Utils/state_machine.h.old at master · RhobanProject/Utils · GitHub

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/** ***************************************************************************
 *  \file    state_machine.h
 *  \author  Hugo Gimbert - Olivier Ly
 *  \date    2010-12
 *
 *  \brief   State machine infrastructure.
 *****************************************************************************/
#ifndef STATE_MACHINE_H
#define STATE_MACHINE_H
#include <stdlib.h>

class State {
	int wait_n_tick;
public:
	State() : wait_n_tick(0) {};
	bool is_sleeping() { if (wait_n_tick == 0) return false; else wait_n_tick--; return true; }
	void sleep_tick(int tick_nb) { wait_n_tick = (tick_nb > 0)? tick_nb : 0; }
	bool ready() { return (wait_n_tick == 0); }

	virtual bool terminal() = 0;
	virtual void entry() = 0;
	virtual void activity() = 0;
	virtual void quit() = 0;
	virtual State * transition() = 0;
};

class StateMachine {
public:
	State * init_state;
	State * active_state;
	StateMachine();

	/*! \brief this is an action done at every tic at every state */
	virtual void activity() = 0;

	/*! \brief user defined initialisation procedure. The requested point
	 *  is that it must define the init_state. */
	virtual void init() = 0;

	/*! \brief start the machine. The init_state must have been defined. Note
	 *  that this function is called by the constructor.
	 *  \return 1 if ok, 0 otherwise. */
	int reset();

	/*! \brief the general scheduling function of the machine.
	 *  \return 0 if the machine reached a terminal state. 1 if the machine
	 *  is still running (RAS). -1 if active_state==NULL. */
	int tic();
};


/*****************************************************************************/

#define DECLARE_STATE(StateName)            \
class StateName : public State {            \
  static State * singleton;                 \
public:                                     \
  static State * get_instance() {           \
    if (singleton==NULL)                    \
	  singleton = new StateName();          \
	  return singleton;                     \
    }                                       \
  bool terminal();                          \
  void entry();                             \
  void activity();                          \
  void quit();                              \
  State * transition();                     \
};                                          \
State * StateName::singleton = NULL;

#define TRANSITION(cond, target)                    \
  if (cond) { return target::get_instance(); }

#define JUMP(target)                                \
  return target::get_instance();


#define DECLARE_MACHINE(MachineName, InitState)                   \
class MachineName : public StateMachine {                         \
	void init() { init_state = InitState::get_instance(); }       \
	void activity();                                              \
};

#endif /* STATE_MACHINE_H */
/*****************************************************************************/
/*****************************************************************************/