Conversion to fsm version 2 (#58)

* Conversion to fsm version 2: No linking with libfsm is required here, only the fsm.hpp must be included. The new fsm version makes it much easier to write state machines and suitable tests. The first D20 states have been adapted and a first SupportedAppProtocol state test has been added. A bug was found right here.

Signed-off-by: Sebastian Lukas <sebastian.lukas@pionix.de>

* Moved lib header to it's own folder
* Bugfix for d20 SupportedAppProtocol transition
* Added extra test for state request handle
* Added template checks for state and result compliance to FSM
* Updated for new FSM usage
* Updated for comments/bugs

Signed-off-by: AssemblyJohn <ioan.bogdann@gmail.com>

---------

Signed-off-by: Sebastian Lukas <sebastian.lukas@pionix.de>
Signed-off-by: AssemblyJohn <ioan.bogdann@gmail.com>
Co-authored-by: Sebastian Lukas <sebastian.lukas@pionix.de>

Author: AssemblyJohn

CMakeLists.txt

@@ -37,7 +37,6 @@ if (NOT DISABLE_EDM)
     # In EDM mode, we can't install exports (because the dependencies usually do not install their exports)
     set(ISO15118_INSTALL OFF)
 else()
-    find_package(fsm REQUIRED)
     find_package(cbv2g REQUIRED)
 endif()
 

dependencies.yaml

@@ -1,8 +1,4 @@
 ---
-libfsm:
-  git: https://github.com/EVerest/libfsm.git
-  git_tag: v0.2.0
-  options: ["BUILD_EXAMPLES OFF"]
 catch2:
   git: https://github.com/catchorg/Catch2.git
   git_tag: v3.7.1

include/iso15118/d20/context.hpp

@@ -52,12 +52,19 @@ class MessageExchange {
 
 std::unique_ptr<MessageExchange> create_message_exchange(uint8_t* buf, const size_t len);
 
+class StateBase;
+using BasePointerType = std::unique_ptr<StateBase>;
+
 class Context {
 public:
     // FIXME (aw): bundle arguments
     Context(session::feedback::Callbacks, session::SessionLogger&, d20::SessionConfig,
             const std::optional<ControlEvent>&, MessageExchange&);
 
+    template <typename StateType, typename... Args> BasePointerType create_state(Args&&... args) {
+        return std::make_unique<StateType>(*this, std::forward<Args>(args)...);
+    }
+
     std::unique_ptr<message_20::Variant> pull_request();
     message_20::Type peek_request_type() const;
 

include/iso15118/d20/fsm.hpp

@@ -2,17 +2,17 @@
 // Copyright 2023 Pionix GmbH and Contributors to EVerest
 #pragma once
 
-#include "../fsm.hpp"
+#include "../states.hpp"
 #include <iso15118/message/authorization.hpp>
 
 namespace iso15118::d20::state {
-
-struct Authorization : public FsmSimpleState {
-    using FsmSimpleState::FsmSimpleState;
+struct Authorization : public StateBase {
+public:
+    Authorization(Context& ctx) : StateBase(ctx, StateID::Authorization){};
 
     void enter() final;
 
-    HandleEventReturnType handle_event(AllocatorType&, FsmEvent) final;
+    Result feed(Event) final;
 
 private:
     message_20::datatypes::AuthStatus authorization_status{message_20::datatypes::AuthStatus::Pending};

include/iso15118/d20/state/authorization.hpp

@@ -2,16 +2,17 @@
 // Copyright 2023 Pionix GmbH and Contributors to EVerest
 #pragma once
 
-#include "../fsm.hpp"
+#include "../states.hpp"
 
 namespace iso15118::d20::state {
 
-struct AuthorizationSetup : public FsmSimpleState {
-    using FsmSimpleState::FsmSimpleState;
+struct AuthorizationSetup : public StateBase {
+    AuthorizationSetup(Context& ctx) : StateBase(ctx, StateID::AuthorizationSetup) {
+    }
 
     void enter() final;
 
-    HandleEventReturnType handle_event(AllocatorType&, FsmEvent) final;
+    Result feed(Event) final;
 };
 
 } // namespace iso15118::d20::state

include/iso15118/d20/state/authorization_setup.hpp

@@ -2,16 +2,17 @@
 // Copyright 2023 Pionix GmbH and Contributors to EVerest
 #pragma once
 
-#include "../fsm.hpp"
+#include "../states.hpp"
 
 namespace iso15118::d20::state {
 
-struct DC_CableCheck : public FsmSimpleState {
-    using FsmSimpleState::FsmSimpleState;
+struct DC_CableCheck : public StateBase {
+    DC_CableCheck(Context& ctx) : StateBase(ctx, StateID::DC_CableCheck) {
+    }
 
     void enter() final;
 
-    HandleEventReturnType handle_event(AllocatorType&, FsmEvent) final;
+    Result feed(Event) final;
 
 private:
     bool cable_check_initiated{false};

include/iso15118/d20/state/dc_cable_check.hpp

@@ -2,7 +2,7 @@
 // Copyright 2023 Pionix GmbH and Contributors to EVerest
 #pragma once
 
-#include "../fsm.hpp"
+#include "../states.hpp"
 
 #include <cstdint>
 #include <optional>
@@ -11,12 +11,13 @@
 
 namespace iso15118::d20::state {
 
-struct DC_ChargeLoop : public FsmSimpleState {
-    using FsmSimpleState::FsmSimpleState;
+struct DC_ChargeLoop : public StateBase {
+    DC_ChargeLoop(Context& ctx) : StateBase(ctx, StateID::DC_ChargeLoop) {
+    }
 
     void enter() final;
 
-    HandleEventReturnType handle_event(AllocatorType&, FsmEvent) final;
+    Result feed(Event) final;
 
 private:
     float present_voltage{0};

include/iso15118/d20/state/dc_charge_loop.hpp

@@ -2,16 +2,17 @@
 // Copyright 2023 Pionix GmbH and Contributors to EVerest
 #pragma once
 
-#include "../fsm.hpp"
+#include "../states.hpp"
 
 namespace iso15118::d20::state {
 
-struct DC_ChargeParameterDiscovery : public FsmSimpleState {
-    using FsmSimpleState::FsmSimpleState;
+struct DC_ChargeParameterDiscovery : public StateBase {
+    DC_ChargeParameterDiscovery(Context& ctx) : StateBase(ctx, StateID::DC_ChargeParameterDiscovery) {
+    }
 
     void enter() final;
 
-    HandleEventReturnType handle_event(AllocatorType&, FsmEvent) final;
+    Result feed(Event) final;
 };
 
 } // namespace iso15118::d20::state

include/iso15118/d20/state/dc_charge_parameter_discovery.hpp

@@ -2,16 +2,17 @@
 // Copyright 2023 Pionix GmbH and Contributors to EVerest
 #pragma once
 
-#include "../fsm.hpp"
+#include "../states.hpp"
 
 namespace iso15118::d20::state {
 
-struct DC_PreCharge : public FsmSimpleState {
-    using FsmSimpleState::FsmSimpleState;
+struct DC_PreCharge : public StateBase {
+    DC_PreCharge(Context& ctx) : StateBase(ctx, StateID::DC_PreCharge) {
+    }
 
     void enter() final;
 
-    HandleEventReturnType handle_event(AllocatorType&, FsmEvent) final;
+    Result feed(Event) final;
 
 private:
     float present_voltage{0};

include/iso15118/d20/state/dc_pre_charge.hpp

@@ -2,16 +2,17 @@
 // Copyright 2023 Pionix GmbH and Contributors to EVerest
 #pragma once
 
-#include "../fsm.hpp"
+#include "../states.hpp"
 
 namespace iso15118::d20::state {
 
-struct DC_WeldingDetection : public FsmSimpleState {
-    using FsmSimpleState::FsmSimpleState;
+struct DC_WeldingDetection : public StateBase {
+    DC_WeldingDetection(Context& ctx) : StateBase(ctx, StateID::DC_WeldingDetection) {
+    }
 
     void enter() final;
 
-    HandleEventReturnType handle_event(AllocatorType&, FsmEvent) final;
+    Result feed(Event) final;
 
 private:
     float present_voltage{0};

include/iso15118/d20/state/dc_welding_detection.hpp

@@ -2,16 +2,16 @@
 // Copyright 2023 Pionix GmbH and Contributors to EVerest
 #pragma once
 
-#include "../fsm.hpp"
+#include "../states.hpp"
 
 namespace iso15118::d20::state {
-
-struct PowerDelivery : public FsmSimpleState {
-    using FsmSimpleState::FsmSimpleState;
+struct PowerDelivery : public StateBase {
+    PowerDelivery(Context& ctx) : StateBase(ctx, StateID::PowerDelivery) {
+    }
 
     void enter() final;
 
-    HandleEventReturnType handle_event(AllocatorType&, FsmEvent) final;
+    Result feed(Event) final;
 
 private:
     float present_voltage{0};

include/iso15118/d20/state/power_delivery.hpp

@@ -2,21 +2,21 @@
 // Copyright 2023 Pionix GmbH and Contributors to EVerest
 #pragma once
 
-#include "../fsm.hpp"
+#include "../states.hpp"
 
 #include <cstdint>
 #include <optional>
 
 #include <iso15118/d20/dynamic_mode_parameters.hpp>
 
 namespace iso15118::d20::state {
-
-struct ScheduleExchange : public FsmSimpleState {
-    using FsmSimpleState::FsmSimpleState;
+struct ScheduleExchange : public StateBase {
+    ScheduleExchange(Context& ctx) : StateBase(ctx, StateID::ScheduleExchange) {
+    }
 
     void enter() final;
 
-    HandleEventReturnType handle_event(AllocatorType&, FsmEvent) final;
+    Result feed(Event) final;
 
 private:
     UpdateDynamicModeParameters dynamic_parameters;

include/iso15118/d20/state/schedule_exchange.hpp

@@ -2,16 +2,18 @@
 // Copyright 2023 Pionix GmbH and Contributors to EVerest
 #pragma once
 
-#include "../fsm.hpp"
+#include "../states.hpp"
 
 namespace iso15118::d20::state {
 
-struct ServiceDetail : public FsmSimpleState {
-    using FsmSimpleState::FsmSimpleState;
+struct ServiceDetail : public StateBase {
+public:
+    ServiceDetail(Context& ctx) : StateBase(ctx, StateID::ServiceDetail) {
+    }
 
     void enter() final;
 
-    HandleEventReturnType handle_event(AllocatorType&, FsmEvent) final;
+    Result feed(Event) final;
 };
 
 } // namespace iso15118::d20::state

include/iso15118/d20/state/service_detail.hpp

@@ -2,16 +2,18 @@
 // Copyright 2023 Pionix GmbH and Contributors to EVerest
 #pragma once
 
-#include "../fsm.hpp"
+#include "../states.hpp"
 
 namespace iso15118::d20::state {
 
-struct ServiceDiscovery : public FsmSimpleState {
-    using FsmSimpleState::FsmSimpleState;
+struct ServiceDiscovery : public StateBase {
+public:
+    ServiceDiscovery(Context& ctx) : StateBase(ctx, StateID::ServiceDiscovery) {
+    }
 
     void enter() final;
 
-    HandleEventReturnType handle_event(AllocatorType&, FsmEvent) final;
+    Result feed(Event) final;
 };
 
 } // namespace iso15118::d20::state

include/iso15118/d20/state/service_discovery.hpp

@@ -2,16 +2,17 @@
 // Copyright 2023 Pionix GmbH and Contributors to EVerest
 #pragma once
 
-#include "../fsm.hpp"
+#include "../states.hpp"
 
 namespace iso15118::d20::state {
 
-struct ServiceSelection : public FsmSimpleState {
-    using FsmSimpleState::FsmSimpleState;
+struct ServiceSelection : public StateBase {
+    ServiceSelection(Context& ctx) : StateBase(ctx, StateID::ServiceSelection) {
+    }
 
     void enter() final;
 
-    HandleEventReturnType handle_event(AllocatorType&, FsmEvent) final;
+    Result feed(Event) final;
 };
 
 } // namespace iso15118::d20::state

include/iso15118/d20/state/service_selection.hpp

@@ -3,16 +3,17 @@
 #pragma once
 #include <string>
 
-#include "../fsm.hpp"
+#include "../states.hpp"
 
 namespace iso15118::d20::state {
 
-struct SessionSetup : public FsmSimpleState {
-    using FsmSimpleState::FsmSimpleState;
+struct SessionSetup : public StateBase {
+    SessionSetup(Context& ctx) : StateBase(ctx, StateID::SessionSetup) {
+    }
 
     void enter() final;
 
-    HandleEventReturnType handle_event(AllocatorType&, FsmEvent) final;
+    Result feed(Event) final;
 
 private:
     std::string evse_id;

include/iso15118/d20/state/session_setup.hpp

@@ -2,16 +2,17 @@
 // Copyright 2023 Pionix GmbH and Contributors to EVerest
 #pragma once
 
-#include "../fsm.hpp"
+#include "../states.hpp"
 
 namespace iso15118::d20::state {
 
-struct SessionStop : public FsmSimpleState {
-    using FsmSimpleState::FsmSimpleState;
+struct SessionStop : public StateBase {
+    SessionStop(Context& ctx) : StateBase(ctx, StateID::SessionStop) {
+    }
 
     void enter() final;
 
-    HandleEventReturnType handle_event(AllocatorType&, FsmEvent) final;
+    Result feed(Event) final;
 };
 
 } // namespace iso15118::d20::state