FiniteStateMachine.h

/*
||
|| @file FiniteStateMachine.h
|| @version 1.7
|| @author Alexander Brevig
|| @contact alexanderbrevig@gmail.com
||
|| @description
|| | Provide an easy way of making finite state machines
|| #
||
|| @license
|| | This library is free software; you can redistribute it and/or
|| | modify it under the terms of the GNU Lesser General Public
|| | License as published by the Free Software Foundation; version
|| | 2.1 of the License.
|| |
|| | This library is distributed in the hope that it will be useful,
|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
|| | Lesser General Public License for more details.
|| |
|| | You should have received a copy of the GNU Lesser General Public
|| | License along with this library; if not, write to the Free Software
|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
|| #
||
*/

#ifndef FINITESTATEMACHINE_H
#define FINITESTATEMACHINE_H

#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include <WProgram.h>
#endif

#define NO_ENTER (0)
#define NO_UPDATE (0)
#define NO_EXIT (0)

#define FSM FiniteStateMachine

// define the functionality of the states
class State {
public:
  State(void (*updateFunction)());
  State(int id, void (*updateFunction)());
  State(int id, void (*enterFunction)(), void (*updateFunction)(),
        void (*exitFunction)());
  void init(int id, void (*enterFunction)(), void (*updateFunction)(),
        void (*exitFunction)());
  // State( byte newId, void (*enterFunction)(), void (*updateFunction)(), void
  // (*exitFunction)() );

  // void getId();
  void enter();
  void update();
  void exit();
  int id();

private:
  // byte id;
  void (*userEnter)();
  void (*userUpdate)();
  void (*userExit)();
  int _id;
};

// define the finite state machine functionality
class FiniteStateMachine {
public:
  FiniteStateMachine(State &current);

  FiniteStateMachine &update();
  FiniteStateMachine &transitionTo(State &state);
  FiniteStateMachine &immediateTransitionTo(State &state);

  State &getCurrentState();
  boolean isInState(State &state) const;

  unsigned long timeInCurrentState();

private:
  State *currentState;
  State *nextState;
  unsigned long stateChangeTime;
};

#endif

/*
|| @changelog
|| | 1.7 2010-03-08- Alexander Brevig : Fixed a bug, constructor ran update,
thanks to René Pressé
|| | 1.6 2010-03-08- Alexander Brevig : Added timeInCurrentState() , requested
by sendhb
|| | 1.5 2009-11-29- Alexander Brevig : Fixed a bug, introduced by the below
fix, thanks to Jon Hylands again...
|| | 1.4 2009-11-29- Alexander Brevig : Fixed a bug, enter gets triggered on the
first state. Big thanks to Jon Hylands who pointed this out.
|| | 1.3 2009-11-01 - Alexander Brevig : Added getCurrentState : &State
|| | 1.3 2009-11-01 - Alexander Brevig : Added isInState : boolean, requested by
Henry Herman
|| | 1.2 2009-05-18 - Alexander Brevig : enter and exit bug fix
|| | 1.1 2009-05-18 - Alexander Brevig : Added support for cascaded calls
|| | 1.0 2009-04-13 - Alexander Brevig : Initial Release
|| #
*/