75 lines
2.4 KiB
C++
75 lines
2.4 KiB
C++
//! [main]
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#include "pip.h"
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enum Mode {Start, Manual, Auto, Finish, End};
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class Machine: public PIStateMachine<Mode> {
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PIOBJECT(Machine)
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public:
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Machine() {
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addState(Start, "start", HANDLER(startFunc));
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addState(Manual, "manual", HANDLER(manualFunc));
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addState(Auto, "auto", HANDLER(autoFunc));
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addState(Finish, "finish", HANDLER(finishFunc));
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addState(End, "end", HANDLER(endFunc));
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addRule(Start, Manual, "init_ok", HANDLER(beginManualFunc));
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addRule(Start, Auto, "init_ok", HANDLER(beginAutoFunc));
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addRule(Manual, Auto, HANDLER(manualToAutoFunc));
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addRule(Auto, Manual, HANDLER(autoToManualFunc));
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addRule(Manual, Finish);
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addRule(Auto, Finish);
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Rule r(Finish, End);
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r.addCondition("finish_0_ok");
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r.addCondition("finish_1_ok", 2);
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addRule(r);
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setInitialState(Start);
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CONNECT2(void, void*, int, &timer, timeout, this, tick);
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timer.start(500);
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}
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virtual void execution(const State & state) {
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piCout << "performed conditions:" << currentConditions();
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}
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virtual void transition(const State & from, const State & to) {
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piCout << "switch from" << from.name << "to" << to.name << "state";
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}
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EVENT_HANDLER(void, startFunc) {piCout << "start function";}
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EVENT_HANDLER(void, manualFunc) {piCout << "manual function";}
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EVENT_HANDLER(void, autoFunc) {piCout << "auto function";}
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EVENT_HANDLER(void, finishFunc) {piCout << "finish function";}
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EVENT_HANDLER(void, endFunc) {piCout << "end function";}
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EVENT_HANDLER(void, beginManualFunc) {piCout << "begin manual function";}
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EVENT_HANDLER(void, beginAutoFunc) {piCout << "begin auto function";}
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EVENT_HANDLER(void, autoToManualFunc) {piCout << "switch from auto to manual function";}
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EVENT_HANDLER(void, manualToAutoFunc) {piCout << "switch from manual to auto function";}
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PITimer timer;
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};
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Machine machine;
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void key_event(char key, void*) {
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switch (key) {
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case 's': machine.switchToState(Start); break;
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case 'm': machine.switchToState(Manual); break;
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case 'a': machine.switchToState(Auto); break;
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case 'f': machine.switchToState(Finish); break;
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case 'e': machine.switchToState(End); break;
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case '1': machine.performCondition("init_ok"); break;
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case '2': machine.performCondition("finish_0_ok"); break;
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case '3': machine.performCondition("finish_1_ok"); break;
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case 'r': machine.resetConditions(); break;
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case 'R': machine.reset(); break;
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}
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}
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int main(int argc, char * argv[]) {
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PIKbdListener kbd(key_event);
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kbd.enableExitCapture();
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WAIT_FOR_EXIT
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};
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//! [main]
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