more skeleton

lib/state_machine/Cargo.toml

@@ -1,7 +1,10 @@
-[package]
-name = "hyped_state_machine"
-version = "0.1.0"
-edition = "2021"
-
-[features]
-std = []
+[package]
+name = "hyped_state_machine"
+version = "0.1.0"
+edition = "2021"
+
+[features]
+std = []
+
+[dependencies]
+heapless = "0.8.0"

lib/state_machine/src/state_machine.rs

@@ -1,12 +1,34 @@
-use crate::types::State;
+use crate::types::{SourceAndTarget, State};
+use heapless::FnvIndexMap;
 
 pub struct StateMachine {
-    current_state: State,
-    // transition_map: HashMap<SourceAndTarget, State> (use heapless::FnvIndexMap)?
+    pub(crate) current_state: State,
+    pub(crate) transition_map: FnvIndexMap<SourceAndTarget, State, 32>, // TODO: bring constant out
 }
 
 impl StateMachine {
-    pub fn handle_transition(&mut self) {
-        self.current_state = State::KStopped;
+    pub fn new() -> Self {
+        StateMachine {
+            current_state: State::Idle,
+            transition_map: FnvIndexMap::<SourceAndTarget, State, 32>::new(),
+        }
+        // TODO: populate transition_map (idk if this can be done inplace which is annoying)
+    }
+
+    pub fn handle_transition(&mut self, to_state: &State) {
+        let to_from_state = SourceAndTarget {
+            source: self.current_state.clone(),
+            target: to_state.clone(),
+        };
+        match self.transition_map.get(&to_from_state) {
+            Some(&new_state) => self.current_state = new_state,
+            None => (),
+        }
+    }
+
+    pub fn run(&mut self) {
+        loop {
+            // TODO: consume, update, publish
+        }
     }
 }

lib/state_machine/src/types.rs

@@ -1,27 +1,27 @@
-#[derive(Hash)]
+#[derive(Hash, PartialEq, Eq, Clone, Copy)]
 pub enum State {
-    KIdle,
-    KCalibrate,
-    KPrecharge,
-    KReadyForLevitation,
-    KBeginLevitation,
-    KLevitating,
-    KReady,
-    KAccelerate,
-    KLimBrake,
-    KFrictionBrake,
-    KStopLevitation,
-    KStopped,
-    KBatteryRecharge,
-    KCapacitorDischarge,
-    KFailureBrake,
-    KFailure,
-    KSafe,
-    KShutdown,
+    Idle,
+    Calibrate,
+    Precharge,
+    ReadyForLevitation,
+    BeginLevitation,
+    Levitating,
+    Ready,
+    Accelerate,
+    LimBrake,
+    FrictionBrake,
+    StopLevitation,
+    Stopped,
+    BatteryRecharge,
+    CapacitorDischarge,
+    FailureBrake,
+    Failure,
+    Safe,
+    Shutdown,
 }
 
-#[derive(Hash)]
+#[derive(Hash, PartialEq, Eq)]
 pub struct SourceAndTarget {
-    source: State,
-    target: State,
+    pub(crate) source: State,
+    pub(crate) target: State,
 }