halt_fsm.h

#pragma once
 
#include "software/ai/hl/stp/tactic/tactic.h"
 
struct HaltFSM
{
   public:
    class StopState;
 
    struct ControlParams
    {
    };
 
    DEFINE_TACTIC_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS
 
    explicit HaltFSM() {}
 
    void updateStop(const Update& event);
 
    bool stopDone(const Update& event);
 
    auto operator()()
    {
        using namespace boost::sml;
 
        DEFINE_SML_STATE(StopState)
        DEFINE_SML_EVENT(Update)
        DEFINE_SML_GUARD(stopDone)
        DEFINE_SML_ACTION(updateStop)
 
        return make_transition_table(
            // src_state + event [guard] / action = dest_state
            *StopState_S + Update_E[!stopDone_G] / updateStop_A = StopState_S,
            StopState_S + Update_E[stopDone_G] / updateStop_A   = X,
            X + Update_E[!stopDone_G] / updateStop_A            = StopState_S,
            X + Update_E[stopDone_G] / updateStop_A             = X);
    }
};