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FSM

C API for dynamic state machine.
This library allow you to create state machines easly, quickly and in an efficient way.

You can :

  • Pass arguments to events to do great things.
  • Create steps with a generic function and some custom arguments.
  • Create instant transitions to weakly seperate two steps.
  • Run multiple state machines because they all are in a separated thread.

Concepts

  • A step is an object that define a function to call and transitions to others steps.
  • A transition represent a link between two steps.
  • An event represent something new and can trigger transition from a step to another.
  • A pointer represent the current step of the state machine.

Quick exemple

#include "fsm.h"

int main(){
    // Creating pointer
    struct fsm_pointer *fsm = create_pointer();
    // Creating steps
    struct fsm_step *step_0 = create_step(fsm_null_callback, NULL);
    struct fsm_step *step_1 = create_step(fsm_null_callback, NULL);
    // Connecting steps together
    connect_step(step_0, step_1, "GO");
    
    // Starting the fsm
    start_pointer(fsm, step_0);
    
    // Signal a new event
    signal_fsm_pointer_of_event(fsm, generate_event("GO", NULL));
    
    join_pointer(fsm);
    destroy_pointer(fsm);
    destroy_all_steps();
    
    return fsm->current_step == step_1;
}

Documentation

You can find the documentation here

Do not hesitate to read, run and explore the test/test_fsm.c file which should be really useful if you want to understand quickly the API.

Requirement

For the library :

  • pthread for thread mechanisms
  • C standard library

For the unittest :

  • cmocka for unittest
  • valgrind for memory leaks checking
  • (optional) heaptrack for memory usage tracking

For the build process :

  • cmake
  • make
  • gcc

For the documentation generation :

  • doxygen

Unittest, doc and build procedure

In order to build the entire project

git clone https://github.com/takuyozora/fsm.git
cd fsm
mkdir build && cd build
cmake .. && make

Test it !

ctest -V

RTFM

To generate documentation :

cd fsm/doc
./generate_doc.sh

You can access it in fsm/doc/html/index.html

Benchmark

Note that theses benchmark don't test all aspects of the library

Intel(R) Core(TM) i7-4700MQ CPU @ 2.40GHz -- DDR3 Memory at 1600MHz
2: [INFO] (test_fsm.c:195) Benchmark for 100000 step transition : 0.005185 s
2: [INFO] (test_fsm.c:196) Benchmark for 1 step transition : ~51.850000 ns
2: [       OK ] benchmark_fsm_direct_transitions
2: [ RUN      ] benchmark_fsm_ping_pong_transitions
2: [INFO] (test_fsm.c:220) Benchmark for 100000 step transition : 0.116433 s
2: [INFO] (test_fsm.c:221) Benchmark for 1 step transition : ~1164.330000 ns
RaspberyPi B2
2: [INFO] (test_fsm.c:195) Benchmark for 100000 step transition : 0.069285 s
2: [INFO] (test_fsm.c:196) Benchmark for 1 step transition : ~692.850000 ns
2: [       OK ] benchmark_fsm_direct_transitions
2: [ RUN      ] benchmark_fsm_ping_pong_transitions
2: [INFO] (test_fsm.c:220) Benchmark for 100000 step transition : 1.027751 s
2: [INFO] (test_fsm.c:221) Benchmark for 1 step transition : ~10277.510000 ns

##Licence

Code under GNU GPL v2 Licence.
If you want a different licence you can contact me to explain your reasons.