Created
December 14, 2011 05:08
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functorial FSM
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open Logic | |
type ('pred, 'ns) p_a_n = { pred: 'pred; | |
actions: (bexp*boolean) list; | |
ns: 'ns } deriving(Show);; | |
module type STATES = | |
sig | |
type t | |
deriving (Show, Enum) | |
val start_state : t | |
end | |
module FSM (States : STATES) = | |
struct | |
type t = States.t | |
let start_state = States.start_state | |
let enum_states = | |
let enum_types = Enum.enum_from<States.t> (Enum.to_enum<States.t> 0) in | |
let enum_strings = List.map (fun et -> Show.show<States.t> et ) enum_types in | |
String.concat ", " enum_strings | |
let state_to_s state = Show.show<States.t> state | |
module ST_Table = Hashtbl.Make ( | |
struct | |
type t = States.t | |
let equal = (=) | |
let hash = Hashtbl.hash | |
end | |
) | |
let create fsmtab = | |
let stab = ST_Table.create 5 in | |
List.iter (fun (cs, cond, ns, actions) -> | |
ST_Table.add stab cs { pred = cond; | |
actions= actions; | |
ns = ns }) fsmtab; | |
(stab, start_state) | |
let find_all stab st = ST_Table.find_all stab st | |
let eval_fsm stab cs = (*get next state*) | |
(*Printf.printf " cs is: %s\n" (state_to_s cs);*) | |
let targets = find_all stab cs in | |
let rec find_next lst = match lst with | |
[] -> None | |
| x::xs -> if( to_bool (eval x.pred) ) then | |
( | |
(*do actions*) | |
List.iter (fun (var, value) -> assign var value) x.actions; | |
Printf.printf "current state: %s \tactions: %s \n" (state_to_s x.ns) (String.concat ", " (List.map (fun (var, value) -> | |
var_to_s var) x.actions)); | |
Some x.ns | |
) | |
else | |
find_next xs | |
in | |
match (find_next targets) with | |
None -> cs (*stay in current state*) | |
| Some s -> s | |
end | |
(*Example usage*) | |
(* inputs *) | |
let full = Var({name ="full"; value = F});; | |
let ten_minutes = Var({name = "ten_minutes"; value = F});; | |
let empty = Var({name = "empty"; value = F});; | |
let five_minutes = Var({name = "five_minutes"; value =F});; | |
(* outputs *) | |
let water_on = Var({name = "water_on"; value = F});; | |
let agitate = Var({name = "agitate"; value = F});; | |
let drain = Var({name = "drain" ; value = F});; | |
let start_timer = Var({name = "start_timer"; value = F});; | |
let motor_on = Var({name = "motor_on"; value = F});; | |
; | |
module WashStates = | |
struct | |
type t = START | FILL_WSH | WASH | EMPTY | FILL_RNS | RINSE | SPIN | STOP | |
deriving(Show, Enum) | |
let start_state = START | |
end | |
module WashFSM = FSM(WashStates) | |
open WashStates | |
(* CS, PREDICATE, NS, ACTIONs *) | |
let my_fsm = [(START, Const(T), FILL_WSH, [(water_on, T)] ); | |
(FILL_WSH, full, WASH, [(water_on, F); | |
(agitate, T); | |
(start_timer,T)] ); | |
(WASH, ten_minutes,EMPTY, [(agitate, F); | |
(start_timer,F); | |
(drain, T)] ); | |
(EMPTY, empty, FILL_RNS, [(drain, F); | |
(water_on, T)] ); | |
(FILL_RNS, full, RINSE, [(water_on, F); | |
(agitate, T)]); | |
(RINSE, ten_minutes,EMPTY, [(agitate, F); | |
(drain, T)] ); | |
(EMPTY, empty, SPIN, [(motor_on, T); | |
(start_timer,T)]); | |
(SPIN, five_minutes,STOP, [(water_on, F); | |
(drain, F); | |
(start_timer,F); | |
(motor_on, F)]); | |
(STOP, Const(T) , STOP, [(motor_on, F)]); | |
];; | |
let st_table, current_state = WashFSM.create my_fsm in | |
let _ = assign full T in | |
let current_state = WashFSM.eval_fsm st_table current_state in | |
let _ = assign ten_minutes T in | |
let current_state = WashFSM.eval_fsm st_table current_state in | |
let current_state = WashFSM.eval_fsm st_table current_state in | |
let _ = (assign ten_minutes F);(assign empty T) in | |
let current_state = WashFSM.eval_fsm st_table current_state in | |
let _ = assign five_minutes T in | |
let current_state = WashFSM.eval_fsm st_table current_state in | |
print_endline ( WashFSM.enum_states) ;; | |
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