#if HAVE_CRT
#define _CRTDBG_MAP_ALLOC
#include <stdlib.h>
#include <crtdbg.h>
#endif //HAVE_CRT
/*
* Copyright (C) 2020, University of the Basque Country (UPV/EHU)
* Contact for licensing options: <licensing-mcpttclient(at)mcopenplatform(dot)com>
*
* The original file was part of Open Source Doubango Framework
* Copyright (C) 2010-2011 Mamadou Diop.
* Copyright (C) 2012 Doubango Telecom <http://doubango.org>
*
* This file is part of Open Source Doubango Framework.
*
* DOUBANGO is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* DOUBANGO 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with DOUBANGO.
*
*/
/**@file tsk_fsm.c
* @brief Finite-state machine (FSM) implementation.
* @sa http://en.wikipedia.org/wiki/Finite-state_machine.
*
* @author Mamadou Diop <diopmamadou(at)doubango[dot]org>
*
*/
#include "tsk_fsm.h"
#include "tsk_memory.h"
#include "tsk_debug.h"
/**@defgroup tsk_fsm_group Finite-state machine (FSM) implementation.
*/
int tsk_fsm_exec_nothing(va_list *app){ return 0/*success*/; }
tsk_bool_t tsk_fsm_cond_always(const void* data1, const void* data2) { return tsk_true; }
/**@ingroup tsk_fsm_group
*/
tsk_fsm_t* tsk_fsm_create(tsk_fsm_state_id state_curr, tsk_fsm_state_id state_term)
{
return (tsk_fsm_t*)tsk_object_new(tsk_fsm_def_t, state_curr, state_term);
}
/**@ingroup tsk_fsm_group
*/
tsk_fsm_entry_t* tsk_fsm_entry_create()
{
return (tsk_fsm_entry_t*)tsk_object_new(tsk_fsm_entry_def_t);
}
/**@ingroup tsk_fsm_group
* Add entries (states) to the FSM.
* @param self The FSM.
* @param ... One of these helper macros: @b TSK_FSM_ADD_*. MUST end with
* @b TSK_FSM_ADD_NULL.
* @retval Zero if succeed and non-zero error code otherwise.
*/
int tsk_fsm_set(tsk_fsm_t* self, ...)
{
va_list args;
int guard;
if(!self){
TSK_DEBUG_ERROR("Invalid parameter");
return -1;
}
va_start(args, self);
while((guard = va_arg(args, int)) == 1){
tsk_fsm_entry_t* entry;
if((entry = tsk_fsm_entry_create())){
entry->from = va_arg(args, tsk_fsm_state_id);
entry->action = va_arg(args, tsk_fsm_action_id);
entry->cond = va_arg(args, tsk_fsm_cond);
entry->to = va_arg(args, tsk_fsm_state_id);
entry->exec = va_arg(args, tsk_fsm_exec);
entry->desc = va_arg(args, const char*);
tsk_list_push_descending_data(self->entries, (void**)&entry);
}
}
va_end(args);
return 0;
}
/**@ingroup tsk_fsm_group
* Sets the @a callback function to call when the FSM enter in the final state.
* @param self The FSM.
* @param callback The callback function to call.
* @param callbackdata Opaque data (user-data) to pass to the callback function.
* @retval Zero if succeed and non-zero error code otherwise.
*/
int tsk_fsm_set_callback_terminated(tsk_fsm_t* self, tsk_fsm_onterminated_f callback, const void* callbackdata)
{
if(self){
self->callback_term = callback;
self->callback_data = callbackdata;
return 0;
}
else{
TSK_DEBUG_ERROR("Invalid parameter");
return -1;
}
}
/**@ingroup tsk_fsm_group
* Execute an @a action. This action will probably change the current state of the FSM.
* @param self The FSM.
* @param action The id of the action to execute.
* @param cond_data1 The first opaque data to pass to the @a condition function.
* @param cond_data2 The first opaque data to pass to the @a condition function.
* @param ... Variable parameters to pass to the @a exec function.
* @retval Zero if succeed and non-zero error code otherwise.
*/
int tsk_fsm_act(tsk_fsm_t* self, tsk_fsm_action_id action, const void* cond_data1, const void* cond_data2, ...)
{
tsk_list_item_t *item;
va_list ap;
tsk_bool_t found = tsk_false;
tsk_bool_t terminates = tsk_false; /* thread-safeness -> DO NOT REMOVE THIS VARIABLE */
int ret_exec = 0; /* success */
if(!self){
TSK_DEBUG_ERROR("Invalid parameter");
return -1;
}
if(tsk_fsm_terminated(self)){
TSK_DEBUG_WARN("The FSM is in the final state.");
return -2;
}
// lock
tsk_safeobj_lock(self);
va_start(ap, cond_data2);
tsk_list_foreach(item, self->entries)
{
tsk_fsm_entry_t* entry = (tsk_fsm_entry_t*)item->data;
if(((entry->from != tsk_fsm_state_any) && (entry->from != tsk_fsm_state_current)) && (entry->from != self->current)){
continue;
}
if((entry->action != tsk_fsm_action_any) && (entry->action != action)){
continue;
}
// check condition
if(entry->cond(cond_data1, cond_data2)){
// For debug information
if(self->debug){
TSK_DEBUG_INFO("State machine: %s", entry->desc);
}
if(entry->to != tsk_fsm_state_any && entry->to != tsk_fsm_state_current){ /* Stay at the current state if destination state is Any or Current */
self->current = entry->to;
}
if(entry->exec){
if((ret_exec = entry->exec(&ap))){
TSK_DEBUG_INFO("State machine: Exec function failed. Moving to terminal state.");
}
}
else{ /* Nothing to execute */
ret_exec = 0;
}
terminates = (ret_exec || (self->current == self->term));
found = tsk_true;
break;
}
}
va_end(ap);
// unlock
tsk_safeobj_unlock(self);
/* Only call the callback function after unlock. */
if(terminates){
self->current = self->term;
if(self->callback_term){
self->callback_term(self->callback_data);
}
}
if(!found){
TSK_DEBUG_INFO("State machine: No matching state found.");
}
return ret_exec;
}
tsk_fsm_state_id tsk_fsm_get_current_state(tsk_fsm_t* self)
{
if(!self){
TSK_DEBUG_ERROR("Invalid parameter");
return tsk_fsm_state_any;
}
return self->current;
}
int tsk_fsm_set_current_state(tsk_fsm_t* self, tsk_fsm_state_id new_state)
{
if(!self){
TSK_DEBUG_ERROR("Invalid parameter");
return -1;
}
self->current = new_state;
return 0;
}
tsk_bool_t tsk_fsm_terminated(tsk_fsm_t* self)
{
if(self){
return (self->current == self->term);
}
else{
TSK_DEBUG_ERROR("Invalid parameter");
return tsk_true;
}
}
//=================================================================================================
// fsm object definition
//
static tsk_object_t* tsk_fsm_ctor(tsk_object_t * self, va_list * app)
{
tsk_fsm_t *fsm = (tsk_fsm_t*)self;
if(fsm){
fsm->current = va_arg(*app, tsk_fsm_state_id);
fsm->term = va_arg(*app, tsk_fsm_state_id);
fsm->entries = tsk_list_create();
#if defined(DEBUG) || defined(_DEBUG)
fsm->debug = 1; /* default value, could be changed at any time */
#endif
tsk_safeobj_init(fsm);
}
return self;
}
static tsk_object_t* tsk_fsm_dtor(tsk_object_t * self)
{
tsk_fsm_t *fsm = (tsk_fsm_t*)self;
if(fsm){
/* If not in the terminal state ==>do it */
/*if(fsm->current != fsm->term){
tsk_safeobj_lock(fsm);
if(fsm->callback_term){
fsm->callback_term(fsm->callback_data);
}
tsk_safeobj_unlock(fsm);
}*/
tsk_safeobj_deinit(fsm);
TSK_OBJECT_SAFE_FREE(fsm->entries);
}
return self;
}
static const tsk_object_def_t tsk_fsm_def_s =
{
sizeof(tsk_fsm_t),
tsk_fsm_ctor,
tsk_fsm_dtor,
tsk_null,
};
const tsk_object_def_t *tsk_fsm_def_t = &tsk_fsm_def_s;
//=================================================================================================
// fsm entry object definition
//
static tsk_object_t* tsk_fsm_entry_ctor(tsk_object_t * self, va_list * app)
{
tsk_fsm_entry_t *fsm_entry = (tsk_fsm_entry_t*)self;
if(fsm_entry){
}
return self;
}
static tsk_object_t* tsk_fsm_entry_dtor(tsk_object_t * self)
{
tsk_fsm_entry_t *fsm_entry = (tsk_fsm_entry_t*)self;
if(fsm_entry){
/* desc is "const char*" => should not be deleted */
/* TSK_FREE(fsm_entry->desc); */
}
return self;
}
static int tsk_fsm_entry_cmp(const tsk_object_t *_entry1, const tsk_object_t *_entry2)
{
const tsk_fsm_entry_t* entry1 = (const tsk_fsm_entry_t*)_entry1;
const tsk_fsm_entry_t* entry2 = (const tsk_fsm_entry_t*)_entry2;
if(entry1 && entry2){
/* Put "Any" states at the bottom (Strong)*/
if(entry1->from == tsk_fsm_state_any){
return -20;
}
else if(entry2->from == tsk_fsm_state_any){
return +20;
}
/* Put "Any" actions at the bottom (Weak)*/
if(entry1->action == tsk_fsm_action_any){
return -10;
}
else if(entry1->action == tsk_fsm_action_any){
return +10;
}
// put conditions first
return entry1->cond ? -1 : (entry2->cond ? 1 : 0);
}
return 0;
}
static const tsk_object_def_t tsk_fsm_entry_def_s =
{
sizeof(tsk_fsm_entry_t),
tsk_fsm_entry_ctor,
tsk_fsm_entry_dtor,
tsk_fsm_entry_cmp,
};
const tsk_object_def_t *tsk_fsm_entry_def_t = &tsk_fsm_entry_def_s;