44,7 +44,8 @@ std::string get_type_name()
static const char* pos2 = strchr(pos1, ';');
std::string s2{pos1, pos2};
size_t colon_pos = s2.rfind(':');
return colon_pos == std::string::npos ? s2 : s2.substr(colon_pos + 1, s2.size());
std::string s3 = colon_pos == std::string::npos ? s2 : s2.substr(colon_pos + 1, s2.size());
return s3.find('>') == std::string::npos ? s3 : s2;
}();
return s;
}
@ -56,14 +57,14 @@ std::string get_type_name()
}
#endif
//! This version leverages type deduction. (e.g. get_type_name(var))
//! This version leverages argument type deduction. (e.g. get_type_name(var))
template <typename T>
std::string get_type_name(const T& t)
{
return get_type_name<T>();
}
//! When there is no state transition
//! Return for when there is no state transition
struct same_state {
};
@ -79,6 +80,25 @@ struct state_name_visitor {
std::string name = "invalid state";
};
//! Visitor to convert a type inside a choice to another choice
template <typename FSM, typename PrevState>
struct choice_to_state_visitor {
choice_to_state_visitor(FSM* f_, PrevState* p_) : f(f_), p(p_) {}
template <typename State>
void operator()(State& s);
FSM* f;
PrevState* p;
};
//! Visitor to call current state enter method for a given FSM
template <typename FSM>
struct enter_visitor {
explicit enter_visitor(FSM* f_) : f(f_) {}
template <typename State>
void operator()(State&& s);
FSM* f;
};
struct fsm_helper {
//! Metafunction to determine if FSM can hold given State type
template <typename FSM>
@ -88,36 +108,19 @@ struct fsm_helper {
template <typename FSM, typename State>
using disable_if_fsm_state = typename get_fsm_state_list<FSM>::template disable_if_can_hold<State>;
template <typename FSM>
static auto call_init(FSM* f) -> decltype(f->derived()->do_init())
{
f->derived()->do_init();
}
static void call_init(...) {}
//! Call FSM/State enter method
template <typename FSM, typename State>
static auto call_enter(FSM* f, State* s) -> decltype(f->enter(*s))
static auto call_enter(FSM* f, State* s) -> decltype(s->derived()->parent_fsm(), void())
{
f->enter(*s);
call_init(s);
fsm_details::enter_visitor<typename State::derived_view> visitor{s->derived()};
s->derived()->states.visit(visitor);
}
static void call_enter(...) {}
template <typename FSM, typename State>
static auto call_exit(FSM* f, State* s) -> decltype(f->exit(*s))
template <typename FSM, typename State, typename... Args>
static void call_enter(FSM* f, State* s, Args&&...)
{
f->exit(*s);
}
static void call_exit(...) {}
template <typename FSM>
struct enter_visitor {
enter_visitor(FSM* f_) : f(f_) {}
template <typename State>
void operator()(State&& s)
{
call_enter(f, &s);
f->enter(*s);
}
FSM* f;
};
//! Stayed in same state
template <typename FSM, typename PrevState>
@ -129,27 +132,28 @@ struct fsm_helper {
template <typename FSM, typename... Args, typename PrevState>
static void handle_state_change(FSM* f, choice_t<Args...>* s, PrevState* p)
{
fsm_details::fsm_helper::variant_convert<FSM, PrevState> visitor{f, p};
choice_to_state_visitor<FSM, PrevState> visitor{f, p};
s->visit(visitor);
}
//! Simple state transition in FSM
//! Simple state transition in FSM (no same_state of entry in nested FSM)
template <typename FSM, typename State, typename PrevState>
static enable_if_fsm_state<FSM, State> handle_state_change(FSM* f, State* s, PrevState* p)
{
static_assert(not std::is_same<State, PrevState>::value, "State cannot transition to itself.\n");
call_exit(f, &srslte::get<PrevState>(f->states));
f->exit(srslte::get<PrevState>(f->states));
f->states.transit(std::move(*s));
call_enter(f, &srslte::get<State>(f->states));
f->log_h->info("FSM \"%s\": Detected transition \"%s\" -> \"%s\"",
get_type_name<typename FSM::derived_t>().c_str(),
get_type_name<PrevState>().c_str(),
get_type_name<State>().c_str());
}
//! State not present in current FSM. Attempt state transition in parent FSM in the case of NestedFSM
template <typename FSM, typename State, typename PrevState>
static disable_if_fsm_state<FSM, State> handle_state_change(FSM* f, State* s, PrevState* p)
{
static_assert(FSM::is_nested, "State is not present in the FSM list of valid states");
if (p != nullptr) {
// srslte::get<PrevState>(f->states).do_exit();
call_exit(f, &srslte::get<PrevState>(f->states));
}
f->exit(srslte::get<PrevState>(f->states));
handle_state_change(f->parent_fsm()->derived(), s, static_cast<typename FSM::derived_t*>(f));
}
@ -165,21 +169,17 @@ struct fsm_helper {
call_trigger(&s);
}
//! Compute next state type
//! Check if react exists
template <typename State>
using NextState = decltype(std::declval<FSM>().react(std::declval<State&>(), std::declval<Event>()));
using enable_if_has_react = decltype(std::declval<FSM>().react(std::declval<State&>(), std::declval<Event>()),
void());
//! In case a "react(State&, Event) -> NextState" method is found
template <typename State>
auto call_trigger(State* current_state) -> NextState<State>
auto call_trigger(State* current_state) -> enable_if_has_react<State>
{
static_assert(not std::is_same<NextState<State>, State>::value, "State cannot transition to itself.\n");
auto target_state = f->react(*current_state, std::move(ev));
f->log_fsm_activity("Detected fsm transition \"%s\" -> \"%s\"",
get_type_name(*current_state).c_str(),
get_type_name(target_state).c_str());
fsm_helper::handle_state_change(f, &target_state, current_state);
return target_state;
}
//! No react method found. Try forward trigger to HSM
template <typename State, typename... Args>
@ -199,45 +199,60 @@ struct fsm_helper {
FSM* f;
Event ev;
};
template <typename FSM, typename PrevState>
struct variant_convert {
variant_convert(FSM* f_, PrevState* p_) : f(f_), p(p_) {}
template <typename State>
void operator()(State& s)
{
handle_state_change(f, &s, p);
}
FSM* f;
PrevState* p;
};
};
template <typename FSM, typename PrevState>
template <typename State>
void choice_to_state_visitor<FSM, PrevState>::operator()(State& s)
{
fsm_helper::handle_state_change(f, &s, p);
}
template <typename FSM>
template <typename State>
void enter_visitor<FSM>::operator()(State&& s)
{
fsm_helper::call_enter(f, &s);
}
} // namespace fsm_details
//! Gets the typename currently stored in the choice_t
template <typename... Args>
std::string get_type_name(const srslte::choice_t<Args...>& t)
{
fsm_details::state_name_visitor v{};
t.visit(v);
return v.name;
}
//! CRTP Class for all non-nested FSMs
template <typename Derived>
class fsm_t
{
protected:
using base_t = fsm_t<Derived>;
// get access to derived protected members from the base
//! get access to derived protected members from the base
class derived_view : public Derived
{
public:
using derived_t = Derived;
using Derived::do_init;
// propagate fsm_t methods
using Derived::base_t::enter;
using Derived::base_t::exit;
using Derived::base_t::unhandled_event;
// propagate user fsm methods
using Derived::enter;
using Derived::exit;
using Derived::react;
using Derived::states;
using Derived::unhandled_event;
using Derived::base_t::unhandled_event;
};
public:
static const bool is_nested = false;
//! Struct used to store FSM states
template <typename... States>
struct state_list : public choice_t<States...> {
using base_t = choice_t<States...>;
@ -245,8 +260,8 @@ public:
state_list(fsm_t<Derived>* f, Args&&... args) : base_t(std::forward<Args>(args)...)
{
if (not Derived::is_nested) {
fsm_details::fsm_helper::enter_visitor<derived_view> visitor{f->derived()};
this->visit(visitor);
fsm_details::enter_visitor<derived_view> visitor{f->derived()};
f->derived()->states.visit(visitor);
}
}
template <typename State>
@ -302,34 +317,22 @@ protected:
derived_view* derived() { return static_cast<derived_view*>(this); }
const derived_view* derived() const { return static_cast<const derived_view*>(this); }
void do_init()
template <typename State>
void enter(State& s)
{
fsm_details::fsm_helper::enter_visitor<derived_view> visitor{derived()};
derived()->states.visit(visitor);
// do nothing by default
}
template <typename State>
void exit(State& s)
{
// do nothing by default
}
void enter() {}
void exit() {}
template <typename Event>
void unhandled_event(Event&& e)
{
switch (fsm_event_log_level) {
case LOG_LEVEL_DEBUG:
log_h->debug("Unhandled event caught: \"%s\"\n", get_type_name<Event>().c_str());
break;
case LOG_LEVEL_INFO:
log_h->info("Unhandled event caught: \"%s\"\n", get_type_name<Event>().c_str());
break;
case LOG_LEVEL_WARNING:
log_h->warning("Unhandled event caught: \"%s\"\n", get_type_name<Event>().c_str());
break;
case LOG_LEVEL_ERROR:
log_h->error("Unhandled event caught: \"%s\"\n", get_type_name<Event>().c_str());
break;
default:
break;
}
log_fsm_activity(
"FSM \"%s\": Unhandled event caught: \"%s\"\n", get_type_name(*this).c_str(), get_type_name<Event>().c_str());
}
template <typename... Args>
@ -354,7 +357,7 @@ protected:
}
srslte::log_ref log_h;
srslte::LOG_LEVEL_ENUM fsm_event_log_level = LOG_LEVEL_DEBUG;
srslte::LOG_LEVEL_ENUM fsm_event_log_level = LOG_LEVEL_INFO;
};
template <typename Derived, typename ParentFSM>
@ -374,7 +377,7 @@ public:
protected:
using parent_fsm_t = ParentFSM;
using fsm_t<Derived>::enter;
using fsm_t<Derived>::do_init;
using fsm_t<Derived>::exit;
ParentFSM* fsm_ptr = nullptr;
};
@ -402,6 +405,9 @@ class proc_fsm_t : public fsm_t<Derived>
protected:
using fsm_t<Derived>::log_h;
using fsm_t<Derived>::unhandled_event;
using fsm_t<Derived>::enter;
using fsm_t<Derived>::exit;
void unhandled_event(srslte::proc_launch_ev<int*> e)
{
log_h->warning("Unhandled event \"launch\" caught when procedure is already running\n");
@ -411,6 +417,10 @@ public:
using base_t = proc_fsm_t<Derived, Result>;
using fsm_t<Derived>::trigger;
// events
struct reset_ev {
};
// states
struct idle_st {
};
@ -436,7 +446,9 @@ protected:
launch_counter++;
log_h->info("Starting run no. %d\n", launch_counter);
}
void enter(complete_st& s) { trigger(srslte::proc_complete_ev<bool>{s.success}); }
void enter(complete_st& s) { trigger(reset_ev{}); }
auto react(complete_st& s, reset_ev ev) -> idle_st { return {}; }
private:
int launch_counter = 0;

19
lib/test/common/fsm_test.cc
Unescape Escape View File

@ -33,7 +33,7 @@ struct ev2 {
class fsm1 : public srslte::fsm_t<fsm1>
{
public:
uint32_t idle_enter_counter = 0, state1_enter_counter = 0;
uint32_t idle_enter_counter = 0, state1_enter_counter = 0, inner_enter_counter = 0;
uint32_t foo_counter = 0;
// states
@ -56,7 +56,11 @@ public:
~fsm2() { log_h->info("%s being destroyed!", get_type_name(*this).c_str()); }
protected:
void enter(state_inner& s) { log_h->info("fsm1::%s::enter called\n", srslte::get_type_name(s).c_str()); }
void enter(state_inner& s)
{
log_h->info("fsm1::%s::enter called\n", srslte::get_type_name(s).c_str());
parent_fsm()->inner_enter_counter++;
}
void exit(state_inner& s) { log_h->info("fsm1::%s::exit called\n", srslte::get_type_name(s).c_str()); }
// FSM2 transitions
@ -156,7 +160,6 @@ static_assert(fsm1::can_hold_state<fsm1::state1>(), "can hold state method faile
int test_hsm()
{
srslte::log_ref log_h{"HSM"};
log_h->prepend_string("HSM: ");
log_h->set_level(srslte::LOG_LEVEL_INFO);
fsm1 f{log_h};
@ -177,6 +180,7 @@ int test_hsm()
TESTASSERT(f.get_state_name() == "fsm2");
TESTASSERT(f.is_in_state<fsm1::fsm2>());
TESTASSERT(f.get_state<fsm1::fsm2>()->get_state_name() == "state_inner");
TESTASSERT(f.inner_enter_counter == 1);
// Fsm2 does not listen to ev1
f.trigger(e);
@ -197,6 +201,10 @@ int test_hsm()
TESTASSERT(f.foo_counter == 1);
TESTASSERT(f.idle_enter_counter == 2);
// Call unhandled event
f.trigger(ev2{});
TESTASSERT(f.get_state_name() == "idle_st");
return SRSLTE_SUCCESS;
}
@ -219,7 +227,7 @@ protected:
auto react(idle_st& s, srslte::proc_launch_ev<int*> ev) -> procstate1;
auto react(procstate1& s, procevent1 ev) -> complete_st;
auto react(procstate1& s, procevent2 ev) -> complete_st;
auto react(complete_st& s, srslte::proc_complete_ev<bool> ev) -> idle_st;
auto react(complete_st& s, reset_ev ev) -> idle_st;
// example of uncaught event handling
void unhandled_event(int e) { log_h->info("I dont know how to handle an \"int\" event\n"); }
@ -242,7 +250,7 @@ auto proc1::react(procstate1& s, procevent2 ev) -> complete_st
log_h->info("failure!\n");
return {false};
}
auto proc1::react(complete_st& s, srslte::proc_complete_ev<bool> ev) -> idle_st
auto proc1::react(complete_st& s, reset_ev ev) -> idle_st
{
log_h->info("propagate results %s\n", s.success ? "success" : "failure");
return {};
@ -251,7 +259,6 @@ auto proc1::react(complete_st& s, srslte::proc_complete_ev<bool> ev) -> idle_st
int test_fsm_proc()
{
proc1 proc{srslte::logmap::get("PROC")};
proc.get_log()->prepend_string("Proc1: ");
proc.get_log()->set_level(srslte::LOG_LEVEL_INFO);
proc.set_fsm_event_log_level(srslte::LOG_LEVEL_INFO);
int v = 2;

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