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Template-based framework for implementing finite state machines in C++.

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C++ template-based finite state machines

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Overview

This is a C++ template-based implementation of state machines. The FSM has a set of possible states and a set of rules that govern transitions between the current state and some other state upon receiving an event.

A state can be an arbitrary object, which type is used to distinguish it from other states. Therefore, there is no need to maintain a list of known states (in an enumeration for example). We also don't want to enforce any relationship between those types to keep them completely independent. The state machine is a variadic template that gets to know its states through the parameter pack and stores them in a tuple.

Transitions from the current state to other states are triggered by events. This requires that all the state types have a Handle method that accepts an event of the type of event being handled. To avoid creating unnecessary dependencies between the state types and the state machine type, a state's Handle method will return an object of a specific type (an action) that will describe what action should the machine take.

Events are produced outside the state machine and fed into it by an external event loop which calls the state machine's Handle method. The latter dispatches the event to the current state, which returns a specific action that gets executed to eventually transition to a new state.

Examples and detailed documentation of the API can be found at the Project Documentation pages.

Getting the code

git clone --recurse-submodules -j4 https://github.com/asap-projects/asap-fsm.git

NOTES:

  • -j4 requests git to parallelize cloning of repos. Needs a relatively recent version of git. If that is not available, simply do not use this option.

Requirements

Make sure you have a C++ compiler with C++-17 capabilities at least. Gnu, Clang and MSVC all can do that with a recent version.

Enabling husky/commitlint/standard-version

Only one time after the project is cloned, do the following:

npx husky install
npm install -g @commitlint/cli @commitlint/config-conventional
npm install -g standard-version

Building

mkdir _build && cd _build && cmake .. && cmake --build .

or just use one of the predefined CMake presets. Detailed instructions and many useful commands are listed here.

CMake configurable build options

# Project options
option(BUILD_SHARED_LIBS        "Build shared instead of static libraries."              ON)
option(ASAP_BUILD_TESTS         "Build tests."                                           OFF)
option(ASAP_BUILD_EXAMPLES      "Build examples."                                        OFF)
option(ASAP_WITH_GOOGLE_ASAN    "Instrument code with address sanitizer"                 OFF)
option(ASAP_WITH_GOOGLE_UBSAN   "Instrument code with undefined behavior sanitizer"      OFF)
option(ASAP_WITH_GOOGLE_TSAN    "Instrument code with thread sanitizer"                  OFF)
option(ASAP_WITH_VALGRIND       "Builds targets with valgrind profilers added"           OFF)

Making changes to this project

Read the developer guides in the upstream asap project. If you're in a hurry, at least do the following:

Only one time after the project is cloned, do the following:

npx husky install
npm install -g @commitlint/cli @commitlint/config-conventional
npm install -g standard-version

Getting updates from upstream asap

In order to pull and merge updates from the upstream project, make sure to add it to the repo's remotes and disable pulling/merging tags from the upstream. We want tags to be limited to those made in this repo, not in the upstream.

git remote add upstream https://github.com/abdes/asap.git
git config remote.upstream.tagopt --no-tags