mbsimcontrol 4.0.0 MBSim Control Module

state_machine.h
1 /* Copyright (C) 2004-2022 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: martin.o.foerg@gmail.com
18 */
19
20 #ifndef _STATE_MACHINE_H_
21 #define _STATE_MACHINE_H_
22
23 #include <utility>
24
25 #include "mbsimControl/signal_.h"
26
27 namespace MBSimControl {
28
33 class StateMachine : public Signal {
34 struct Transition {
35 Transition(int dest_, Signal *sig_, double s0_) : dest(dest_), sig(sig_), s0(s0_) { }
36 int dest;
37 Signal *sig;
38 double s0;
39 std::string signalStr;
40 };
41 struct State {
42 State(std::string name_, double val_) : name(std::move(name_)), val(val_), t0(0) { }
43 void addTransition(const Transition &trans_) { trans.emplace_back(trans_); }
44 std::string name;
45 double val;
46 double t0;
47 std::vector<Transition> trans;
48 };
49 public:
50 StateMachine(const std::string &name="") : Signal(name) { }
51 void initializeUsingXML(xercesc::DOMElement *element) override;
52 void init(InitStage stage, const MBSim::InitConfigSet &config) override;
53 void addState(const std::string &name, double val) { state.emplace_back(State(name,val)); }
54 Transition& addTransition(const std::string &name, const std::string &dest, Signal *sig, double s0=0);
55 void setInitialState(const std::string &name);
56 const State& getActiveState() const { return state[int(curis(0))]; }
57 void updateSignal() override;
58 int getSignalSize() const override { return 1; }
59 void calcisSize() override { isSize = 1; }
60 void calcsvSize() override;
61 void updateStopVector() override;
62 void checkActive(int j) override;
63
64 private:
65 std::vector<State> state;
66 std::vector<Transition> transition;
67 std::string stateStr;
68 };
69
70 }
71
72 #endif
MBSimControl::Signal
Signal.
Definition: signal_.h:38
MBSimControl::StateMachine::Transition
Definition: state_machine.h:34
MBSim::Element::InitStage
InitStage
MBSimControl::StateMachine::State
Definition: state_machine.h:41
MBSimControl::StateMachine
State machine.
Definition: state_machine.h:33
MBSim::Element::name
std::string name