add mcc_finite_state_machine.h (rewrite MccFiniteStateMachine class)
This commit is contained in:
Timur A. Fatkhullin
parent
10dd92baab
commit
74b4cf06b1
@ -125,7 +125,8 @@ add_library(${CNTR_PROTO_LIB} STATIC ${CNTR_PROTO_LIB_SRC})
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set(MOUNT_SERVER_APP_SRC mount.h mount_state.h mount_server.cpp comm_server.h comm_server_endpoint.h comm_server_configfile.h mount_astrom.h
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set(MOUNT_SERVER_APP_SRC mount.h mount_state.h mount_server.cpp comm_server.h comm_server_endpoint.h comm_server_configfile.h mount_astrom.h
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mount_astrom_default.h mcc_coord.h mount_pz.h mcc_fsm.h mcc_fsm_utils.h)
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mount_astrom_default.h mcc_coord.h mount_pz.h mcc_fsm.h mcc_fsm_utils.h)
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set(MOUNT_SERVER_APP mount_server)
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set(MOUNT_SERVER_APP mount_server)
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add_executable(${MOUNT_SERVER_APP} ${MOUNT_SERVER_APP_SRC})
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add_executable(${MOUNT_SERVER_APP} ${MOUNT_SERVER_APP_SRC}
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mcc_finite_state_machine.h)
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# target_include_directories(${MOUNT_SERVER_APP} PUBLIC ${ERFA_INCLUDE_DIR})
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# target_include_directories(${MOUNT_SERVER_APP} PUBLIC ${ERFA_INCLUDE_DIR})
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target_link_libraries(${MOUNT_SERVER_APP} ${CNTR_PROTO_LIB} spdlog::spdlog_header_only ERFA_LIB)
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target_link_libraries(${MOUNT_SERVER_APP} ${CNTR_PROTO_LIB} spdlog::spdlog_header_only ERFA_LIB)
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196
cxx/mcc_finite_state_machine.h
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196
cxx/mcc_finite_state_machine.h
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@ -0,0 +1,196 @@
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#pragma once
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#include <concepts>
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#include <functional>
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#include <string_view>
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#include <tuple>
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#include <unordered_map>
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#include <variant>
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namespace mcc::fsm
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{
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namespace traits
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{
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/*
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The only requirement to Event-class is public-accepted static constant 'ID'
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*/
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template <typename T>
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concept fsm_event_c = std::is_default_constructible_v<T> && std::is_move_constructible_v<T> && std::movable<T> &&
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requires { requires std::same_as<const std::string_view, decltype(T::ID)>; };
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/*
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The only requirement to State-class is public-accepted static constant 'ID'
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*/
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template <typename T>
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concept fsm_state_c = std::is_default_constructible_v<T> && std::is_move_constructible_v<T> && std::movable<T> &&
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requires { requires std::same_as<const std::string_view, decltype(T::ID)>; };
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// concept for std::pair
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template <typename T>
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concept fsm_pair_of_types_c =
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requires { []<typename T1, typename T2>(std::type_identity<std::pair<T1, T2>>) {}(std::type_identity<T>()); };
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template <typename T>
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concept fsm_tuple_of_pairs_c =
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requires { []<fsm_pair_of_types_c... PTs>(std::type_identity<std::tuple<PTs...>>) {}(std::type_identity<T>()); };
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} // namespace traits
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/* Event-to-State transition table definition */
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template <traits::fsm_pair_of_types_c... PTs>
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struct fsm_transition_table_t;
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template <traits::fsm_pair_of_types_c PT>
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struct fsm_transition_table_t<PT> {
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using events_t = std::tuple<typename PT::first_type>;
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using event_state_pair_t = PT;
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using unique_states = std::tuple<typename PT::second_type>;
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template <traits::fsm_event_c EvT>
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using find_state_by_event_t =
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std::conditional_t<std::same_as<EvT, typename PT::first_type>, typename PT::second_type, void>;
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};
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template <traits::fsm_pair_of_types_c PT, traits::fsm_pair_of_types_c... PTs>
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struct fsm_transition_table_t<PT, PTs...> {
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private:
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static constexpr bool non_unique_event = (std::same_as<typename PTs::first_type, typename PTs::first_type> || ...);
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public:
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using events_t =
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std::conditional_t<non_unique_event,
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typename fsm_transition_table_t<PTs...>::events_t,
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decltype(std::tuple_cat(std::declval<std::tuple<typename PT::first_type>>(),
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std::declval<typename fsm_transition_table_t<PTs...>::events_t>()))>;
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using event_state_pair_t =
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std::conditional_t<non_unique_event,
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typename fsm_transition_table_t<PTs...>::event_state_pair_t,
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decltype(std::tuple_cat(
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std::declval<std::tuple<PT>>(),
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std::declval<typename fsm_transition_table_t<PTs...>::event_state_pair_t>()))>;
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using unique_states = std::conditional_t<
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non_unique_event,
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typename fsm_transition_table_t<PTs...>::unique_states_t,
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std::conditional_t<(std::same_as<typename PT::second_type, typename PTs::second_type> || ...),
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typename fsm_transition_table_t<PTs...>::unique_states_t,
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decltype(std::tuple_cat(
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std::declval<std::tuple<typename PT::second_type>>(),
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std::declval<typename fsm_transition_table_t<PTs...>::unique_states_t>()))>>;
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private:
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template <typename EvT, traits::fsm_tuple_of_pairs_c TplT>
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struct find_state_by_event;
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template <typename LookEvT, typename EvT, typename StT>
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struct find_state_by_event<LookEvT, std::tuple<std::pair<EvT, StT>>> {
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using state_t = std::conditional_t<std::same_as<LookEvT, EvT>, StT, void>;
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};
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template <typename LookEvT, typename EvT, typename StT, traits::fsm_pair_of_types_c... PairTs>
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struct find_state_by_event<LookEvT, std::tuple<std::pair<EvT, StT>, PairTs...>> {
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using state_t = std::conditional_t<std::same_as<LookEvT, EvT>,
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StT,
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typename find_state_by_event<LookEvT, std::tuple<PairTs...>>::state_t>;
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};
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public:
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template <typename EvT, traits::fsm_tuple_of_pairs_c TplT>
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using find_state_by_event_t = typename find_state_by_event<EvT, TplT>::state_t;
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};
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class MccFiniteStateMachine
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{
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protected:
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/* helper types definition */
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// merge N std::tuple types with filtering dublicates
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// (NOTE: the first std::tuple must contain unique types!!!)
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template <typename... TplTs>
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struct merge_tuples;
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template <typename TplT>
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struct merge_tuples<TplT> {
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using result_t = TplT;
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};
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template <typename TplT1, typename TplT2>
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struct merge_tuples<TplT1, TplT2> {
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using result_t = TplT1;
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};
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template <typename... T1, typename T2, typename... T2s>
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struct merge_tuples<std::tuple<T1...>, std::tuple<T2, T2s...>>
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: std::conditional_t<(std::same_as<T1, T2> || ...),
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merge_tuples<std::tuple<T1...>, std::tuple<T2s...>>,
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merge_tuples<std::tuple<T1..., T2>, std::tuple<T2s...>>> {
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};
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template <typename TplT1, typename TplT2, typename TplT3, typename... TplTs>
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struct merge_tuples<TplT1, TplT2, TplT3, TplTs...>
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: merge_tuples<typename merge_tuples<TplT1, TplT2>::result_t, TplT3, TplTs...> {
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};
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template <typename... TplTs>
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using merge_tuples_t = typename merge_tuples<TplTs...>::res_t;
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// deduce all unique states from the initial one
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template <bool stop, typename ResTplT, typename... InTplTs>
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struct deduce_states;
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template <typename ResTplT, typename... InTplTs>
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struct deduce_states<true, ResTplT, InTplTs...> {
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using states_t = ResTplT;
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};
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template <typename ResTplT, traits::fsm_state_c... StTs, typename... InTplTs>
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struct deduce_states<false, ResTplT, std::tuple<StTs...>, InTplTs...> {
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using curr_collection_t =
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merge_tuples_t<ResTplT, std::tuple<StTs...>, typename StTs::transition_t::unique_states_t...>;
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using states_t = typename deduce_states<std::tuple_size_v<ResTplT> == std::tuple_size_v<curr_collection_t>,
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curr_collection_t,
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typename StTs::transition_t::unique_states_t...>::states_t;
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};
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template <traits::fsm_state_c InitStateT>
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using deduce_states_t = typename deduce_states<false, std::tuple<>, std::tuple<InitStateT>>::states_t;
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template <typename TplT>
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struct variant_from_tuple;
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template <typename... Ts>
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struct variant_from_tuple<std::tuple<Ts...>> {
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using variant_t = std::variant<Ts*...>;
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};
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template <typename TplT>
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using variant_from_tuple_t = typename variant_from_tuple<TplT>::variant_t;
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template <traits::fsm_event_c EvT>
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inline static std::unordered_map<const MccFiniteStateMachine*, std::function<void(EvT)>> _dispatchEventFunc{};
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public:
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template <traits::fsm_state_c InitStateT>
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MccFiniteStateMachine(InitStateT)
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{
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}
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};
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} // namespace mcc::fsm
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@ -102,7 +102,7 @@ public:
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using st_t = typename PT::second_type;
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using st_t = typename PT::second_type;
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// static constexpr bool non_unique = in_pair_v<ev_t, PTs...>;
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// static constexpr bool non_unique = in_pair_v<ev_t, PTs...>;
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static constexpr bool non_unique = (std::same_as<ev_t, typename PTs::second_type> || ...);
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static constexpr bool non_unique = (std::same_as<ev_t, typename PTs::first_type> || ...);
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public:
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public:
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using events_t =
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using events_t =
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