/*! ========================================================================

** Extended Template and Library Test Suite

** Angle Class Test

** $Id$

**

** Copyright (c) 2002 Robert B. Quattlebaum Jr.

**

** This package is free software; you can redistribute it and/or

** modify it under the terms of the GNU General Public License as

** published by the Free Software Foundation; either version 2 of

** the License, or (at your option) any later version.

**

** This package is distributed in the hope that it will be useful,

** but WITHOUT ANY WARRANTY; without even the implied warranty of

** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

** General Public License for more details.

**

** === N O T E S ===========================================================

**

** ========================================================================= */

/* === H E A D E R S ======================================================= */

#include <etl smach=""></etl>

#include <cstdio></cstdio>

/* === M A C R O S ========================================================= */

using namespace std;

using namespace etl;

/* === C L A S S E S ======================================================= */

enum EventKey

{

	EVENT_1,

	EVENT_2,

	EVENT_3,

	EVENT_4

};

struct MachineContext

{

	smach<machinecontext,eventkey> machine;</machinecontext,eventkey>

	MachineContext():machine(this)

	{

	}

};

typedef smach<machinecontext,eventkey> Smach;</machinecontext,eventkey>

class Event1 : public Smach::event

{

public:

	Event1():Smach::event(EVENT_1) { }

};

class DefaultStateContext

{

	MachineContext *context;

public:

	DefaultStateContext(MachineContext *context):context(context) { printf("Entered Default State\n"); }

	~DefaultStateContext() { printf("Left Default State\n"); }

	Smach::event_result event1_handler(const Smach::event& x __attribute__ ((unused)))

	{

		printf("DEFAULT STATE: Received Event 1\n");

		return Smach::RESULT_ACCEPT;

	}

};

class DefaultState : public Smach::state<defaultstatecontext></defaultstatecontext>

{

public:

	DefaultState():Smach::state<defaultstatecontext>("DefaultState")</defaultstatecontext>

	{

		insert(event_def(EVENT_1,&DefaultStateContext::event1_handler));

	}

} default_state;

class State1Context

{

	MachineContext *context;

public:

	State1Context(MachineContext *context):context(context) { printf("Entered State 1\n"); }

	~State1Context() { printf("Left State 1\n"); }

	Smach::event_result event1_handler(const Smach::event& x __attribute__ ((unused)))

	{

		printf("STATE1: Received Event 1\n");

		return Smach::RESULT_OK;

	}

	Smach::event_result event3_handler(const Smach::event& x);

};

class State1 : public Smach::state<state1context></state1context>

{

public:

	State1():Smach::state<state1context>("State1")</state1context>

	{

		insert(event_def(EVENT_1,&State1Context::event1_handler));

		insert(event_def(EVENT_3,&State1Context::event3_handler));

	}

} state_1;

class State2Context

{

	MachineContext *context;

public:

	State2Context(MachineContext *context):context(context) { printf("Entered State 2\n"); }

	~State2Context() { printf("Left State 2\n"); }

	Smach::event_result event1_handler(const Smach::event& x __attribute__ ((unused)))

	{

		printf("STATE2: Received Event 1\n");

		return Smach::RESULT_OK;

	}

	Smach::event_result event2_handler(const Smach::event& x __attribute__ ((unused)))

	{

		printf("STATE2: Received Event 2\n");

		return Smach::RESULT_OK;

	}

	Smach::event_result event3_handler(const Smach::event& x __attribute__ ((unused)))

	{

		printf("STATE2: Received Event 3\n");

		return Smach::RESULT_OK;

	}

};

class State2 : public Smach::state<state2context></state2context>

{

public:

	State2():Smach::state<state2context>("State2")</state2context>

	{

		insert(event_def(EVENT_1,&State2Context::event1_handler));

		insert(event_def(EVENT_2,&State2Context::event2_handler));

		insert(event_def(EVENT_3,&State2Context::event3_handler));

	}

} state_2;

Smach::event_result

State1Context::event3_handler(const Smach::event& x __attribute__ ((unused)))

{

	printf("STATE1: Received Event 3, throwing state to change to...\n");

	throw &state_2;

//	context->machine.enter(&state_2);

//	return Smach::RESULT_ACCEPT;

}

/* === G L O B A L S ======================================================= */

/* === E N T R Y P O I N T ================================================= */

int main()

{

	int error=0;

	MachineContext context;

	try

	{

		Smach& state_machine(context.machine);

		state_machine.set_default_state(&default_state);

		state_machine.enter(&state_1);

		state_machine.process_event(Event1());

		state_machine.process_event(EVENT_1);

		state_machine.process_event(EVENT_2);

		state_machine.process_event(EVENT_3);

		state_machine.process_event(Event1());

		state_machine.process_event(EVENT_1);

		state_machine.process_event(EVENT_2);

		state_machine.process_event(EVENT_3);

		state_machine.process_event(Event1());

		state_machine.process_event(EVENT_1);

		state_machine.process_event(EVENT_2);

		state_machine.process_event(EVENT_3);

	}

	catch(...)

	{

		printf("Uncaught exception\n");

		error++;

	}

	return error;

}