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This commit is contained in:
Timur A. Fatkhullin 2025-08-27 08:51:46 +03:00
parent 4bf95c1043
commit 31cf0a45dd
2 changed files with 54 additions and 9 deletions
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4
mcc/mcc_finite_state_machine.h
View File

@ -396,6 +396,10 @@ public:
[p_event, states, currentState, this]<traits::fsm_state_c curr_state_t>(curr_state_t*) {
using to_state_t = curr_state_t::transition_t::template find_state_by_event_t<EvT>;
if constexpr (std::holds_alternative<to_state_t>(*currentState)) {
// ?!!!! from self
}
if constexpr (!std::is_void_v<to_state_t>) {
std::lock_guard lock(_transitionMutex);

59
mcc/mcc_generic_mount.h
View File

@ -260,7 +260,7 @@ public:
using transition_t =
fsm::fsm_transition_table_t<std::pair<MccGenericMountEventInit, MccGenericMountStateInit>,
std::pair<MccGenericMountEventIDLE, MccGenericMountStateUninit>,
std::pair<MccGenericMountEventError, MccGenericMountStateError>,
std::pair<MccGenericMountEventError, MccGenericMountStateUninit>,
std::pair<MccGenericMountEventStop, MccGenericMountStateUninit>,
std::pair<MccGenericMountEventSlew, MccGenericMountStateUninit>,
std::pair<MccGenericMountEventTrack, MccGenericMountStateUninit>,
@ -272,14 +272,6 @@ public:
this->exitLog(event);
}
void enter(MccGenericMountEventInit& event)
{
error_t err = event.mount().initMount();
if (err) {
event.mount().dispatchEvent(MccGenericMountEventError{event.mount(), err});
}
}
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void enter(EvT& event)
{
@ -287,6 +279,35 @@ public:
}
};
struct MccGenericMountStateInit : MccGenericMountBaseState {
using transition_t =
fsm::fsm_transition_table_t<std::pair<MccGenericMountEventInit, MccGenericMountStateInit>,
std::pair<MccGenericMountEventIDLE, MccGenericMountStateIDLE>,
std::pair<MccGenericMountEventError, MccGenericMountStateError>,
std::pair<MccGenericMountEventStop, MccGenericMountStateInit>,
std::pair<MccGenericMountEventSlew, MccGenericMountStateInit>,
std::pair<MccGenericMountEventTrack, MccGenericMountStateInit>,
std::pair<MccGenericMountEventGuiding, MccGenericMountStateInit>>;
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void exit(EvT& event)
{
this->exitLog(event);
}
template <std::derived_from<MccGenericMountBaseEvent> EvT>
void enter(EvT& event)
{
this->enterLog(event);
error_t err = event.mount()._initMount();
if (err) {
event.mount().dispatchEvent(MccGenericMountEventError{event.mount(), err});
} else {
event.mount().dispatchEvent(MccGenericMountEventIDLE{event.mount()});
}
}
};
/* CONSTRUCTORS AND DESTRUCTOR */
@ -311,10 +332,30 @@ public:
virtual ~MccGenericMountFSM() = default;
auto initMount()
{
this->dispatchEvent(MccGenericMountEventInit{*this});
}
auto stopMount()
{
this->dispatchEvent(MccGenericMountEventStop{*this});
}
protected:
// wrappers
auto _initMount()
{
return base_gmount_t::initMount();
}
auto _stopMount()
{
return base_gmount_t::stopMount();
}
};