fuellfix-v2/include/statemachine.h

#ifndef _STATE_MACHINE_H_
#define _STATE_MACHINE_H_

#include <Array.h>

#define STATE_ARRAY_SIZE 42

template <typename T, size_t N>
void array_print(Array<T, N> *arr);

template <typename T, size_t N>
void array_insert_at_pos(Array<T, N> *arr, T value, size_t pos);

struct StateMachineInput {
    StateMachineInput(int c, int e, int k, int m)
            : click(c), encoder(e), kill(k), motors_done(m) { };

    int click;
    int encoder;
    int kill;
    int motors_done;
};

class State {
public:
    State(State *_parent = NULL);
    State *getParent(void) { return parent; }

    virtual void setChild(State *_child) { child = _child; }
    State *getChild(void) { return child; }

    void setTitle(const char *_title) { title = _title; }
    const char *getTitle(void) { return title; }

    virtual void enterState(void) = 0;
    virtual void inState(StateMachineInput smi) = 0;

private:
    State *parent;
    State *child;
    const char *title;
};

class StateText : public State {
public:
    StateText(State *_parent = NULL);

    void setHeading(const char *_heading);
    void setText(const char *_text);

    typedef void(*EnterFuncPtr)(void);
    typedef void(*InFuncPtr)(StateMachineInput smi);

    void onEnter(EnterFuncPtr func);
    void whenIn(InFuncPtr func);

    virtual void enterState(void);
    virtual void inState(StateMachineInput smi);

private:
    const char *heading;
    const char *text;
    EnterFuncPtr onEnterFunc;
    InFuncPtr whenInFunc;
};

class StateMenu : public State {
public:
    StateMenu(State *_parent = NULL, bool _show_parent = true);
    virtual void setChild(State *_child);

    void addChild(State *_child, int pos = -1);

    virtual void enterState(void);
    virtual void inState(StateMachineInput smi);

private:
    void display(void);

    bool show_parent;
    int menuPos, menuOff;
    Array<State *, STATE_ARRAY_SIZE> children;
};

class StateDynamicMenu : public State {
public:
    StateDynamicMenu(State *_parent = NULL);

    typedef int(*CountFuncPtr)(void);
    typedef const char *(*GetFuncPtr)(int);
    typedef void(*CallFuncPtr)(int);

    void dataCount(CountFuncPtr count);
    void dataGet(GetFuncPtr get);
    void dataCall(CallFuncPtr call);

    virtual void enterState(void);
    virtual void inState(StateMachineInput smi);

private:
    void display(void);

    CountFuncPtr countFunc;
    GetFuncPtr getFunc;
    CallFuncPtr callFunc;

    int menuPos, menuOff;
    int count;
    Array<const char *, STATE_ARRAY_SIZE> contents;
};

template <typename T>
class StateValue : public State {
public:
    StateValue(State *_parent, T &_value, T _min, T _max);

    typedef void(*UpdateFuncPtr)(T value);

    void onUpdate(UpdateFuncPtr func);

    virtual void enterState(void);
    virtual void inState(StateMachineInput smi);

private:
    void display(void);

    T &value;
    T min, max;
    UpdateFuncPtr updateFunc;
};


#endif // _STATE_MACHINE_H_