main.c

state machine working with rtos

/*****************************************************************************
* Product:  QBomb/C Example for Linux
* Version:  Compatible with QEP/C 3.1.yy
* Updated:  Nov 29, 2005
*
* Copyright (C) 2002-2005 Quantum Leaps, LLC. All rights reserved.
*
* This example is part of the Quantum Leaps QP/C software, and may be
* distributed and modified under the terms of the GNU General Public License
* version 2 (GPL) as published by the Free Software Foundation and appearing
* in the file GPL.TXT included in the packaging of this file. Please note
* that GPL Section 2[b] requires that all works based on this software must
* also be made publicly available under the terms of the GPL ("Copyleft").
*
* Alternatively, this software may be distributed and modified under the
* terms of Quantum Leaps commercial licenses, which expressly allow the
* licensees to retain the proprietary status of their code. The licensees
* who use this software under one of Quantum Leaps commercial licenses do
* not use this software under the GPL and therefore are not subject to any
* of its terms.
*
* Contact information:
* Quantum Leaps Web site:  http://www.quantum-leaps.com
* Quantum Leaps licensing: http://www.quantum-leaps.com/licensing
* Quantum Leaps products:  http://www.quantum-leaps.com/products
* e-mail:                  [e-mail]
*****************************************************************************/
#include "qep_port.h"
#include "qbomb.h"
#include "qassert.h"

#include <stdlib.h>
#include <stdio.h>
#include <sys/select.h>
#include <termios.h>
#include <unistd.h>

Q_DEFINE_THIS_FILE

/* Local objects -----------------------------------------------------------*/
static QBomb l_qbomb;                                   /* quantum bomb FSM */
struct termios l_saved;         /* structure with saved terminal attributes */

/*..........................................................................*/
void Q_assert_handler(char const *file, int line) {
    fprintf(stderr, "Assertion failed in %s, line %d", file, line);
    exit(-1);
}
/*..........................................................................*/
void QBomb_updateState(QBomb *me, char const *s) {
    (void)me;              /* suppress the "unreferenced parameter" warning */
    printf("%s;", s);
}
/*..........................................................................*/
void QBomb_exit(QBomb *me) {
    (void)me;              /* suppress the "unreferenced parameter" warning */
    printf("\nBye, Bye!");
    tcsetattr(0, TCSANOW, &l_saved);/*restore the saved terminal attributes */
    exit(0);
}
/*..........................................................................*/
int main() {
    QBombInitEvt ie;
    struct termios tio;                     /* modified terminal attributes */

    tcgetattr(0, &l_saved);         /* save the current terminal attributes */
    tcgetattr(0, &tio);              /* get the current terminal attributes */
    tio.c_lflag &= ~ICANON;                       /* disable canonical mode */
    tcsetattr(0, TCSANOW, &tio);                  /* set the new attributes */

    QBomb_ctor(&l_qbomb);

    printf("QBomb example, built on %s at %s,\n"
           "QEP/C: %s.\nPress ESC to quit...\n",
           __DATE__, __TIME__, QEP_getVersion());

    ie.defuse = 0x0D;       /* initialize with the defuse code, 1101 binary */
    QFsm_init((QFsm *)&l_qbomb, (QEvent *)&ie);  /* take initial transition */

    for (;;) {                                                /* event loop */
        fd_set con;                      /* FD set representing the console */
        static struct timeval timeout;              /* timeout for select() */
        static int tickCtr = 1;
        QEvent e;
        char const *msg = (char *)0;

        FD_ZERO(&con);
        FD_SET(0, &con);
        timeout.tv_sec =  0;
        timeout.tv_usec = 100000;                           /* 100 ms delay */

        select(1, &con, 0, 0, &timeout); /* wait for the timeout or console */

        if (FD_ISSET(0, &con)) {
            char ch;
            read(0, &ch, 1);
            switch (ch) {
                case 'a':
                case 'A': {                                      /* Arm key */
                    e.sig = ARM_SIG;
                    msg = "ARM";
                    break;
                }
                case 'u':
                case 'U': {                                       /* Up key */
                    e.sig = UP_SIG;
                    msg = "UP";
                    break;
                }
                case 'd':
                case 'D': {                                     /* Down key */
                    e.sig = DOWN_SIG;
                    msg = "DOWN";
                    break;
                }
                case '\33': {                                    /* ESC key */
                    QBomb_exit(&l_qbomb);
                    break;
                }
            }
        }
        else if (--tickCtr == 0) {                    /* time for the tick? */
            tickCtr = 10;
            e.sig = TICK_SIG;
            msg = "TICK";
        }

        if (msg != (char *)0) {
            printf("\n[%2d] %s: ", (int)QBomb_getTimeout(&l_qbomb), msg);
            QFsm_dispatch((QFsm *)&l_qbomb, &e);      /* dispatch the event */
        }
    }

    return 0;
}