5010.有限状态机-电梯事件

有限状态机 tinyfsm

马达 motor.hpp 定义，马达有上、下、停三种事件

#include "tinyfsm.hpp"

//电机马达事件定义
struct MotorUp :tinyfsm::Event{};
struct MotorDown :tinyfsm::Event{};
struct MotorStop : tinyfsm::Event{};

//马达状态机基类定义
class Motor : public tinyfsm::Fsm<Motor>
{
public:
    void react(tinyfsm::Event const &){};

    void react(MotorUp const &);
    void react(MotorDown const &);
    void react(MotorStop const &);

    virtual void entry(void) = 0; //纯虚函数,需要被强制实现.
    void exit(void) {};

protected:
    static int direction;

public:
    static int  getDirection(){
        return direction;
    }

};

Motor.cpp 对应 马达有三个不同的状态 上、停、下状态。

#include "tinyfsm.hpp"
#include "motor.hpp"
#include <iostream>

using namespace std;

//电动马达状态机
class Stoped : public Motor {
    void entry() override {
        cout << "Motor: stoped." << endl;
        direction = 0;
    }
};

class Up : public Motor {
    void entry() override {
        cout << "Motor: moving up." << endl;
        direction = 1;
    }
};

class Down : public Motor {
    void entry() override {
        cout << "Motor: moving down." << endl;
        direction = -1;
    }
};

马达react 响应 上、下、停 事件

//基类马达状态机的虚函数实现
void Motor::react(const MotorUp &) {
    transit<Up>();  //切换到上升状态
}

void Motor::react(const MotorDown &) {
    transit<Down>(); //切换到下降状态
}

void Motor::react(const MotorStop &) {
    transit<Stoped>(); //切换到停止状态.
}

int Motor::direction{0}; // 花括号，’{}’声明，又称为初始化列表

//状态机定义
FSM_INITIAL_STATE(Motor, Stoped)

人操作电梯，由传感器来控制马达，那么定义电梯的状态机如下, elevator.hpp

#include "tinyfsm.hpp"

//事件定义. 楼层事件基类
struct FloorEvent : tinyfsm::Event{
    int floor;
};

//
struct Call : FloorEvent {}; //楼层呼叫
struct FloorSenor : FloorEvent{};  //楼层传感器
struct Alarm : tinyfsm::Event{};  //警报事件

//定义电梯状态机基类
class Elevator : public tinyfsm::Fsm<Elevator>
{
public:
    void react(tinyfsm::Event const &){};
    virtual void react(Call const &);
    virtual void react(FloorSenor const &);
    virtual void react(Alarm const &);

    virtual void entry(void){}; /* entry actions in some states */
    void exit(void) {}; /* no exit actions at all */

protected:
    static constexpr int initial_floor = 0;
    static int current_floor;
    static int dest_floor;
};

给电梯定义状态机，空闲状态机，恐慌状态机，移动状态机

#include "elevator.hpp"
#include <iostream>
#include "fsmlist.hpp"

using namespace std;

//空闲类
class Idle;

//呼叫主体
static void CallMaintenance()
{
  cout << "*** 打电话给维护员 ***" << endl;
}
//呼叫消防
static void CallFireFlighters()
{
    cout << "*** 打电话给消防员 ***" << endl;
}

//恐慌状态机
class Panic : public Elevator{
    void entry() override {
        cout << "Panic Motorstop 事件.";
        send_event(MotorStop());  //发送马达暂停事件
    }
};

//移动状态机
class Moving : public Elevator
{
    void react(FloorSenor const & e) override {
        cout << "Moving Floor Floor.sensor: " << e.floor << ")" << endl;
        int floor_expected = current_floor + Motor::getDirection();
        if(floor_expected != e.floor)
        {
            cout << "Floor sensor defect (expected " << floor_expected << ", got " << e.floor << ")" << endl;
            transit<Panic>(CallMaintenance);
        }else{
            cout << "Reached floor " << e.floor << endl;
            current_floor = e.floor;
            if(e.floor == dest_floor)
            {
                transit<Idle>();
            }
        }
    }
};

//空闲状态机
class Idle :public Elevator{
public:
    void entry() override {
        cout << "进入空闲状态. --> 发送电梯停止事件." << endl;
        send_event(MotorStop());
    }

    void react(Call const & e) override {
        dest_floor = e.floor;
        cout << "空闲状态Call -->  dest_floor:" << dest_floor << " current_floor:" << current_floor << endl;

        if(dest_floor == current_floor)
        {
            return;
        }


        auto action =[] {
            if(dest_floor > current_floor){
                send_event(MotorUp());
            }else if(dest_floor < current_floor) {
                send_event(MotorDown());
            }
        };
        transit<Moving>(action);
    }

};