MccMount is now inheritor of MccFiniteStateMachine

cxx/CMakeLists.txt

@@ -126,7 +126,8 @@ set(MOUNT_SERVER_APP_SRC mount.h mount_state.h mount_server.cpp comm_server.h co
     mount_astrom_default.h mcc_coord.h mount_pz.h mcc_fsm.h mcc_fsm_utils.h)
 set(MOUNT_SERVER_APP mount_server)
 add_executable(${MOUNT_SERVER_APP} ${MOUNT_SERVER_APP_SRC}
-    mcc_finite_state_machine.h)
+    mcc_finite_state_machine.h
+    mcc_mount_events_states.h)
 # target_include_directories(${MOUNT_SERVER_APP} PUBLIC ${ERFA_INCLUDE_DIR})
 target_link_libraries(${MOUNT_SERVER_APP} ${CNTR_PROTO_LIB} spdlog::spdlog_header_only ERFA_LIB)
 

cxx/mcc_mount_events_states.h

@@ -0,0 +1,29 @@
+#pragma once
+
+/*  MOUNT CONTROL COMPONENTS LIBRARY  */
+
+/*
+ *  BASIC EVENTS AND MOUNT STATES DEFINITIONS
+ */
+
+
+#include "mount.h"
+
+namespace mcc
+{
+
+template <MccMountType MOUNT_TYPE,
+          std::derived_from<MccMountConfig> CONFIG_TYPE,
+          std::derived_from<MccMount<MOUNT_TYPE, CONFIG_TYPE>> MountT>
+struct MccMountInitEvent {
+    static constexpr std::string_view ID = "MCC-MOUNT-INIT-EVENT";
+
+    MccMountInitEvent(MountT& mount) : _mount(mount) {}
+
+    MountT mount() const { return _mount; }
+
+private:
+    MountT& _mount;
+};
+
+}  // namespace mcc

cxx/mount.h

@@ -11,6 +11,7 @@
 #include "spdlog/sinks/null_sink.h"
 
 #include "mcc_coord.h"
+#include "mcc_finite_state_machine.h"
 #include "mcc_spdlog.h"
 #include "mcc_traits.h"
 #include "mount_astrom.h"
@@ -27,33 +28,6 @@
 namespace mcc
 {
 
-namespace traits
-{
-
-
-// mount state type concept
-template <typename T>
-concept mcc_mount_state_c = requires(T t, const T t_const) {
-    { t_const.ident() } -> std::same_as<std::string_view>;
-
-    // requires mcc_is_callable<typename T::error_callback_t>;
-    // requires mcc_is_callable<typename T::enter_callback_t>;
-    // requires mcc_is_callable<typename T::exit_callback_t>;
-
-    { t.enter() } -> std::same_as<void>;
-    { t.exit() } -> std::same_as<void>;
-    { t.stop() } -> std::same_as<void>;
-
-    typename T::state_data_t;
-
-    { t.stateData() } -> std::same_as<typename T::state_data_t>;
-
-    requires std::movable<T>;
-};
-
-}  // namespace traits
-
-
 
 /*   SOME BASIC DATA STRUCTURES DEFINITIONS  */
 
@@ -230,7 +204,7 @@ struct MccProhibitedZone1 {
 
 // implements a Finite State Machine Pattern
 template <MccMountType MOUNT_TYPE, std::derived_from<MccMountConfig> CONFIG_TYPE = MccMountConfig>
-class MccMount : public utils::MccSpdlogLogger
+class MccMount : public fsm::MccFiniteStateMachine, public utils::MccSpdlogLogger
 {
 public:
     static constexpr MccMountType mountType = MOUNT_TYPE;
@@ -248,105 +222,14 @@ public:
     };
 
 
-    /*  mount state base class  */
-
-    class MccMountState
-    {
-        static constexpr std::string_view emptyIdentString{"EMPTY-STRING-MOUNT-STATE-IDENTIFICATOR"};
-
-    public:
-        MccMountState(MccMount& mount, traits::mcc_input_char_range auto const& ident)
-            : _mount(mount), _ident({ident.begin(), ident.end()})
-        {
-            _mount.logTrace("Create MccMountState instance: {}", (void*)this);
-
-            if (!_ident.size()) {
-                _mount.logWarn("An empty input mount state identificator! Use of default value!");
-                _ident = emptyIdentString;
-            }
-        }
-
-
-        MccMountState(MccMount& mount, const char* ident) : MccMountState(mount, std::string_view(ident)) {}
-
-        MccMountState(MccMountState&&) = default;  // movable
-        MccMountState& operator=(MccMountState&&) = default;
-
-        MccMountState(const MccMountState&) = delete;  // non-copyable
-        MccMountState& operator=(const MccMountState&) = delete;
-
-
-        virtual ~MccMountState()
-        {
-            _mount.logTrace("Delete MccMountState instance: {}", (void*)this);
-        };
-
-
-        std::string_view ident() const
-        {
-            return _ident;
-        }
-
-        void enter(this std::derived_from<MccMountState> auto&& self)
-        {
-            std::forward<decltype(self)>(self).enterImpl();
-        }
-
-        void stop(this std::derived_from<MccMountState> auto&& self)
-        {
-            std::forward<decltype(self)>(self).stopImpl();
-        }
-
-        void exit(this std::derived_from<MccMountState> auto&& self, std::derived_from<MccMountState> auto next_state)
-        {
-            std::forward<decltype(self)>(self).exitImpl(std::move(next_state));
-        }
-
-    protected:
-        MccMount& _mount;
-        std::string_view _ident;
-
-        void enterImpl()
-        {
-            _mount.logWarn("call no-op MccMountState::enterImpl()");
-        }
-
-        void stopImpl()
-        {
-            _mount.logWarn("call no-op MccMountState::stopImpl()");
-        }
-
-
-        void exitImpl(std::derived_from<MccMountState> auto next_state)
-        {
-            _mount.setMountState(std::move(next_state));
-        }
-    };
-
-    // default IDLE state
-    class MccMountStateIDLE : public MccMountState
-    {
-    public:
-        MccMountStateIDLE(MccMount& mount) : MccMountState(mount, "DEFAULT IDLE STATE") {}
-
-    private:
-        void enterImpl()
-        {
-            this->_mount.logInfo("Enter to defalut IDLE state");
-        }
-
-        void stopImpl()
-        {
-            this->_mount.logWarn("Ignore stop for default IDLE state!");
-        }
-    };
-
 
     /*  Constructors and destructor  */
 
-    MccMount(traits::mcc_input_char_range auto const& logger_mark = "[MOUNT]",
+    template <fsm::traits::fsm_state_c InitStateT>
+    MccMount(InitStateT,
+             traits::mcc_input_char_range auto const& logger_mark = "[MOUNT]",
              std::shared_ptr<spdlog::logger> logger = spdlog::null_logger_mt("NULL"))
-        : utils::MccSpdlogLogger(logger), _exitCurrentState([]() {}), _currentStateName([]() {})
+        : fsm::MccFiniteStateMachine(InitStateT{}), utils::MccSpdlogLogger(logger)
     {
         std::istringstream strst;
 
@@ -361,42 +244,17 @@ public:
         updateIERSDatabase(IERS_DB_EARTH_ORIENT);
     }
 
-    virtual ~MccMount()
+    virtual ~MccMount() { logDebug("Delete MccMount class instance: thread = {}", getThreadId()); }
-    {
-        logDebug("Delete MccMount class instance: thread = {}", getThreadId());
-    }
 
 
     /*  Public methods  */
 
-    template <traits::mcc_mount_state_c StateT>
+    MccMountPosition getMountData() const noexcept { return _currentMountOrient.load(); }
-    void setMountState(StateT state)
-    {
-        _exitCurrentState();  // exit from current state
-        _exitCurrentState = [&state]() { state.exit(); };
-
-        _currentStateName = [&state]() { return state.name(); };
-
-        state.enter();
-    }
-
-    std::string_view currenStateName() const
-    {
-        return _currentStateName();
-    }
-
-    MccMountPosition getMountData() const noexcept
-    {
-        return _currentMountOrient.load();
-    }
 
 
     // geo location setters/getters
 
-    void setGeoLocation(const MccMountSiteInfo& geoloc)
+    void setGeoLocation(const MccMountSiteInfo& geoloc) { _geoLocation.store(geoloc); }
-    {
-        _geoLocation.store(geoloc);
-    }
 
     void setSiteLatitude(const MccAngle& lat)
     {
@@ -424,23 +282,14 @@ public:
     }
 
 
-    MccMountSiteInfo getGeoLocation() const
+    MccMountSiteInfo getGeoLocation() const { return _geoLocation.load(); }
-    {
-        return _geoLocation.load();
-    }
 
 
     // current meteo setters/getters
 
-    void setMeteo(const MccMountMeteo& meteo)
+    void setMeteo(const MccMountMeteo& meteo) { _currentMeteo.store(meteo); }
-    {
-        _currentMeteo.store(meteo);
-    }
 
-    MccMountMeteo getMeteo() const
+    MccMountMeteo getMeteo() const { return _currentMeteo.load(); }
-    {
-        return _currentMeteo.load();
-    }
 
 
     /* prohibited zone related methods */
@@ -561,10 +410,6 @@ public:
 protected:
     mount_config_t _mountCurrentConfig;
 
-    // std::shared_ptr<spdlog::logger> _mountLogger;
-    std::function<void()> _exitCurrentState;
-    std::function<std::string_view()> _currentStateName;
-
     // time scales related databases
     astrom::MccLeapSeconds _leapSecondsDB;
     astrom::MccIersBulletinA _earthOrientDB;