StateMachine

What is a state machine?

A state machine is a computational model used to design systems that can be in one of a finite number of states at any given time. It consists of a set of states, transitions between those states, and actions that occur as a result of those transitions. The machine begins in an initial state and changes states based on input or events, following predefined rules. State machines are useful for modeling behaviors in various fields such as software development, digital circuit design, and robotics, allowing for clear and organized representation of complex processes and decision logic.

Examples

Example 1

stateDiagram-v2
    state0 --> state1 : event1 / action1
    state1 --> state2 : event2 / action2
    state2 --> state1 : event1 / action1

Here, we use the first implementation of our state machine to transition between states and perform actions.

#include "StateMachine/StateMachine1.hpp"
 
#include <iostream>
 
enum class state {
    state0,
    state1,
    state2
};
 
enum class event {
    event1,
    event2
};
 
static std::string to_string(const state &state) {
    switch (state) {
        case state::state0:
            return "state0";
        case state::state1:
            return "state1";
        case state::state2:
            return "state2";
    }
    return "unknown";
}
 
namespace action {
    const auto action1 = []() { std::cout << "action1" << std::endl; };
    const auto action2 = []() { std::cout << "action2" << std::endl; };
}// namespace action
 
int main() {
    transition_table_t<state, event> tt{
            {{state::state0, event::event1}, {action::action1, state::state1}},
            {{state::state1, event::event2}, {action::action2, state::state2}},
            {{state::state2, event::event1}, {action::action1, state::state1}},
    };
 
    state_machine_t<state, event> sm(state::state0, tt);
    std::cout << to_string(sm.get_state()) << std::endl;
 
    sm.handle_event(event::event1);
    std::cout << to_string(sm.get_state()) << std::endl;
 
    sm.handle_event(event::event2);
    std::cout << to_string(sm.get_state()) << std::endl;
 
    sm.handle_event(event::event1);
    std::cout << to_string(sm.get_state()) << std::endl;
 
    return 0;
}

state0
action1
state1
action2
state2
action1
state1

Example 2

stateDiagram-v2
    state0 --> state1 : event1 / action1
    state1 --> state2 : event2 / action2
    state2 --> state1 : event1 / action1

Here, we use the second implementation to add enter and leave actions, showing more advanced state transitions.

#include "StateMachine/StateMachine2.hpp"
 
#include <iostream>
 
enum class state {
    state0,
    state1,
    state2
};
 
enum class event {
    event1,
    event2
};
 
static std::string to_string(const state &state) {
    switch (state) {
        case state::state0:
            return "state0";
        case state::state1:
            return "state1";
        case state::state2:
            return "state2";
    }
    return "unknown";
}
 
namespace action {
    const auto action1 = []() { std::cout << "action1" << std::endl; };
    const auto action2 = []() { std::cout << "action2" << std::endl; };
}// namespace action
 
int main() {
    transition_table_t<state, event> tt{
            {{state::state0, event::event1}, {action::action1, state::state1}},
            {{state::state1, event::event2}, {action::action2, state::state2}},
            {{state::state2, event::event1}, {action::action1, state::state1}},
    };
 
    state_machine_t<state, event> sm(state::state0, tt);
    std::cout << to_string(sm.get_state()) << std::endl;
 
    sm.set_enter_action(state::state1, []() { std::cout << "enter_action1" << std::endl; });
    sm.set_leave_action(state::state1, []() { std::cout << "leave_action1" << std::endl; });
 
    sm.handle_event(event::event1);
    std::cout << to_string(sm.get_state()) << std::endl;
 
    sm.handle_event(event::event2);
    std::cout << to_string(sm.get_state()) << std::endl;
 
    sm.handle_event(event::event1);
    std::cout << to_string(sm.get_state()) << std::endl;
 
    return 0;
}

state0
action1
enter_action1
state1
leave_action1
action2
state2
action1
enter_action1
state1

Example 3

stateDiagram-v2
    state0 --> state1 : event1 / guard1, action1
    state1 --> state2 : event2 / guard2, action2
    state2 --> state1 : event1 / guard3, action1

Here, we use the third implementation to demonstrate the use of guards, which allow or prevent transitions based on conditions.

#include "StateMachine/StateMachine3.hpp"
 
#include <iostream>
 
enum class state {
    state0,
    state1,
    state2
};
 
enum class event {
    event1,
    event2
};
 
static std::string to_string(const state &state) {
    switch (state) {
        case state::state0:
            return "state0";
        case state::state1:
            return "state1";
        case state::state2:
            return "state2";
    }
    return "unknown";
}
 
namespace action {
    const auto action1 = []() { std::cout << "action1" << std::endl; };
    const auto action2 = []() { std::cout << "action2" << std::endl; };
}// namespace action
 
namespace guard {
    const auto guard1 = []() { return true; };
    const auto guard2 = []() { return true; };
    const auto guard3 = []() { return false; };
}// namespace guard
 
int main() {
    transition_table_t<state, event> tt{
            {{state::state0, event::event1}, {guard::guard1, action::action1, state::state1}},
            {{state::state1, event::event2}, {guard::guard2, action::action2, state::state2}},
            {{state::state2, event::event1}, {guard::guard3, action::action1, state::state1}},
    };
 
    state_machine_t<state, event> sm(state::state0, tt);
    std::cout << to_string(sm.get_state()) << std::endl;
 
    sm.set_enter_action(state::state1, []() { std::cout << "enter_action1" << std::endl; });
    sm.set_leave_action(state::state1, []() { std::cout << "leave_action1" << std::endl; });
 
    sm.handle_event(event::event1);
    std::cout << to_string(sm.get_state()) << std::endl;
 
    sm.handle_event(event::event2);
    std::cout << to_string(sm.get_state()) << std::endl;
 
    sm.handle_event(event::event1);
    std::cout << to_string(sm.get_state()) << std::endl;
 
    return 0;
}

state0
action1
enter_action1
state1
leave_action1
action2
state2
state2

How to Build

Linux & macOS

git clone https://github.com/microsoft/vcpkg.git ~/vcpkg
~/vcpkg/bootstrap-vcpkg.sh
 
git clone https://github.com/xorz57/StateMachine.git
cd StateMachine
cmake -B build -DCMAKE_BUILD_TYPE=Release -S . -DCMAKE_TOOLCHAIN_FILE=~/vcpkg/scripts/buildsystems/vcpkg.cmake
cmake --build build --config Release
ctest --build-config Release

Windows

git clone https://github.com/microsoft/vcpkg.git C:/vcpkg
C:/vcpkg/bootstrap-vcpkg.bat
C:/vcpkg/vcpkg.exe integrate install
 
git clone https://github.com/xorz57/StateMachine.git
cd StateMachine
cmake -B build -DCMAKE_BUILD_TYPE=Release -S . -DCMAKE_TOOLCHAIN_FILE=C:/vcpkg/scripts/buildsystems/vcpkg.cmake
cmake --build build --config Release
ctest --build-config Release

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