State.cpp

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// @cond
#include "State.h"
#include "Log.h"
#include "Pins.h"
#include "WProgram.h"
 
static LOG_TAG TAG = "State Manager";
 
static State::State_t *lastState;
static State::State_t *currentState;
static int currentNotifyCode = 0;
 
static void setNextState(State::State_t *state) {
    lastState = currentState;
    currentState = state;
    currentState->notifyCode = currentNotifyCode;
}
 
static struct UnhandledState_t : State::State_t {
    LOG_TAG ID = "UNHANDLED STATE";
 
    State_t *run(void) {
        Log.f(ID, "UNHANDLED STATE!");
        notify(State::E_FATAL);
        return this;
    };
 
} UnhandledState;
 
State::State_t *State::State_t::run() {
    return &UnhandledState;
}
 
void State::State_t::notify(int code) {
    currentNotifyCode = code;
}
 
int State::State_t::getNotify() {
    return this->notifyCode;
}
 
State::State_t *State::State_t::getLastState() {
    return lastState;
}
 
LOG_TAG State::State_t::getID() {
    return (LOG_TAG)420;
}
 
void State::begin(State_t &entry) {
    State_t *startingState = &entry;
    setNextState(&entry);
 
    Log.d(TAG, "Starting State Machine");
    while (currentNotifyCode != State::E_FATAL) {
        currentNotifyCode = 0;
        Log.d(TAG, "Start", TAG2NUM(currentState->getID())); // Note: cannot send initalizing state as pins are not defined yet to transmit message
        Pins::setInternalValue(PINS_INTERNAL_STATE, TAG2NUM(currentState->getID()));
 
        State_t *queuedState = currentState->run();
 
        Log.d(TAG, "State returned code", currentNotifyCode);
 
        if (currentNotifyCode == State::E_RESTART) {
            setNextState(startingState);
        } else {
            setNextState(queuedState);
        }
 
        delay(1000);
    }
 
    Log.f(TAG, "STATE MACHINE STOPPED");
}
// @endcond