launch_fsm.lua

require "rttlib"
require "rfsm"
require "rfsm_rtt"
require "rfsmpp"

local tc=rtt.getTC();
local fsm
local fqn_out, events_in

function configureHook()
   -- load state machine

   -- Parameters can be defined here (must be global to be visible in
   -- fsm!) and could come from properties, loaded from files, etc.
   paramX=33

   fsm = rfsm.init(rfsm.load("fsm.lua"))

   -- enable state entry and exit dbg output
   fsm.dbg=rfsmpp.gen_dbgcolor("rfsm-rtt-example", 
			       { STATE_ENTER=true, STATE_EXIT=true}, 
			       false)

   -- redirect rFSM output to rtt log
   fsm.info=function(...) rtt.logl('Info', table.concat({...}, ' ')) end
   fsm.warn=function(...) rtt.logl('Warning', table.concat({...}, ' ')) end
   fsm.err=function(...) rtt.logl('Error', table.concat({...}, ' ')) end

   -- the following creates a string input port, adds it as a event
   -- driven port to the Taskcontext. The third line generates a
   -- getevents function which returns all data on the current port as
   -- events. This function is called by the rFSM core to check for
   -- new events.
   events_in = rtt.InputPort("string")
   tc:addEventPort(events_in, "events", "rFSM event input port")
   fsm.getevents = rfsm_rtt.gen_read_str_events(events_in)

   -- optional: create a string port to which the currently active
   -- state of the FSM will be written. gen_write_fqn generates a
   -- function suitable to be added to the rFSM step hook to do this.
   fqn_out = rtt.OutputPort("string")
   tc:addPort(fqn_out, "rFSM_cur_fqn", "current active rFSM state")
   rfsm.post_step_hook_add(fsm, rfsm_rtt.gen_write_fqn(fqn_out))
   return true
end

function updateHook() rfsm.run(fsm) end

function cleanupHook()
   -- cleanup the created ports.
   rttlib.tc_cleanup()
end