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Correct StateMachine Inheritance
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@HTRamsey
HTRamsey committed Dec 22, 2024
1 parent 59c4747 commit 69a606e
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Showing 8 changed files with 100 additions and 68 deletions.
62 changes: 33 additions & 29 deletions src/Utilities/StateMachine.cc
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Expand Up @@ -8,54 +8,58 @@
****************************************************************************/

#include "StateMachine.h"
#include "QGCLoggingCategory.h"

StateMachine::StateMachine(void)
QGC_LOGGING_CATEGORY(StateMachineLog, "qgc.utilities.statemachine");

StateMachine::StateMachine(QObject *parent)
: QObject(parent)
{
// qCDebug(StateMachineLog) << Q_FUNC_INFO << this;
}

StateMachine::~StateMachine()
{
// qCDebug(StateMachineLog) << Q_FUNC_INFO << this;
}

void StateMachine::start(void)
void StateMachine::start()
{
_active = true;
advance();
}

void StateMachine::advance(void)
void StateMachine::advance()
{
if (_active) {
_stateIndex++;
if (_stateIndex < stateCount()) {
(*rgStates()[_stateIndex])(this);
} else {
_active = false;
statesCompleted();
}
if (!_active) {
return;
}
}

void StateMachine::move(StateFn stateFn)
{
if (_active) {
for (int i=0; i<stateCount(); i++) {
if (rgStates()[i] == stateFn) {
_stateIndex = i;
(*rgStates()[_stateIndex])(this);
break;
}
}
_stateIndex++;
if (_stateIndex < stateCount()) {
(*rgStates()[_stateIndex])(this);
} else {
_active = false;
statesCompleted();
}
}

void StateMachine::statesCompleted(void) const
void StateMachine::move(StateFn stateFn)
{
if (!_active) {
return;
}

for (int i = 0; i < stateCount(); i++) {
if (rgStates()[i] == stateFn) {
_stateIndex = i;
(*rgStates()[_stateIndex])(this);
break;
}
}
}

StateMachine::StateFn StateMachine::currentState(void) const
StateMachine::StateFn StateMachine::currentState() const
{
if (_active) {
return rgStates()[_stateIndex];
} else {
return nullptr;
}
return (_active ? rgStates()[_stateIndex] : nullptr);
}
24 changes: 14 additions & 10 deletions src/Utilities/StateMachine.h
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Expand Up @@ -9,40 +9,44 @@

#pragma once

#include <QtCore/QLoggingCategory>
#include <QtCore/QObject>

Q_DECLARE_LOGGING_CATEGORY(StateMachineLog)

class StateMachine : public QObject
{
Q_OBJECT

public:
typedef void (*StateFn)(StateMachine* stateMachine);
StateMachine(QObject *parent = nullptr);
~StateMachine();

StateMachine(void);
typedef void (*StateFn)(StateMachine *stateMachine);

/// Start the state machine with the first step
void start(void);
void start();

/// Advance the state machine to the next state and call the state function
virtual void advance(void);
virtual void advance();

/// Move the state machine to the specified state and call the state function
void move(StateFn stateFn);

StateFn currentState(void) const;
StateFn currentState() const;

/// @return The number of states in the rgStates array
virtual int stateCount(void) const = 0;
virtual int stateCount() const = 0;

/// @return Array of states to execute
virtual const StateFn* rgStates(void) const = 0;
virtual const StateFn *rgStates() const = 0;

/// Called when all states have completed
virtual void statesCompleted(void) const;
virtual void statesCompleted() const {};

bool active() const { return _active; }

protected:
bool _active = false;
int _stateIndex = -1;
bool _active = false;
int _stateIndex = -1;
};
26 changes: 20 additions & 6 deletions src/Vehicle/Components/ComponentInformationManager.cc
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Expand Up @@ -23,21 +23,29 @@

#include <QtCore/QStandardPaths>

QGC_LOGGING_CATEGORY(ComponentInformationManagerLog, "ComponentInformationManagerLog")
QGC_LOGGING_CATEGORY(ComponentInformationManagerLog, "qgc.vehicle.components.componentinformationmanager")

ComponentInformationManager::ComponentInformationManager(Vehicle* vehicle)
: _vehicle (vehicle)
, _requestTypeStateMachine (this)
ComponentInformationManager::ComponentInformationManager(Vehicle *vehicle, QObject *parent)
: StateMachine(parent)
, _vehicle(vehicle)
, _requestTypeStateMachine(this)
, _cachedFileDownload(new QGCCachedFileDownload(QStandardPaths::writableLocation(QStandardPaths::CacheLocation) + QLatin1String("/QGCCompInfoFileDownloadCache"), this))
, _fileCache(ComponentInformationCache::defaultInstance())
, _translation(new ComponentInformationTranslation(this, _cachedFileDownload))
{
// qCDebug(ComponentInformationManagerLog) << Q_FUNC_INFO << this;

_compInfoMap[MAV_COMP_ID_AUTOPILOT1][COMP_METADATA_TYPE_GENERAL] = new CompInfoGeneral (MAV_COMP_ID_AUTOPILOT1, vehicle, this);
_compInfoMap[MAV_COMP_ID_AUTOPILOT1][COMP_METADATA_TYPE_PARAMETER] = new CompInfoParam (MAV_COMP_ID_AUTOPILOT1, vehicle, this);
_compInfoMap[MAV_COMP_ID_AUTOPILOT1][COMP_METADATA_TYPE_EVENTS] = new CompInfoEvents (MAV_COMP_ID_AUTOPILOT1, vehicle, this);
_compInfoMap[MAV_COMP_ID_AUTOPILOT1][COMP_METADATA_TYPE_ACTUATORS] = new CompInfoActuators (MAV_COMP_ID_AUTOPILOT1, vehicle, this);
}

ComponentInformationManager::~ComponentInformationManager()
{
// qCDebug(ComponentInformationManagerLog) << Q_FUNC_INFO << this;
}

int ComponentInformationManager::stateCount(void) const
{
return _cStates;
Expand Down Expand Up @@ -165,10 +173,16 @@ QString ComponentInformationManager::_getFileCacheTag(int compInfoType, uint32_t
}


RequestMetaDataTypeStateMachine::RequestMetaDataTypeStateMachine(ComponentInformationManager* compMgr)
: _compMgr(compMgr)
RequestMetaDataTypeStateMachine::RequestMetaDataTypeStateMachine(ComponentInformationManager *compMgr, QObject *parent)
: StateMachine(parent)
, _compMgr(compMgr)
{
// qCDebug(RequestMetaDataTypeStateMachineLog) << Q_FUNC_INFO << this;
}

RequestMetaDataTypeStateMachine::~RequestMetaDataTypeStateMachine()
{
// qCDebug(RequestMetaDataTypeStateMachineLog) << Q_FUNC_INFO << this;
}

void RequestMetaDataTypeStateMachine::request(CompInfo* compInfo)
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29 changes: 16 additions & 13 deletions src/Vehicle/Components/ComponentInformationManager.h
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Expand Up @@ -15,6 +15,7 @@
#include <QtCore/QElapsedTimer>
#include <QtCore/QLoggingCategory>

Q_DECLARE_LOGGING_CATEGORY(RequestMetaDataTypeStateMachineLog)
Q_DECLARE_LOGGING_CATEGORY(ComponentInformationManagerLog)

class Vehicle;
Expand All @@ -31,7 +32,8 @@ class RequestMetaDataTypeStateMachine : public StateMachine
Q_OBJECT

public:
RequestMetaDataTypeStateMachine(ComponentInformationManager* compMgr);
RequestMetaDataTypeStateMachine(ComponentInformationManager *compMgr, QObject *parent = nullptr);
~RequestMetaDataTypeStateMachine();

void request (CompInfo* compInfo);
QString typeToString(void);
Expand Down Expand Up @@ -93,28 +95,29 @@ class ComponentInformationManager : public StateMachine
Q_OBJECT

public:
static constexpr int cachedFileMaxAgeSec = 3 * 24 * 3600; ///< 3 days

ComponentInformationManager(Vehicle* vehicle);
ComponentInformationManager(Vehicle *vehicle, QObject *parent = nullptr);
~ComponentInformationManager();

typedef void (*RequestAllCompleteFn)(void* requestAllCompleteFnData);
typedef void (*RequestAllCompleteFn)(void *requestAllCompleteFnData);

void requestAllComponentInformation (RequestAllCompleteFn requestAllCompletFn, void * requestAllCompleteFnData);
Vehicle* vehicle (void) { return _vehicle; }
CompInfoParam* compInfoParam (uint8_t compId);
CompInfoGeneral* compInfoGeneral (uint8_t compId);
void requestAllComponentInformation(RequestAllCompleteFn requestAllCompletFn, void * requestAllCompleteFnData);
Vehicle *vehicle() { return _vehicle; }
CompInfoParam *compInfoParam(uint8_t compId);
CompInfoGeneral *compInfoGeneral(uint8_t compId);

// Overrides from StateMachine
int stateCount (void) const final;
const StateFn* rgStates (void) const final;
int stateCount() const final;
const StateFn *rgStates() const final;

ComponentInformationCache& fileCache() { return _fileCache; }
ComponentInformationTranslation* translation() { return _translation; }
ComponentInformationCache &fileCache() { return _fileCache; }
ComponentInformationTranslation *translation() { return _translation; }

float progress() const;

void advance() override;

static constexpr int cachedFileMaxAgeSec = 3 * 24 * 3600; ///< 3 days

signals:
void progressUpdate(float progress);

Expand Down
17 changes: 12 additions & 5 deletions src/Vehicle/InitialConnectStateMachine.cc
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Expand Up @@ -20,18 +20,25 @@
#include "RallyPointManager.h"
#include "QGCLoggingCategory.h"

QGC_LOGGING_CATEGORY(InitialConnectStateMachineLog, "InitialConnectStateMachineLog")
QGC_LOGGING_CATEGORY(InitialConnectStateMachineLog, "qgc.vehicle.initialconnectstatemachine")

InitialConnectStateMachine::InitialConnectStateMachine(Vehicle* vehicle)
: _vehicle(vehicle)
InitialConnectStateMachine::InitialConnectStateMachine(Vehicle *vehicle, QObject *parent)
: StateMachine(parent)
, _vehicle(vehicle)
{
static_assert(sizeof(_rgStates)/sizeof(_rgStates[0]) == sizeof(_rgProgressWeights)/sizeof(_rgProgressWeights[0]),
"array size mismatch");
static_assert(std::size(_rgStates) == std::size(_rgProgressWeights), "array size mismatch");

_progressWeightTotal = 0;
for (int i = 0; i < _cStates; ++i) {
_progressWeightTotal += _rgProgressWeights[i];
}

// qCDebug(InitialConnectStateMachineLog) << Q_FUNC_INFO << this;
}

InitialConnectStateMachine::~InitialConnectStateMachine()
{
// qCDebug(InitialConnectStateMachineLog) << Q_FUNC_INFO << this;
}

int InitialConnectStateMachine::stateCount(void) const
Expand Down
5 changes: 2 additions & 3 deletions src/Vehicle/InitialConnectStateMachine.h
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Expand Up @@ -17,14 +17,13 @@

Q_DECLARE_LOGGING_CATEGORY(InitialConnectStateMachineLog)

class Vehicle;

class InitialConnectStateMachine : public StateMachine
{
Q_OBJECT

public:
InitialConnectStateMachine(Vehicle* vehicle);
InitialConnectStateMachine(Vehicle *vehicle, QObject *parent = nullptr);
~InitialConnectStateMachine();

// Overrides from StateMachine
int stateCount (void) const final;
Expand Down
4 changes: 2 additions & 2 deletions src/Vehicle/Vehicle.cc
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Expand Up @@ -276,8 +276,8 @@ void Vehicle::_commonInit()
connect(_missionManager, &MissionManager::newMissionItemsAvailable, _trajectoryPoints, &TrajectoryPoints::clear);

_standardModes = new StandardModes (this, this);
_componentInformationManager = new ComponentInformationManager (this);
_initialConnectStateMachine = new InitialConnectStateMachine (this);
_componentInformationManager = new ComponentInformationManager (this, this);
_initialConnectStateMachine = new InitialConnectStateMachine (this, this);
_ftpManager = new FTPManager (this);

_vehicleLinkManager = new VehicleLinkManager (this);
Expand Down
1 change: 1 addition & 0 deletions test/qgcunittest/UnitTest.cc
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Expand Up @@ -78,6 +78,7 @@ void UnitTest::init()
{
_initCalled = true;

MultiVehicleManager::instance()->init();
LinkManager::instance()->setConnectionsAllowed();

// Force offline vehicle back to defaults
Expand Down

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