State Machine

StateMachine.h

// State Machine
// Copyright 2022 Sean Farrell <[email protected]>
//
// This program is free software. It comes without any warranty, to
// the extent permitted by applicable law. You can redistribute it
// and/or modify it under the terms of the Do What The Fuck You Want
// To Public License, Version 2, as published by Sam Hocevar. See
// http://www.wtfpl.net/ for more details.

#pragma once

#include <cassert>
#include <optional>
#include <functional>
#include <map>

namespace sm
{
    template <typename StateEnum>
    class StateMachine
    {
    public:
        StateMachine() noexcept = default;

        StateMachine(StateEnum initial_state) noexcept
        : state(initial_state) {}

        StateEnum get_state() const noexcept
        {
            return state;
        }

        void change_state(StateEnum new_state) noexcept
        {
            auto i = exit_functions.find(state);
            if (i != end(exit_functions))
            {
                auto& func = i->second;
                assert(func);
                func();
            }

            state = new_state;

            auto j = enter_functions.find(state);
            if (j != end(enter_functions))
            {
                auto& func = j->second;
                assert(func);
                func();
            }
        }

        void queue_state(StateEnum new_state) noexcept
        {
            next_state = new_state;
        }

        void tick() noexcept
        {
            if (next_state)
            {
                change_state(*next_state);
                next_state = std::nullopt;
            }

            auto i = tick_functions.find(state);
            if (i != end(tick_functions))
            {
                auto& func = i->second;
                assert(func);
                func();
            }
        }

        void on_enter(StateEnum state, const std::function<void ()>& func)
        {
            assert(func);
            assert(enter_functions.find(state) == end(enter_functions));
            enter_functions[state] = func;
        }

        void on_tick(StateEnum state, const std::function<void ()>& func)
        {
            assert(func);
            assert(tick_functions.find(state) == end(tick_functions));
            tick_functions[state] = func;
        }

        void on_exit(StateEnum state, const std::function<void ()>& func)
        {
            assert(func);
            assert(exit_functions.find(state) == end(exit_functions));
            exit_functions[state] = func;
        }

    private:
        StateEnum                state      = static_cast<StateEnum>(0);
        std::optional<StateEnum> next_state = std::nullopt;

        std::map<StateEnum, std::function<void ()>> tick_functions;
        std::map<StateEnum, std::function<void ()>> enter_functions;
        std::map<StateEnum, std::function<void ()>> exit_functions;

        StateMachine(const StateMachine&) = delete;
        StateMachine& operator = (const StateMachine&) = delete;
    };
}

test_state_machine.cpp

// State Machine
// Copyright 2022 Sean Farrell <[email protected]>
//
// This program is free software. It comes without any warranty, to
// the extent permitted by applicable law. You can redistribute it
// and/or modify it under the terms of the Do What The Fuck You Want
// To Public License, Version 2, as published by Sam Hocevar. See
// http://www.wtfpl.net/ for more details.

#include <gtest/gtest.h>
#include "StateMachine.h"

enum class State
{
    INIT,
    STATE1,
    STATE2,
    END
};

TEST(StateMachine, create)
{
    auto sm = sm::StateMachine<State>(State::INIT);

    EXPECT_EQ(State::INIT, sm.get_state());
}

TEST(StateMachine, create_default_zero)
{
    auto sm = sm::StateMachine<State>();

    EXPECT_EQ(State::INIT, sm.get_state());
}

TEST(StateMachine, change_state)
{
    auto sm = sm::StateMachine<State>(State::INIT);
    EXPECT_EQ(State::INIT, sm.get_state());

    sm.change_state(State::STATE1);
    EXPECT_EQ(State::STATE1, sm.get_state());

    sm.change_state(State::STATE2);
    EXPECT_EQ(State::STATE2, sm.get_state());

    sm.change_state(State::END);
    EXPECT_EQ(State::END, sm.get_state());
}

TEST(StateMachine, queue_state)
{
    auto sm = sm::StateMachine<State>(State::INIT);
    EXPECT_EQ(State::INIT, sm.get_state());

    sm.queue_state(State::STATE1);
    EXPECT_EQ(State::INIT, sm.get_state());
    sm.tick();
    EXPECT_EQ(State::STATE1, sm.get_state());

    sm.queue_state(State::STATE2);
    EXPECT_EQ(State::STATE1, sm.get_state());
    sm.tick();
    EXPECT_EQ(State::STATE2, sm.get_state());

    sm.queue_state(State::END);
    EXPECT_EQ(State::STATE2, sm.get_state());
    sm.tick();
    EXPECT_EQ(State::END, sm.get_state());
}

TEST(StateMachine, processing_intructions)
{
    auto sm = sm::StateMachine<State>(State::INIT);

    auto state1_tick = 0u;
    sm.on_tick(State::STATE1, [&] () {
        state1_tick++;
    });

    auto state2_tick = 0u;
    sm.on_tick(State::STATE2, [&] () {
        state2_tick++;
    });

    sm.tick();

    sm.change_state(State::STATE1);
    sm.tick();
    sm.tick();

    sm.change_state(State::STATE2);
    sm.tick();
    sm.tick();
    sm.tick();

    sm.change_state(State::END);
    sm.tick();

    EXPECT_EQ(State::END, sm.get_state());
    EXPECT_EQ(2, state1_tick);
    EXPECT_EQ(3, state2_tick);
}

TEST(StateMachine, processing_intructions_with_queue_state)
{
    auto sm = sm::StateMachine<State>(State::INIT);

    auto state1_tick = 0u;
    sm.on_tick(State::STATE1, [&] () {
        state1_tick++;
    });

    auto state2_tick = 0u;
    sm.on_tick(State::STATE2, [&] () {
        state2_tick++;
    });

    sm.tick();

    sm.queue_state(State::STATE1);
    sm.tick();
    sm.tick();

    sm.queue_state(State::STATE2);
    sm.tick();
    sm.tick();
    sm.tick();

    sm.queue_state(State::END);
    sm.tick();

    EXPECT_EQ(State::END, sm.get_state());
    EXPECT_EQ(2, state1_tick);
    EXPECT_EQ(3, state2_tick);
}

TEST(StateMachine, pre_and_post_intructions)
{
    auto sm = sm::StateMachine<State>(State::INIT);

    auto state1_enter = 0u;
    sm.on_enter(State::STATE1, [&] () {
        state1_enter++;
    });
    auto state1_exit = 0u;
    sm.on_exit(State::STATE1, [&] () {
        state1_exit++;
    });

    auto state2_enter = 0u;
    sm.on_enter(State::STATE2, [&] () {
        state2_enter++;
    });
    auto state2_exit = 0u;
    sm.on_exit(State::STATE2, [&] () {
        state2_exit++;
    });

    sm.tick();

    sm.change_state(State::STATE1);
    sm.tick();
    sm.tick();

    sm.change_state(State::STATE2);
    sm.tick();
    sm.tick();
    sm.tick();

    sm.change_state(State::END);
    sm.tick();

    EXPECT_EQ(State::END, sm.get_state());
    EXPECT_EQ(1, state1_enter);
    EXPECT_EQ(1, state1_exit);
    EXPECT_EQ(1, state1_enter);
    EXPECT_EQ(1, state1_exit);
}

TEST(StateMachine, pre_and_post_intructions_queue_state)
{
    auto sm = sm::StateMachine<State>(State::INIT);

    auto state1_enter = 0u;
    sm.on_enter(State::STATE1, [&] () {
        state1_enter++;
    });
    auto state1_exit = 0u;
    sm.on_exit(State::STATE1, [&] () {
        state1_exit++;
    });

    auto state2_enter = 0u;
    sm.on_enter(State::STATE2, [&] () {
        state2_enter++;
    });
    auto state2_exit = 0u;
    sm.on_exit(State::STATE2, [&] () {
        state2_exit++;
    });

    sm.tick();

    sm.queue_state(State::STATE1);
    sm.tick();
    sm.tick();

    sm.queue_state(State::STATE2);
    sm.tick();
    sm.tick();
    sm.tick();

    sm.queue_state(State::END);
    sm.tick();

    EXPECT_EQ(State::END, sm.get_state());
    EXPECT_EQ(1, state1_enter);
    EXPECT_EQ(1, state1_exit);
    EXPECT_EQ(1, state1_enter);
    EXPECT_EQ(1, state1_exit);
}