+++ /dev/null
-/*! ========================================================================
-** Extended Template and Library Test Suite
-** Angle Class Test
-** $Id$
-**
-** Copyright (c) 2002 Robert B. Quattlebaum Jr.
-**
-** This package is free software; you can redistribute it and/or
-** modify it under the terms of the GNU General Public License as
-** published by the Free Software Foundation; either version 2 of
-** the License, or (at your option) any later version.
-**
-** This package is distributed in the hope that it will be useful,
-** but WITHOUT ANY WARRANTY; without even the implied warranty of
-** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-** General Public License for more details.
-**
-** === N O T E S ===========================================================
-**
-** ========================================================================= */
-
-/* === H E A D E R S ======================================================= */
-
-#include <ETL/smach>
-#include <cstdio>
-
-/* === M A C R O S ========================================================= */
-
-using namespace std;
-using namespace etl;
-
-/* === C L A S S E S ======================================================= */
-
-enum EventKey
-{
- EVENT_1,
- EVENT_2,
- EVENT_3,
- EVENT_4
-};
-
-
-
-struct MachineContext
-{
- smach<MachineContext,EventKey> machine;
-
- MachineContext():machine(this)
- {
- }
-};
-
-typedef smach<MachineContext,EventKey> Smach;
-
-class Event1 : public Smach::event
-{
-public:
- Event1():Smach::event(EVENT_1) { }
-};
-
-
-class DefaultStateContext
-{
- MachineContext *context;
-public:
- DefaultStateContext(MachineContext *context):context(context) { printf("Entered Default State\n"); }
- ~DefaultStateContext() { printf("Left Default State\n"); }
-
- Smach::event_result event1_handler(const Smach::event& x __attribute__ ((unused)))
- {
- printf("DEFAULT STATE: Received Event 1\n");
- return Smach::RESULT_ACCEPT;
- }
-};
-
-class DefaultState : public Smach::state<DefaultStateContext>
-{
-public:
- DefaultState():Smach::state<DefaultStateContext>("DefaultState")
- {
- insert(event_def(EVENT_1,&DefaultStateContext::event1_handler));
- }
-
-} default_state;
-
-
-
-
-
-
-
-class State1Context
-{
- MachineContext *context;
-public:
- State1Context(MachineContext *context):context(context) { printf("Entered State 1\n"); }
- ~State1Context() { printf("Left State 1\n"); }
-
- Smach::event_result event1_handler(const Smach::event& x __attribute__ ((unused)))
- {
- printf("STATE1: Received Event 1\n");
- return Smach::RESULT_OK;
- }
-
- Smach::event_result event3_handler(const Smach::event& x);
-};
-
-class State1 : public Smach::state<State1Context>
-{
-public:
- State1():Smach::state<State1Context>("State1")
- {
- insert(event_def(EVENT_1,&State1Context::event1_handler));
- insert(event_def(EVENT_3,&State1Context::event3_handler));
- }
-
-} state_1;
-
-
-class State2Context
-{
- MachineContext *context;
-public:
- State2Context(MachineContext *context):context(context) { printf("Entered State 2\n"); }
- ~State2Context() { printf("Left State 2\n"); }
-
- Smach::event_result event1_handler(const Smach::event& x __attribute__ ((unused)))
- {
- printf("STATE2: Received Event 1\n");
- return Smach::RESULT_OK;
- }
-
- Smach::event_result event2_handler(const Smach::event& x __attribute__ ((unused)))
- {
- printf("STATE2: Received Event 2\n");
- return Smach::RESULT_OK;
- }
-
- Smach::event_result event3_handler(const Smach::event& x __attribute__ ((unused)))
- {
- printf("STATE2: Received Event 3\n");
- return Smach::RESULT_OK;
- }
-};
-
-class State2 : public Smach::state<State2Context>
-{
-public:
- State2():Smach::state<State2Context>("State2")
- {
- insert(event_def(EVENT_1,&State2Context::event1_handler));
- insert(event_def(EVENT_2,&State2Context::event2_handler));
- insert(event_def(EVENT_3,&State2Context::event3_handler));
- }
-
-} state_2;
-
-Smach::event_result
-State1Context::event3_handler(const Smach::event& x __attribute__ ((unused)))
-{
- printf("STATE1: Received Event 3, throwing state to change to...\n");
-
- throw &state_2;
-// context->machine.enter(&state_2);
-// return Smach::RESULT_ACCEPT;
-}
-
-/* === G L O B A L S ======================================================= */
-
-/* === E N T R Y P O I N T ================================================= */
-
-int main()
-{
- int error=0;
-
- MachineContext context;
- try
- {
- Smach& state_machine(context.machine);
-
- state_machine.set_default_state(&default_state);
-
- state_machine.enter(&state_1);
-
- state_machine.process_event(Event1());
- state_machine.process_event(EVENT_1);
- state_machine.process_event(EVENT_2);
- state_machine.process_event(EVENT_3);
-
- state_machine.process_event(Event1());
- state_machine.process_event(EVENT_1);
- state_machine.process_event(EVENT_2);
- state_machine.process_event(EVENT_3);
-
- state_machine.process_event(Event1());
- state_machine.process_event(EVENT_1);
- state_machine.process_event(EVENT_2);
- state_machine.process_event(EVENT_3);
- }
- catch(...)
- {
- printf("Uncaught exception\n");
- error++;
- }
-
- return error;
-}