119 lines
4.1 KiB
C++
119 lines
4.1 KiB
C++
//! \~\file pistatemachine.h
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//! \brief
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//! \~english State machine.
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//! \~russian Машина состояний.
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//! \details
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//! \~english Main state machine class that manages states and transitions.
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//! \~russian Основной класс машины состояний, управляющий состояниями и переходами.
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//! \note
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//! \~english Thread-safe implementation with nested post handling.
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//! \~russian Потокобезопасная реализация с обработкой вложенных постов.
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//! \~\sa
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//! PIStateBase, PITransitionBase
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/*
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PIP - Platform Independent Primitives
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State machine
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Ivan Pelipenko peri4ko@yandex.ru
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef pistatemachine_H
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#define pistatemachine_H
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#include "pistatemachine_state.h"
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#include "pistatemachine_transition.h"
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//! \~\ingroup StateMachine
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//! \~\brief
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//! \~english Root object that owns and runs a hierarchical state machine.
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//! \~russian Корневой объект, который владеет и запускает иерархическую машину состояний.
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class PIP_EXPORT PIStateMachine: public PIStateBase {
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public:
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//! \~english Creates a state machine with an optional name.
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//! \~russian Создает машину состояний с необязательным именем.
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PIStateMachine(const PIString & n = {});
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//! \~english Starts the machine from its initial active configuration.
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//! \~russian Запускает машину из ее начальной активной конфигурации.
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bool start();
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//! \~english Returns true while the machine is running.
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//! \~russian Возвращает true, пока машина запущена.
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bool isRunning() const { return is_running; }
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//! \~english Sets a callback invoked when the machine finishes.
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//! \~russian Задает callback-функцию, вызываемую при завершении машины.
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void setOnFinish(std::function<void()> f) { on_finish = std::move(f); }
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//! \~english Posts an event to active states and triggers the first matching transition.
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//! \~russian Посылает событие в активные состояния и запускает первый подходящий переход.
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template<typename... Args>
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bool postEvent(int event_id, Args... args) {
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if (!is_running) return false;
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if (in_post.exchange(true)) {
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PIMutexLocker ml(nested_mutex);
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nested_posts.enqueue([this, event_id, args...] { postEvent(event_id, args...); });
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// piCout << "queue nested post";
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return false;
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}
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need_finish = false;
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PIScopeExitCall exit_call([this] {
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in_post = false;
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if (need_finish) {
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is_running = false;
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if (on_finish) on_finish();
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} else {
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nested_mutex.lock();
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while (nested_posts.isNotEmpty()) {
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auto np = nested_posts.dequeue();
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nested_mutex.unlock();
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np();
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nested_mutex.lock();
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}
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nested_mutex.unlock();
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}
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});
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PIVector<PIStateBase *> active_states;
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gatherActiveStates(active_states);
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// piCout << "active" << active_states;
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for (auto * s: active_states) {
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for (auto * t: s->transitions) {
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if (t->eventID != event_id) continue;
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if (t->testGuard(args...)) {
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t->trigger();
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return true;
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}
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}
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}
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return false;
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}
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private:
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void onFinish() override;
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bool is_running = false, need_finish = false;
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PIQueue<std::function<void()>> nested_posts;
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PIMutex nested_mutex;
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std::atomic_bool in_post = {false};
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std::function<void()> on_finish;
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};
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#endif
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