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-/*
-* Copyright (C) 2009-2010 Mamadou Diop.
-*
-* Contact: Mamadou Diop <diopmamadou(at)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.org>
- *
- * @date Created: Sat Nov 8 16:54:58 2009 mdiop
- */
-#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_object_new(tsk_fsm_def_t, state_curr, state_term);
-}
-
-/**@ingroup tsk_fsm_group
-*/
-tsk_fsm_entry_t* tsk_fsm_entry_create()
-{
- return 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))){
- 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 = item->data;
- if((entry->from != tsk_fsm_state_any) && (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_action_any){ /* Stay at the current state if dest. state is Any */
- 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_WARN("State machine: No matching state found.");
- }
-
- return ret_exec;
-}
-
-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 = 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 = 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 = self;
- if(fsm_entry){
- }
-
- return self;
-}
-
-static tsk_object_t* tsk_fsm_entry_dtor(tsk_object_t * self)
-{
- tsk_fsm_entry_t *fsm_entry = 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 = _entry1;
- const tsk_fsm_entry_t* entry2 = _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;
- }
- }
- 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;
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