STM - States and Transitions (#23)

lib/state_machine/state.hpp

@@ -4,19 +4,21 @@ namespace hyped::state_machine {
 
 enum class State {
   kIdle,
-  kCalibrating,
+  kCalibrate,
+  kPrecharge,
+  kReadyForLevitation,
+  kBeginLevitation,
   kReady,
-  kAccelerating,
-  kCruising,
-  kMotorBraking,
-  kPreFrictionBraking,
-  kFrictionBraking,
-  kPreFrictionBrakingFail,
-  kFrictionBrakingFail,
-  kFailureBraking,
+  kAccelerate,
+  kLimBrake,
+  kFrictionBrake,
+  kStopLevitation,
   kStopped,
-  kFailureStopped,
-  kOff,
+  kBatteryRecharge,
+  kCapacitorDischarge,
+  kFailureBrake,
+  kFailure,
+  kSafe,
 };
 
 }  // namespace hyped::state_machine

lib/state_machine/state_machine.cpp

@@ -8,19 +8,29 @@ StateMachine::StateMachine() : current_state_{State::kIdle}
 {
 }
 
-Message StateMachine::stringToMessage(const std::string &message_name)
+State StateMachine::stringToState(const std::string &state_name)
 {
-  return string_to_message_.at(message_name);
+  return string_to_state_.at(state_name);
 }
 
-std::string StateMachine::messageToString(const Message &message)
+std::string StateMachine::stateToString(const State &state)
 {
-  return message_to_string_.at(message);
+  return state_to_string_.at(state);
 }
 
 State StateMachine::getCurrentState()
 {
   return current_state_;
 }
 
+core::Result StateMachine::handleTransition(const State &state)
+{
+  const auto next_state = transition_to_state_.find({current_state_, state});
+  if (next_state != transition_to_state_.end()) {
+    current_state_ = next_state->second;
+    return core::Result::kSuccess;
+  }
+  return core::Result::kFailure;
+}
+
 }  // namespace hyped::state_machine

lib/state_machine/state_machine.hpp

@@ -8,68 +8,75 @@
 #include <unordered_map>
 
 #include <boost/unordered_map.hpp>
+#include <core/types.hpp>
 
 namespace hyped::state_machine {
 
 class StateMachine {
  public:
   StateMachine();
-  Message stringToMessage(const std::string &message_name);
-  std::string messageToString(const Message &message);
+  State stringToState(const std::string &state_name);
+  std::string stateToString(const State &state);
   State getCurrentState();
+  core::Result handleTransition(const State &state);
 
  private:
-  const std::unordered_map<std::string, Message> string_to_message_
-    = {{"kCalibrating", Message::kCalibrating},
-       {"kReady", Message::kReady},
-       {"kAccelerating", Message::kAccelerating},
-       {"kCruising", Message::kCruising},
-       {"kMotorBrake", Message::kMotorBrake},
-       {"kPreFrictionBrake", Message::kPreFrictionBrake},
-       {"kFrictionBrake", Message::kFrictionBrake},
-       {"kStopped", Message::kStopped},
-       {"kFailureBrake", Message::kFailureBrake},
-       {"kPreFrictionBrakeFail", Message::kPreFrictionBrakeFail},
-       {"kFrictionBrakeFail", Message::kFrictionBrakeFail},
-       {"kOff", Message::kOff},
-       {"kFailureStopped", Message::kFailureStopped},
-       {"kFailureOff", Message::kFailureOff}};
-  const std::unordered_map<Message, std::string> message_to_string_
-    = {{Message::kCalibrating, "kCalibrating"},
-       {Message::kReady, "kReady"},
-       {Message::kAccelerating, "kAccelerating"},
-       {Message::kCruising, "kCruising"},
-       {Message::kMotorBrake, "kMotorBrake"},
-       {Message::kPreFrictionBrake, "kPreFrictionBrake"},
-       {Message::kFrictionBrake, "kFrictionBrake"},
-       {Message::kStopped, "kStopped"},
-       {Message::kFailureBrake, "kFailureBrake"},
-       {Message::kPreFrictionBrakeFail, "kPreFrictionBrakeFail"},
-       {Message::kFrictionBrakeFail, "kFrictionBrakeFail"},
-       {Message::kOff, "kOff"},
-       {Message::kFailureStopped, "kFailureStopped"},
-       {Message::kFailureOff, "kFailureOff"}};
-  const boost::unordered_map<SourceAndMessage, State, source_and_message_hash> transition_to_state_
-    = {{{State::kIdle, Message::kCalibrating}, State::kCalibrating},
-       {{State::kCalibrating, Message::kReady}, State::kReady},
-       {{State::kReady, Message::kAccelerating}, State::kAccelerating},
-       {{State::kAccelerating, Message::kCruising}, State::kCruising},
-       {{State::kCruising, Message::kMotorBrake}, State::kMotorBraking},
-       {{State::kMotorBraking, Message::kPreFrictionBrake}, State::kPreFrictionBraking},
-       {{State::kPreFrictionBraking, Message::kFrictionBrake}, State::kFrictionBraking},
-       {{State::kFrictionBraking, Message::kStopped}, State::kStopped},
-       {{State::kStopped, Message::kOff}, State::kOff},
-       {{State::kAccelerating, Message::kFailureBrake}, State::kFailureBraking},
-       {{State::kAccelerating, Message::kPreFrictionBrakeFail}, State::kPreFrictionBrakingFail},
-       {{State::kPreFrictionBrakingFail, Message::kFrictionBrakeFail}, State::kFrictionBrakingFail},
-       {{State::kCruising, Message::kFailureBrake}, State::kFailureBraking},
-       {{State::kCruising, Message::kPreFrictionBrakeFail}, State::kPreFrictionBrakingFail},
-       {{State::kMotorBraking, Message::kFailureBrake}, State::kFailureBraking},
-       {{State::kMotorBraking, Message::kPreFrictionBrakeFail}, State::kPreFrictionBrakingFail},
-       {{State::kFrictionBrakingFail, Message::kFailureBrake}, State::kFailureBraking},
-       {{State::kFrictionBrakingFail, Message::kFailureStopped}, State::kFailureStopped},
-       {{State::kFailureBraking, Message::kFailureStopped}, State::kFailureStopped},
-       {{State::kFailureStopped, Message::kFailureOff}, State::kOff}};
+  const std::unordered_map<std::string, State> string_to_state_
+    = {{"kCalibrate", State::kCalibrate},
+       {"kPrecharge", State::kPrecharge},
+       {"kReadyForLeviation", State::kReadyForLevitation},
+       {"kBeginLevitation", State::kBeginLevitation},
+       {"kReady", State::kReady},
+       {"kAccelerate", State::kAccelerate},
+       {"kLimBrake", State::kLimBrake},
+       {"kFrictionBrake", State::kFrictionBrake},
+       {"kStopLevitation", State::kStopLevitation},
+       {"kStopped", State::kStopped},
+       {"kBatteryRecharge", State::kBatteryRecharge},
+       {"kCapacitorDischarge", State::kCapacitorDischarge},
+       {"kFailureBrake", State::kFailureBrake},
+       {"kFailure", State::kFailure},
+       {"kSafe", State::kSafe}};
+  const std::unordered_map<State, std::string> state_to_string_
+    = {{State::kCalibrate, "kCalibrate"},
+       {State::kPrecharge, "kPrecharge"},
+       {State::kReadyForLevitation, "kReadyForLevitation"},
+       {State::kBeginLevitation, "kBeginLevitation"},
+       {State::kReady, "kReady"},
+       {State::kAccelerate, "kAccelerate"},
+       {State::kLimBrake, "kLimBrake"},
+       {State::kFrictionBrake, "kFrictionBrake"},
+       {State::kStopLevitation, "kStopLevitation"},
+       {State::kStopped, "kStopped"},
+       {State::kBatteryRecharge, "kBatteryRecharge"},
+       {State::kCapacitorDischarge, "kCapacitorDischarge"},
+       {State::kFailureBrake, "kFailureBrake"},
+       {State::kFailure, "kFailure"},
+       {State::kSafe, "kSafe"}};
+  const boost::unordered_map<SourceAndTarget, State, source_and_target_hash> transition_to_state_
+    = {{{State::kIdle, State::kCalibrate}, State::kCalibrate},
+       {{State::kIdle, State::kFailure}, State::kFailure},
+       {{State::kCalibrate, State::kPrecharge}, State::kPrecharge},
+       {{State::kCalibrate, State::kFailure}, State::kFailure},
+       {{State::kPrecharge, State::kReadyForLevitation}, State::kReadyForLevitation},
+       {{State::kPrecharge, State::kFailure}, State::kFailure},
+       {{State::kReadyForLevitation, State::kBeginLevitation}, State::kBeginLevitation},
+       {{State::kReadyForLevitation, State::kFailure}, State::kFailure},
+       {{State::kBeginLevitation, State::kReady}, State::kReady},
+       {{State::kBeginLevitation, State::kFailure}, State::kFailure},
+       {{State::kReady, State::kAccelerate}, State::kAccelerate},
+       {{State::kAccelerate, State::kLimBrake}, State::kLimBrake},
+       {{State::kAccelerate, State::kFailureBrake}, State::kFailureBrake},
+       {{State::kLimBrake, State::kFrictionBrake}, State::kFrictionBrake},
+       {{State::kLimBrake, State::kFailureBrake}, State::kFailureBrake},
+       {{State::kFrictionBrake, State::kStopLevitation}, State::kStopLevitation},
+       {{State::kFrictionBrake, State::kFailureBrake}, State::kFailureBrake},
+       {{State::kStopLevitation, State::kStopped}, State::kStopped},
+       {{State::kStopped, State::kBatteryRecharge}, State::kBatteryRecharge},
+       {{State::kBatteryRecharge, State::kCapacitorDischarge}, State::kCapacitorDischarge},
+       {{State::kFailureBrake, State::kCapacitorDischarge}, State::kCapacitorDischarge},
+       {{State::kFailure, State::kCapacitorDischarge}, State::kCapacitorDischarge},
+       {{State::kCapacitorDischarge, State::kSafe}, State::kSafe}};
 
   State current_state_;
 };

lib/state_machine/types.hpp

@@ -1,29 +1,28 @@
 #pragma once
 
-#include "message.hpp"
 #include "state.hpp"
 
 #include <cstdint>
 
 #include <boost/functional/hash/hash.hpp>
 
 namespace hyped::state_machine {
-struct SourceAndMessage {
+struct SourceAndTarget {
   State source;
-  Message message;
+  State target;
 
-  bool operator==(const SourceAndMessage &key) const
+  bool operator==(const SourceAndTarget &key) const
   {
-    return key.source == source && key.message == message;
+    return key.source == source && key.target == target;
   }
 };
 
-struct source_and_message_hash {
-  std::size_t operator()(SourceAndMessage const &key) const
+struct source_and_target_hash {
+  std::size_t operator()(SourceAndTarget const &key) const
   {
     std::size_t seed = 0;
     boost::hash_combine(seed, key.source);
-    boost::hash_combine(seed, key.message);
+    boost::hash_combine(seed, key.target);
     return seed;
   }
 };