C++ 实现FSM有限状态机

1、有限状态机四大要素

现态：当前所处状态

次态：当条件满足后，即将转移的下一个状态

动作：当满足某个事件时执行的动作；动作执行完毕后可以转移到另一个状态或保持原有状态

条件：转移状态所需的条件，当满足条件时，会触发一个动作或进行状态转移

2、状态机实现模型

案例：学生的日常生活。

学生的日常生活包含以下几个状态：起床、上学、吃午饭、做作业、睡觉；

每个状态之间进行转移需要执行相应的事件。

分为以下几个步骤来实现：

（1）绘制状态转移图

（2）创建状态转移的FSMItem类

枚举：所有状态State、所有事件Event；

成员变量：现态_curState、事件_event、次态_nextState

成员函数：动作函数

（3）创建有限状态机FSM类

成员变量：状态转移表vector<FSMItem*> _fsmTable

成员函数：初始化状态转移表、状态转移、根据事件执行相应动作

（4）测试FSM

3、代码实现

.h文件

#pragma once

#include<iostream>
#include<vector>
using namespace std;

//FSM状态项
class FSMItem
{
	friend class FSM;//友元

private:
	//动作函数
	static void getUp()
	{
		cout << "student is getting up!" << endl;
	}
	static void go2School()
	{
		cout << "student is going to school!" << endl;
	}
	static void haveLunch()
	{
		cout << "student is having lunch!" << endl;
	}
	static void doHomework()
	{
		cout << "student is doing homework!" << endl;
	}
	static void sleeping()
	{
		cout << "student is sleeping!" << endl;
	}
public:
	//枚举所有状态
	enum State
	{
		GETUP = 0,
		GOTOSCHOOL,
		HAVELUNCH,
		DOHOMEWORK,
		SLEEP
	};
	//枚举所有事件
	enum Events
	{
		EVENT1 = 0,
		EVENT2,
		EVENT3
	};
public:

	//初始化构造函数(初始化列表方式赋值)
	FSMItem(State curState, Events event, void(*action)(), State nextState)
		:_curState(curState), _event(event), _action(action), _nextState(nextState) { }
private:
	State   _curState;      //现态
	Events  _event;         //条件事件
	void(*_action)();       //动作
	State   _nextState;     //次态
};



class FSM
{
public:
	//初始化状态机，设置初始状态为FSMItem::GETUP
	FSM(FSMItem::State curState = FSMItem::GETUP) :_curState(curState)
	{
		initFSMTable();
	}
	//状态转移
	void transferState(FSMItem::State nextState)
	{
		_curState = nextState;
	}
	//根据当前状态和发生的事件，执行相应的动作，并进行状态转移
	void handleEvent(FSMItem::Events event)
	{
		FSMItem::State  curState = _curState;   //现态
		void(*action)() = nullptr;//动作
		FSMItem::State nextState;  //次态
		bool flag = false;
		for (int i = 0; i < _fsmTable.size(); i++)
		{
			if (event == _fsmTable[i]->_event && curState == _fsmTable[i]->_curState)
			{
				flag = true;
				action = _fsmTable[i]->_action;
				nextState = _fsmTable[i]->_nextState;
				break;
			}
		}
		//找到对应的状态项，执行动作，转移状态
		if (flag)
		{
			if (action)
			{
				action();
			}
			transferState(nextState);
		}
	}
private:

	//根据画的状态转移图初始化状态转移表
	void initFSMTable()
	{
		_fsmTable.push_back(new FSMItem(FSMItem::GETUP, FSMItem::EVENT1, &FSMItem::getUp, FSMItem::GOTOSCHOOL));
		_fsmTable.push_back(new FSMItem(FSMItem::GOTOSCHOOL, FSMItem::EVENT2, &FSMItem::go2School, FSMItem::HAVELUNCH));
		_fsmTable.push_back(new FSMItem(FSMItem::HAVELUNCH, FSMItem::EVENT3, &FSMItem::haveLunch, FSMItem::DOHOMEWORK));
		_fsmTable.push_back(new FSMItem(FSMItem::DOHOMEWORK, FSMItem::EVENT1, &FSMItem::doHomework, FSMItem::SLEEP));
		_fsmTable.push_back(new FSMItem(FSMItem::SLEEP, FSMItem::EVENT2, &FSMItem::sleeping, FSMItem::GETUP));
	}
public:
	FSMItem::State _curState;  //现态
private:
	vector<FSMItem*> _fsmTable;  //状态转移表
};

.cpp文件

#include "FSM.h"

//测试事件变换
void testEvent(FSMItem::Events& event)
{
	switch (event)
	{
	case FSMItem::EVENT1:
		event = FSMItem::EVENT2;
		break;
	case FSMItem::EVENT2:
		event = FSMItem::EVENT3;
		break;
	case FSMItem::EVENT3:
		event = FSMItem::EVENT1;
		break;
	}
}

int main()
{
	FSM *fsm = new FSM();
	auto event = FSMItem::EVENT1;

	int count = 8;//循环多次，也可一直循环

	while (count)
	{
		cout << "event " << event << " is coming..." << endl;
		fsm->handleEvent(event);
		cout << "fsm current state is " << fsm->_curState << endl;
		testEvent(event);

		count--;
	}
	return 0;
}

4、效果