Progress towards a better application FSM, testing

firmware/main_mcu/lib/app_lib/src/DebounceFsm.cpp

@@ -0,0 +1,55 @@
+#include "DebounceFsm.h"
+
+DebounceFsm::DebounceFsm(Clock &clock,
+                        GpioInput &input,
+                        unsigned int debounce_millis,
+                        const bool active_value,
+                        const std::function<void()> &on_activate,
+                        const std::function<void()> &on_deactivate) :
+    Fsm(inactive),
+    timer(Timer(clock)),
+    input(input),
+    debounce_millis(debounce_millis),
+    inactive(*this, to_active, !active_value),
+    active(*this, to_inactive, active_value),
+    to_inactive(*this, on_deactivate, !active_value, active, inactive),
+    to_active(*this, on_activate, active_value, inactive, active)
+{}
+
+
+DebounceFsm::SteadyState::SteadyState(DebounceFsm &fsm, State &next_state, bool steadyPinValue) :
+    fsm(fsm),
+    next_state(next_state),
+    steadyPinValue(steadyPinValue)
+{}
+
+void DebounceFsm::SteadyState::step() {
+    if (fsm.input.read() != steadyPinValue) {
+        fsm.transition(next_state);
+    }
+}
+
+DebounceFsm::Debouncing::Debouncing(DebounceFsm &fsm,
+                       std::function<void()> callback,
+                       bool to_pin_value,
+                       State &previous_state,
+                       State &next_state) :
+    fsm(fsm),
+    callback(callback),
+    to_pin_value(to_pin_value),
+    previous_state(previous_state),
+    next_state(next_state)
+{}
+
+void DebounceFsm::Debouncing::onEntry() {
+    fsm.timer.start();
+}
+
+void DebounceFsm::Debouncing::step() {
+    if (fsm.input.read() != to_pin_value) {
+        fsm.transition(previous_state);
+    } else if (fsm.timer.getRuntime() >= fsm.debounce_millis) {
+        callback();
+        fsm.transition(next_state);
+    }
+}

firmware/main_mcu/lib/app_lib/src/DebounceFsm.h

@@ -0,0 +1,56 @@
+#pragma once
+
+#include <functional>
+
+#include "Fsm.h"
+#include "Timer.h"
+#include "Gpio.h"
+
+class DebounceFsm : public Fsm {
+
+    public:
+        DebounceFsm(Clock &clock,
+                    GpioInput &input,
+                    unsigned int debouce_millis,
+                    const bool active_value,
+                    const std::function<void()> &on_activate,
+                    const std::function<void()> &on_deactivate);
+
+    private:
+        class SteadyState : public State {
+            public:
+                SteadyState(DebounceFsm &fsm, State &next_state, bool steadyPinValue);
+                virtual void step() override;
+            private:
+                DebounceFsm &fsm;
+                State &next_state;
+                const bool steadyPinValue;
+        };
+
+        class Debouncing : public State {
+            public:
+                Debouncing(DebounceFsm &fsm,
+                           std::function<void()> callback,
+                           bool to_pin_value,
+                           State &previous_state,
+                           State &next_state);
+
+                virtual void onEntry() override;
+                virtual void step() override;
+
+            private:
+                DebounceFsm &fsm;
+                std::function<void()> callback;
+                const int to_pin_value;
+                State &previous_state;
+                State &next_state;
+        };
+
+        Timer timer;
+        GpioInput &input;
+        const unsigned int debounce_millis;
+        SteadyState inactive;
+        SteadyState active;
+        Debouncing to_inactive;
+        Debouncing to_active;
+};

firmware/main_mcu/lib/generic_lib/ArduinoGpio.cpp

@@ -0,0 +1,23 @@
+#include "ArduinoGpio.h"
+
+#ifdef ARDUINO
+
+#include "Arduino.h"
+
+ArduinoGpioInput::ArduinoGpioInput(uint8_t pin) :
+    pin(pin)
+{}
+
+bool ArduinoGpioInput::read() {
+    return digitalRead(pin);
+}
+
+ArduinoGpioOutput::ArduinoGpioOutput(uint8_t pin) :
+    pin(pin)
+{}
+
+void ArduinoGpioOutput::write(bool value) {
+    digitalWrite(pin, value);
+}
+
+#endif

firmware/main_mcu/lib/generic_lib/src/ArduinoClock.cpp

@@ -0,0 +1,13 @@
+#include "ArduinoClock.h"
+
+#ifdef ARDUINO
+
+#include "Arduino.h"
+
+ArduinoClock::ArduinoClock() {}
+
+uint32_t ArduinoClock::getMillis() {
+    return getMillis();
+}
+
+#endif

firmware/main_mcu/lib/generic_lib/src/ArduinoClock.h

@@ -0,0 +1,12 @@
+#pragma once
+
+#include "Clock.h"
+#ifdef ARDUINO
+
+class ArduinoClock : public Clock {
+    public:
+        ArduinoClock();
+        uint32_t getMillis() override;
+};
+
+#endif

firmware/main_mcu/lib/generic_lib/src/ArduinoGpio.cpp

@@ -0,0 +1,23 @@
+#include "ArduinoGpio.h"
+
+#ifdef ARDUINO
+
+#include "Arduino.h"
+
+ArduinoGpioInput::ArduinoGpioInput(uint8_t pin) :
+    pin(pin)
+{}
+
+bool ArduinoGpioInput::read() {
+    return digitalRead(pin);
+}
+
+ArduinoGpioOutput::ArduinoGpioOutput(uint8_t pin) :
+    pin(pin)
+{}
+
+void ArduinoGpioOutput::write(bool value) {
+    digitalWrite(pin, value);
+}
+
+#endif

firmware/main_mcu/lib/generic_lib/src/ArduinoGpio.h

@@ -0,0 +1,24 @@
+#pragma once
+
+#include "Gpio.h"
+#include <stdint.h>
+
+#ifdef ARDUINO
+
+class ArduinoGpioInput : public GpioInput {
+    public:
+        ArduinoGpioInput(uint8_t pin_number);
+        virtual bool read() override;
+    private:
+        const uint8_t pin;
+};
+
+class ArduinoGpioOutput : public GpioOutput {
+    public:
+        ArduinoGpioOutput(uint8_t pin_number);
+        virtual void write(bool value) override;
+    private:
+        const uint8_t pin;
+};
+
+#endif

firmware/main_mcu/lib/generic_lib/src/Clock.h

@@ -0,0 +1,8 @@
+#pragma once
+
+#include <stdint.h>
+
+class Clock {
+    public:
+        virtual uint32_t getMillis() = 0;
+};

firmware/main_mcu/lib/generic_lib/src/Fsm.cpp

@@ -0,0 +1,15 @@
+#include "Fsm.h"
+
+Fsm::Fsm(State &initialState) :
+    current_state(&initialState)
+{}
+
+void Fsm::transition(State &state) {
+    current_state->onExit();
+    current_state = &state;
+    current_state->onEntry();
+}
+
+void Fsm::step() {
+    current_state->step();
+}

firmware/main_mcu/lib/generic_lib/src/Fsm.h

@@ -0,0 +1,28 @@
+#pragma once
+
+class State {
+
+    public:
+        virtual void step() {};
+        virtual void onEntry() {};
+        virtual void onExit() {};
+};
+
+class Transition {
+    public:
+        Transition(State &toState) {}
+        virtual bool evalutate() = 0;
+};
+
+class Fsm {
+
+    protected:
+        Fsm(State &initialState);
+        void transition(State &state);
+
+    public:
+        void step();
+
+    private:
+        State *current_state;
+};

firmware/main_mcu/lib/generic_lib/src/Gpio.h

@@ -0,0 +1,11 @@
+#pragma once
+
+class GpioInput {
+    public:
+        virtual bool read() = 0;
+};
+
+class GpioOutput {
+    public:
+        virtual void write(bool value) = 0;
+};

firmware/main_mcu/lib/generic_lib/src/Timer.h

@@ -0,0 +1,25 @@
+#pragma once
+
+#include "Clock.h"
+
+class Timer {
+    public:
+
+        Timer(Clock &clock)
+            : clock(clock)
+            , start_time(0)
+        {}
+
+        void start() {
+            start_time = clock.getMillis();
+        }
+
+        uint32_t getRuntime() {
+            return start_time - clock.getMillis();
+        }
+
+    private:
+        Clock &clock;
+        uint32_t start_time;
+
+};