531c457550
Modify the SMF such that state transitions from parent states choose the correct Least Common Ancestor based on the transition source rather than the current state. SMF set as experimental. Signed-off-by: Glenn Andrews <glenn.andrews.42@gmail.com>
574 lines
16 KiB
ReStructuredText
574 lines
16 KiB
ReStructuredText
.. _smf:
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State Machine Framework
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#######################
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.. highlight:: c
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Overview
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========
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The State Machine Framework (SMF) is an application agnostic framework that
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provides an easy way for developers to integrate state machines into their
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application. The framework can be added to any project by enabling the
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:kconfig:option:`CONFIG_SMF` option.
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State Creation
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==============
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A state is represented by three functions, where one function implements the
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Entry actions, another function implements the Run actions, and the last
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function implements the Exit actions. The prototype for these functions is as
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follows: ``void funct(void *obj)``, where the ``obj`` parameter is a user
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defined structure that has the state machine context, :c:struct:`smf_ctx`, as
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its first member. For example::
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struct user_object {
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struct smf_ctx ctx;
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/* All User Defined Data Follows */
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};
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The :c:struct:`smf_ctx` member must be first because the state machine
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framework's functions casts the user defined object to the :c:struct:`smf_ctx`
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type with the :c:macro:`SMF_CTX` macro.
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For example instead of doing this ``(struct smf_ctx *)&user_obj``, you could
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use ``SMF_CTX(&user_obj)``.
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By default, a state can have no ancestor states, resulting in a flat state
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machine. But to enable the creation of a hierarchical state machine, the
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:kconfig:option:`CONFIG_SMF_ANCESTOR_SUPPORT` option must be enabled.
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By default, the hierarchical state machines do not support initial transitions
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to child states on entering a superstate. To enable them the
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:kconfig:option:`CONFIG_SMF_INITIAL_TRANSITION` option must be enabled.
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The following macro can be used for easy state creation:
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* :c:macro:`SMF_CREATE_STATE` Create a state
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State Machine Creation
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======================
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A state machine is created by defining a table of states that's indexed by an
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enum. For example, the following creates three flat states::
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enum demo_state { S0, S1, S2 };
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const struct smf_state demo_states[] = {
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[S0] = SMF_CREATE_STATE(s0_entry, s0_run, s0_exit, NULL, NULL),
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[S1] = SMF_CREATE_STATE(s1_entry, s1_run, s1_exit, NULL, NULL),
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[S2] = SMF_CREATE_STATE(s2_entry, s2_run, s2_exit, NULL, NULL)
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};
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And this example creates three hierarchical states::
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enum demo_state { S0, S1, S2 };
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const struct smf_state demo_states[] = {
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[S0] = SMF_CREATE_STATE(s0_entry, s0_run, s0_exit, parent_s0, NULL),
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[S1] = SMF_CREATE_STATE(s1_entry, s1_run, s1_exit, parent_s12, NULL),
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[S2] = SMF_CREATE_STATE(s2_entry, s2_run, s2_exit, parent_s12, NULL)
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};
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This example creates three hierarchical states with an initial transition
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from parent state S0 to child state S2::
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enum demo_state { S0, S1, S2 };
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/* Forward declaration of state table */
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const struct smf_state demo_states[];
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const struct smf_state demo_states[] = {
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[S0] = SMF_CREATE_STATE(s0_entry, s0_run, s0_exit, NULL, demo_states[S2]),
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[S1] = SMF_CREATE_STATE(s1_entry, s1_run, s1_exit, demo_states[S0], NULL),
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[S2] = SMF_CREATE_STATE(s2_entry, s2_run, s2_exit, demo_states[S0], NULL)
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};
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To set the initial state, the :c:func:`smf_set_initial` function should be
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called.
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To transition from one state to another, the :c:func:`smf_set_state`
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function is used.
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.. note:: If :kconfig:option:`CONFIG_SMF_INITIAL_TRANSITION` is not set,
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:c:func:`smf_set_initial` and :c:func:`smf_set_state` function should
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not be passed a parent state as the parent state does not know which
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child state to transition to. Transitioning to a parent state is OK
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if an initial transition to a child state is defined. A well-formed
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HSM should have initial transitions defined for all parent states.
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.. note:: While the state machine is running, :c:func:`smf_set_state` should
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only be called from the Entry or Run function. Calling
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:c:func:`smf_set_state` from Exit functions will generate a warning in the
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log and no transition will occur.
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State Machine Execution
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=======================
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To run the state machine, the :c:func:`smf_run_state` function should be
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called in some application dependent way. An application should cease calling
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smf_run_state if it returns a non-zero value.
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Preventing Parent Run Actions
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=============================
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Calling :c:func:`smf_set_handled` prevents calling the run action of parent
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states. It is not required to call :c:func:`smf_set_handled` if the state
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calls :c:func:`smf_set_state`.
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State Machine Termination
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=========================
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To terminate the state machine, the :c:func:`smf_set_terminate` function
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should be called. It can be called from the entry, run, or exit actions. The
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function takes a non-zero user defined value that will be returned by the
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:c:func:`smf_run_state` function.
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UML State Machines
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==================
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SMF follows UML hierarchical state machine rules for transitions i.e., the
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entry and exit actions of the least common ancestor are not executed on
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transition, unless said transition is a transition to self.
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The UML Specification for StateMachines may be found in chapter 14 of the UML
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specification available here: https://www.omg.org/spec/UML/
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SMF breaks from UML rules in:
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1. Executing the actions associated with the transition within the context
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of the source state, rather than after the exit actions are performed.
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2. Only allowing external transitions to self, not to sub-states. A transition
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from a superstate to a child state is treated as a local transition.
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3. Prohibiting transitions using :c:func:`smf_set_state` in exit actions.
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SMF also does not provide any pseudostates except the Initial Pseudostate.
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Terminate pseudostates can be modelled by calling :c:func:`smf_set_terminate`
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from the entry action of a 'terminate' state. Orthogonal regions are modelled
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by calling :c:func:`smf_run_state` for each region.
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State Machine Examples
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======================
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Flat State Machine Example
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**************************
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This example turns the following state diagram into code using the SMF, where
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the initial state is S0.
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.. graphviz::
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:caption: Flat state machine diagram
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digraph smf_flat {
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node [style=rounded];
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init [shape = point];
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STATE_S0 [shape = box];
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STATE_S1 [shape = box];
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STATE_S2 [shape = box];
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init -> STATE_S0;
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STATE_S0 -> STATE_S1;
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STATE_S1 -> STATE_S2;
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STATE_S2 -> STATE_S0;
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}
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Code::
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#include <zephyr/smf.h>
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/* Forward declaration of state table */
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static const struct smf_state demo_states[];
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/* List of demo states */
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enum demo_state { S0, S1, S2 };
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/* User defined object */
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struct s_object {
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/* This must be first */
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struct smf_ctx ctx;
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/* Other state specific data add here */
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} s_obj;
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/* State S0 */
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static void s0_entry(void *o)
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{
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/* Do something */
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}
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static void s0_run(void *o)
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{
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smf_set_state(SMF_CTX(&s_obj), &demo_states[S1]);
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}
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static void s0_exit(void *o)
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{
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/* Do something */
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}
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/* State S1 */
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static void s1_run(void *o)
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{
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smf_set_state(SMF_CTX(&s_obj), &demo_states[S2]);
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}
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static void s1_exit(void *o)
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{
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/* Do something */
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}
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/* State S2 */
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static void s2_entry(void *o)
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{
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/* Do something */
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}
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static void s2_run(void *o)
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{
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smf_set_state(SMF_CTX(&s_obj), &demo_states[S0]);
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}
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/* Populate state table */
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static const struct smf_state demo_states[] = {
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[S0] = SMF_CREATE_STATE(s0_entry, s0_run, s0_exit, NULL, NULL),
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/* State S1 does not have an entry action */
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[S1] = SMF_CREATE_STATE(NULL, s1_run, s1_exit, NULL, NULL),
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/* State S2 does not have an exit action */
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[S2] = SMF_CREATE_STATE(s2_entry, s2_run, NULL, NULL, NULL),
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};
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int main(void)
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{
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int32_t ret;
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/* Set initial state */
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smf_set_initial(SMF_CTX(&s_obj), &demo_states[S0]);
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/* Run the state machine */
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while(1) {
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/* State machine terminates if a non-zero value is returned */
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ret = smf_run_state(SMF_CTX(&s_obj));
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if (ret) {
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/* handle return code and terminate state machine */
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break;
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}
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k_msleep(1000);
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}
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}
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Hierarchical State Machine Example
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**********************************
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This example turns the following state diagram into code using the SMF, where
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S0 and S1 share a parent state and S0 is the initial state.
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.. graphviz::
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:caption: Hierarchical state machine diagram
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digraph smf_hierarchical {
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node [style = rounded];
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init [shape = point];
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STATE_S0 [shape = box];
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STATE_S1 [shape = box];
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STATE_S2 [shape = box];
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subgraph cluster_0 {
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label = "PARENT";
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style = rounded;
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STATE_S0 -> STATE_S1;
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}
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init -> STATE_S0;
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STATE_S1 -> STATE_S2;
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STATE_S2 -> STATE_S0;
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}
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Code::
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#include <zephyr/smf.h>
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/* Forward declaration of state table */
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static const struct smf_state demo_states[];
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/* List of demo states */
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enum demo_state { PARENT, S0, S1, S2 };
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/* User defined object */
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struct s_object {
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/* This must be first */
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struct smf_ctx ctx;
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/* Other state specific data add here */
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} s_obj;
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/* Parent State */
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static void parent_entry(void *o)
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{
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/* Do something */
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}
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static void parent_exit(void *o)
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{
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/* Do something */
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}
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/* State S0 */
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static void s0_run(void *o)
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{
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smf_set_state(SMF_CTX(&s_obj), &demo_states[S1]);
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}
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/* State S1 */
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static void s1_run(void *o)
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{
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smf_set_state(SMF_CTX(&s_obj), &demo_states[S2]);
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}
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/* State S2 */
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static void s2_run(void *o)
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{
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smf_set_state(SMF_CTX(&s_obj), &demo_states[S0]);
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}
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/* Populate state table */
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static const struct smf_state demo_states[] = {
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/* Parent state does not have a run action */
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[PARENT] = SMF_CREATE_STATE(parent_entry, NULL, parent_exit, NULL, NULL),
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/* Child states do not have entry or exit actions */
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[S0] = SMF_CREATE_STATE(NULL, s0_run, NULL, &demo_states[PARENT], NULL),
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[S1] = SMF_CREATE_STATE(NULL, s1_run, NULL, &demo_states[PARENT], NULL),
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/* State S2 do ot have entry or exit actions and no parent */
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[S2] = SMF_CREATE_STATE(NULL, s2_run, NULL, NULL, NULL),
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};
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int main(void)
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{
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int32_t ret;
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/* Set initial state */
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smf_set_initial(SMF_CTX(&s_obj), &demo_states[S0]);
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/* Run the state machine */
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while(1) {
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/* State machine terminates if a non-zero value is returned */
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ret = smf_run_state(SMF_CTX(&s_obj));
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if (ret) {
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/* handle return code and terminate state machine */
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break;
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}
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k_msleep(1000);
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}
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}
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When designing hierarchical state machines, the following should be considered:
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- Ancestor entry actions are executed before the sibling entry actions. For
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example, the parent_entry function is called before the s0_entry function.
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- Transitioning from one sibling to another with a shared ancestry does not
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re-execute the ancestor\'s entry action or execute the exit action.
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For example, the parent_entry function is not called when transitioning
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from S0 to S1, nor is the parent_exit function called.
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- Ancestor exit actions are executed after the exit action of the current
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state. For example, the s1_exit function is called before the parent_exit
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function is called.
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- The parent_run function only executes if the child_run function does not
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call either :c:func:`smf_set_state` or :c:func:`smf_set_handled`.
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Event Driven State Machine Example
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**********************************
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Events are not explicitly part of the State Machine Framework but an event driven
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state machine can be implemented using Zephyr :ref:`events`.
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.. graphviz::
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:caption: Event driven state machine diagram
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digraph smf_flat {
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node [style=rounded];
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init [shape = point];
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STATE_S0 [shape = box];
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STATE_S1 [shape = box];
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init -> STATE_S0;
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STATE_S0 -> STATE_S1 [label = "BTN EVENT"];
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STATE_S1 -> STATE_S0 [label = "BTN EVENT"];
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}
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Code::
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#include <zephyr/kernel.h>
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#include <zephyr/drivers/gpio.h>
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#include <zephyr/smf.h>
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#define SW0_NODE DT_ALIAS(sw0)
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/* List of events */
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#define EVENT_BTN_PRESS BIT(0)
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static const struct gpio_dt_spec button =
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GPIO_DT_SPEC_GET_OR(SW0_NODE, gpios, {0});
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static struct gpio_callback button_cb_data;
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/* Forward declaration of state table */
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static const struct smf_state demo_states[];
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/* List of demo states */
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enum demo_state { S0, S1 };
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/* User defined object */
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struct s_object {
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/* This must be first */
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struct smf_ctx ctx;
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/* Events */
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struct k_event smf_event;
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int32_t events;
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/* Other state specific data add here */
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} s_obj;
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/* State S0 */
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static void s0_entry(void *o)
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{
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printk("STATE0\n");
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}
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static void s0_run(void *o)
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{
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struct s_object *s = (struct s_object *)o;
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/* Change states on Button Press Event */
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if (s->events & EVENT_BTN_PRESS) {
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smf_set_state(SMF_CTX(&s_obj), &demo_states[S1]);
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}
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}
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/* State S1 */
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static void s1_entry(void *o)
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{
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printk("STATE1\n");
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}
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static void s1_run(void *o)
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{
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struct s_object *s = (struct s_object *)o;
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/* Change states on Button Press Event */
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if (s->events & EVENT_BTN_PRESS) {
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smf_set_state(SMF_CTX(&s_obj), &demo_states[S0]);
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}
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}
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/* Populate state table */
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static const struct smf_state demo_states[] = {
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[S0] = SMF_CREATE_STATE(s0_entry, s0_run, NULL, NULL, NULL),
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[S1] = SMF_CREATE_STATE(s1_entry, s1_run, NULL, NULL, NULL),
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};
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void button_pressed(const struct device *dev,
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struct gpio_callback *cb, uint32_t pins)
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{
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/* Generate Button Press Event */
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k_event_post(&s_obj.smf_event, EVENT_BTN_PRESS);
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}
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int main(void)
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{
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int ret;
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if (!gpio_is_ready_dt(&button)) {
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printk("Error: button device %s is not ready\n",
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button.port->name);
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return;
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}
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ret = gpio_pin_configure_dt(&button, GPIO_INPUT);
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if (ret != 0) {
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printk("Error %d: failed to configure %s pin %d\n",
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ret, button.port->name, button.pin);
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return;
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}
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ret = gpio_pin_interrupt_configure_dt(&button,
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GPIO_INT_EDGE_TO_ACTIVE);
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if (ret != 0) {
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printk("Error %d: failed to configure interrupt on %s pin %d\n",
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ret, button.port->name, button.pin);
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return;
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}
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gpio_init_callback(&button_cb_data, button_pressed, BIT(button.pin));
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gpio_add_callback(button.port, &button_cb_data);
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/* Initialize the event */
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k_event_init(&s_obj.smf_event);
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/* Set initial state */
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smf_set_initial(SMF_CTX(&s_obj), &demo_states[S0]);
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/* Run the state machine */
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while(1) {
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/* Block until an event is detected */
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s_obj.events = k_event_wait(&s_obj.smf_event,
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EVENT_BTN_PRESS, true, K_FOREVER);
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/* State machine terminates if a non-zero value is returned */
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ret = smf_run_state(SMF_CTX(&s_obj));
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if (ret) {
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/* handle return code and terminate state machine */
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break;
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}
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}
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}
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State Machine Example With Initial Transitions And Transition To Self
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*********************************************************************
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:zephyr_file:`tests/lib/smf/src/test_lib_self_transition_smf.c` defines a state
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machine for testing the initial transitions and transitions to self in a parent
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state. The statechart for this test is below.
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.. graphviz::
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:caption: Test state machine for UML State Transitions
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digraph smf_hierarchical_initial {
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compound=true;
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node [style = rounded];
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"smf_set_initial()" [shape=plaintext fontname=Courier];
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ab_init_state [shape = point];
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STATE_A [shape = box];
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STATE_B [shape = box];
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STATE_C [shape = box];
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STATE_D [shape = box];
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DC[shape=point height=0 width=0 label=<>]
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subgraph cluster_root {
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label = "ROOT";
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style = rounded;
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subgraph cluster_ab {
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label = "PARENT_AB";
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style = rounded;
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ab_init_state -> STATE_A;
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STATE_A -> STATE_B;
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}
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subgraph cluster_c {
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label = "PARENT_C";
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style = rounded;
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STATE_B -> STATE_C [ltail=cluster_ab]
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}
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STATE_C -> DC [ltail=cluster_c, dir=none];
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DC -> STATE_C [lhead=cluster_c];
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STATE_C -> STATE_D
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}
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"smf_set_initial()" -> STATE_A [lhead=cluster_ab]
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}
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API Reference
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=============
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.. doxygengroup:: smf
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