fuellfix-v2/include/statemachine.h

#ifndef _STATE_MACHINE_H_
#define _STATE_MACHINE_H_

#include <Array.h>

#define STATE_ARRAY_SIZE 42

struct StateMachineInput {
    StateMachineInput(bool c, int e, int r, bool k, bool *m, bool am)
            : click(c), encoder(e), rpm(r), kill(k), all_motors_done(am) {
        for (int i = 0; i < AXIS_COUNT; i++) {
            motor_done[i] = m[i];
        }
    };

    bool click;
    int encoder;
    int rpm;
    bool kill;
    bool motor_done[AXIS_COUNT];
    bool all_motors_done;
};

class State {
public:
    typedef void(*EnterFuncPtr)(void);
    typedef void(*InFuncPtr)(StateMachineInput smi);

    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; }

    void setHeading(const char *_heading) { heading = _heading; }
    const char *getHeading(void) { return heading; }

    void setText(const char *_text) { text = _text; }
    const char *getText(void) { return text; }

    void onEnter(EnterFuncPtr func) { onEnterFunc = func; }
    void whenIn(InFuncPtr func) { whenInFunc = func; }

    void updateText(void);

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

protected:
    State *parent;
    State *child;
    const char *title;
    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);

    void setPrefix(String pre);

    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<String, STATE_ARRAY_SIZE> contents;
    String prefix;
};

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

    void setMax(T _max);

    typedef void(*UpdateFuncPtr)(T value);

    void onLiveUpdate(UpdateFuncPtr func);
    void onUpdate(UpdateFuncPtr func);

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

private:
    void display(void);

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

template <typename T, size_t N>
class StateValues : public State {
public:
    StateValues(State *_parent);

    void setData(size_t index, const char *name, T *value, T min, T max);

    typedef void(*UpdateFuncPtr)(size_t index, T value);

    void onLiveUpdate(UpdateFuncPtr func);
    void onUpdate(UpdateFuncPtr func);

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

private:
    void display(void);

    T *values[N];
    T mins[N], maxs[N];
    const char *texts[N];
    const char *heading;
    size_t pos;
    bool editing;
    UpdateFuncPtr updateFunc, updateLiveFunc;
};

#endif // _STATE_MACHINE_H_