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This commit is contained in:
Timur A. Fatkhullin
2025-07-18 19:05:41 +03:00
parent e7c2826b5c
commit 464c262e08
12 changed files with 419 additions and 104 deletions
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66
cxx/mcc_mount_events_states.h
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@@ -3,12 +3,13 @@
/* MOUNT CONTROL COMPONENTS LIBRARY */
/*
* BASIC EVENTS AND MOUNT STATES DEFINITIONS (REFERENCE IMPLEMENTATION)
* BASIC EVENTS AND MOUNT STATES DEFINITIONS (POSSIBLE IMPLEMENTATION)
*
*/
#include <format>
#include "mcc_mount.h"
#include "mcc_mount_concepts.h"
namespace mcc
{
@@ -19,7 +20,7 @@ namespace mcc
// a base class for mount state machine events
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
class MccMountEventBase
{
public:
@@ -41,7 +42,7 @@ protected:
// transit to IDLE state
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountEventIDLE : public MccMountEventBase<MountT> {
typedef MccMountEventBase<MountT> base_t;
@@ -55,7 +56,7 @@ struct MccMountEventIDLE : public MccMountEventBase<MountT> {
// transit to initialization state
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountEventInit : public MccMountEventBase<MountT> {
typedef MccMountEventBase<MountT> base_t;
@@ -69,7 +70,7 @@ struct MccMountEventInit : public MccMountEventBase<MountT> {
// transit to error state
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountEventError : public MccMountEventBase<MountT> {
typedef MccMountEventBase<MountT> base_t;
@@ -91,7 +92,7 @@ protected:
// transit to slew state
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountEventSlew : public MccMountEventBase<MountT> {
typedef MccMountEventBase<MountT> base_t;
@@ -113,7 +114,7 @@ protected:
// transit to guiding state
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountEventGuiding : public MccMountEventBase<MountT> {
typedef MccMountEventBase<MountT> base_t;
@@ -127,7 +128,7 @@ struct MccMountEventGuiding : public MccMountEventBase<MountT> {
// transit to stop state
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountEventStop : public MccMountEventBase<MountT> {
typedef MccMountEventBase<MountT> base_t;
@@ -159,7 +160,7 @@ protected:
// transit to shutdown state
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountEventShutdown : public MccMountEventBase<MountT> {
typedef MccMountEventBase<MountT> base_t;
@@ -173,7 +174,7 @@ struct MccMountEventShutdown : public MccMountEventBase<MountT> {
/* MOUNT STATE MACHINE STATES */
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountStateBase {
// template <std::derived_from<MccMountEventBase<MountT>> EvT>
// void exit(this auto&& self, EvT& event)
@@ -214,45 +215,46 @@ protected:
void exitLog(this auto&& self, EvT& event)
{
using self_t = std::remove_cvref_t<decltype(self)>;
event.mount().logDebug("Exit from '{}' state due to '{}' event ...", self_t::ID, EvT::ID);
event.mount().logDebug(std::format("Exit from '{}' state due to '{}' event ...", self_t::ID, EvT::ID));
}
template <std::derived_from<MccMountEventBase<MountT>> EvT>
void enterLog(this auto&& self, EvT& event)
{
using self_t = std::remove_cvref_t<decltype(self)>;
event.mount().logDebug("Enter to '{}' state due to '{}' event ...", self_t::ID, EvT::ID);
event.mount().logDebug(std::format("Enter to '{}' state due to '{}' event ...", self_t::ID, EvT::ID));
}
};
// just forward declarations
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountStateIDLE;
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountStateInit;
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountStateError;
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountStateSlew;
template <traits::mcc_mount_c MountT, fsm::traits::fsm_event_c TrEvT = MccMountEventStop<MountT>>
template <traits::mcc_fsm_log_mount_c MountT, fsm::traits::fsm_event_c TrEvT = MccMountEventStop<MountT>>
struct MccMountStateStop;
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountStateGuiding;
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountStateShutdown;
// stop state
template <traits::mcc_mount_c MountT, fsm::traits::fsm_event_c TrEvT>
template <traits::mcc_fsm_log_mount_c MountT, fsm::traits::fsm_event_c TrEvT>
struct MccMountStateStop : MccMountStateBase<MountT> {
static constexpr std::string_view ID = "MCC-MOUNT-STOP-STATE";
@@ -287,7 +289,7 @@ struct MccMountStateStop : MccMountStateBase<MountT> {
mount.stopMount();
if constexpr (std::same_as<EvT, MccMountEventStop<MountT>>) {
mount.logInfo("Stop reason: {}", event.reason());
mount.logInfo(std::format("Stop reason: {}", event.reason()));
// normal behavior (transit to IDLE state after stopping)
mount.template dispatchEvent<MccMountEventIDLE<MountT>>({mount});
@@ -300,7 +302,7 @@ struct MccMountStateStop : MccMountStateBase<MountT> {
// initialization state
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountStateInit : MccMountStateBase<MountT> {
static constexpr std::string_view ID = "MCC-MOUNT-INIT-STATE";
@@ -329,7 +331,7 @@ struct MccMountStateInit : MccMountStateBase<MountT> {
// error state
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountStateError : MccMountStateBase<MountT> {
static constexpr std::string_view ID = "MCC-MOUNT-ERROR-STATE";
@@ -348,9 +350,9 @@ struct MccMountStateError : MccMountStateBase<MountT> {
{
this->exitLog(event);
event.mount().logWarn(
event.mount().logWarn(std::format(
"The mount is in the error state!!! One must correct it before transit to any states! Event type is '{}'",
EvT::ID);
EvT::ID));
}
void exit(MccMountEventIDLE<MountT>& event)
@@ -372,8 +374,8 @@ struct MccMountStateError : MccMountStateBase<MountT> {
auto err = event.eventData();
event.mount().logError("The mount is in the error state: code = {}, category = {}, message = '{}'", err.value(),
err.category().name(), err.message());
event.mount().logError(std::format("The mount is in the error state: code = {}, category = {}, message = '{}'",
err.value(), err.category().name(), err.message()));
}
// template <std::derived_from<MccMountEventBase<MountT>> EvT>
// void enter(EvT& event)
@@ -391,7 +393,7 @@ struct MccMountStateError : MccMountStateBase<MountT> {
// IDLE state
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountStateIDLE : MccMountStateBase<MountT> {
static constexpr std::string_view ID = "MCC-MOUNT-IDLE-STATE";
@@ -419,7 +421,7 @@ struct MccMountStateIDLE : MccMountStateBase<MountT> {
// shutdown state
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountStateShutdown : MccMountStateBase<MountT> {
static constexpr std::string_view ID = "MCC-MOUNT-SHUTDOWN-STATE";
@@ -445,7 +447,7 @@ struct MccMountStateShutdown : MccMountStateBase<MountT> {
// slew state
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountStateSlew : MccMountStateBase<MountT> {
static constexpr std::string_view ID = "MCC-MOUNT-SLEW-STATE";
@@ -478,7 +480,7 @@ struct MccMountStateSlew : MccMountStateBase<MountT> {
// guiding state
template <traits::mcc_mount_c MountT>
template <traits::mcc_fsm_log_mount_c MountT>
struct MccMountStateGuiding : MccMountStateBase<MountT> {
static constexpr std::string_view ID = "MCC-MOUNT-GUIDING-STATE";