igor-krechetov / hsmcpp Goto Github PK

Hi @igor-krechetov,

I am trying to build hsmcpp library for Renesas Cortex M33 MCU. As a start I tried building the freertos posix port example/08_freertos. The build fails at linking stage. Its failing to link following libraries.

• freertos_kernel
• freertos_kernel_port

Where can i find these libraries? They are not available in the FreeRTOS souce directory as well. I have attached the build log. Please have a look.
build-log.txt

Regards,
Harsha

Hello, I'm trying to use this library in platformio with my ESP32 WROOM.

I tried to create a minimum repro. Here is my platform.ini:

[env:sparkfun_thing_bluetooth]
platform = espressif32
board = sparkfun_esp32s2_thing_plus_c
framework = arduino
lib_deps = 
	igor-krechetov/hsmcpp@^1.0.1

custom_hsm_files=./blink.scxml:BlinkHsm:Base
custom_hsm_gendir=./src

Other than the platform and board, I believe this is identical to the example.

It generated the BlinkHsmBase cpp and header files (very cool!) but fails to compile:

Compiling .pio\build\sparkfun_thing_bluetooth\liba67\hsmcpp\HsmEventDispatcherArduino.cpp.o
Compiling .pio\build\sparkfun_thing_bluetooth\liba67\hsmcpp\HsmEventDispatcherBase.cpp.o
In file included from .pio/libdeps/sparkfun_thing_bluetooth/hsmcpp/include/hsmcpp/HsmEventDispatcherBase.hpp:13,
                 from .pio/libdeps/sparkfun_thing_bluetooth/hsmcpp/include/hsmcpp/HsmEventDispatcherArduino.hpp:10,
                 from .pio/libdeps/sparkfun_thing_bluetooth/hsmcpp/include/hsmcpp.hpp:8,
                 from src/main.cpp:5:
.pio/libdeps/sparkfun_thing_bluetooth/hsmcpp/include/hsmcpp/os/Mutex.hpp:9:11: fatal error: freertos/Mutex.hpp: No such file or directory
  #include "freertos/Mutex.hpp"
           ^~~~~~~~~~~~~~~~~~~~
compilation terminated.
*** [.pio\build\sparkfun_thing_bluetooth\src\main.cpp.o] Error 1

I tried digging into this error and found that INC_FREERTOS_H is being defined here:
~.platformio\packages\framework-arduinoespressif32\tools\sdk\esp32\include\freertos\include\freertos\FreeRTOS.h:

Apparentl this board is using freeRTOS under the hood. But like the error message suggests, I'm not able to find any associated file freertos/Mutex.hpp.

Any ideas what I should try? Thanks!

So far this library has been awesome, I'd really like to get this one feature working but for some reason transitioning back to a history state is mangling some of my parallel state machines.

I have four parallel state machines running under the "Main" state machine:

My button state machine is pretty straightforward and looks something like this:

When the button is released, it will transition my "Workout" state machine from "Workout__Active__Running" to "Workout__Active__Paused" and vice versa. "Workout__Active__Running" has some nested states that I'd like to restore when coming back from "Workout__Active__Paused":

Here's my workoutActive.scxml with the irrelevant bits removed (note that I'm using the xi:include feature so these states all get preprended with "Workout__Active__" in my generated state machine):

<scxml initial="SetUp" version="1.0" xmlns="http://www.w3.org/2005/07/scxml"    >    
    <state id="Running" initial="Running_Squeezing">        
        <transition event="HW_BUTTON_RELEASED" target="Paused" type="external" />
        <state id="Running_Squeezing" >
            ...
        </state>
        <state id="Running_Resting" >
            ...
        </state>    
        <history type="deep" id="RunningHistory" />    
    </state>
    <state id="Paused">
        <transition event="HW_BUTTON_RELEASED" target="RunningHistory" type="external" />
        <invoke srcexpr="on0301_Paused" />
    </state>
</scxml>

Something gets screwed up when trying to transition to "RunningHistory" from the "Paused" state. I've printed out the active states during the transition:

1) Main, Button, Workout, Led, Haptics, Haptics__Off, Workout__Active, Workout__Active__Paused, Led__Blinking, Led__Blinking_Off, Button__Pressed

---  TRANSITION TO HISTORY (event: HW_BUTTON_RELEASED, state: Workout__Active__RunningHistory, previously active: Workout__Active__Running_Squeezing) ---

2) Main, Button, Workout, Led, Haptics, Workout__Active, Led__Blinking, Workout__Active__Running, 
3) Main, Workout, Led, Workout__Active, Workout__Active__Running, Workout__Active__Running_Squeezing,

1. Is right before the transition back to the history, and all seems good.
2. It re-enters the "Workout__Active__Running" state, but for some reason "Haptics__Off", "Led__Blinking_Off", and "Button_Released" (the new button state) get removed.
3. It re-enters the "Workout__Active__Running_Squeezing" but now the "Button", "Haptics" and "Led_Blinking" states are gone

So it seems like it is popping off the leaf states on the parallel state machines for each history state it restores.

My expected final state:

Main, Button, Workout, Led, Haptics, Haptics__Off, Led__Blinking, Led__Blinking_Off, Button__Pressed, Workout__Active, Workout__Active__Running, Workout__Active__Running_Squeezing, 

Hopefully this makes sense. Let me know if it doesn't and I'll try to provide more information.

I tried turning debug logging on with HSM_LOGGING_MODE_STRICT_VERBOSE and it failed to find serialPrintf (using arduino).

Should this line

be this:

#if defined(PLATFORM_ARDUINO) && !defined(HSM_DISABLE_TRACES)

Hello,

I am trying to implement your HSM inside a STM32G4, ARM MCU.
However i need to write a scheduler as i can't use the std::thread posix stuff on a Cortex-M4 CPU.

FreeRTOS can be used as OS to maintain asynchrony with the lib cpp_freertos wrote by Mickael Becker. This keep things very similar to the std::thread POSIX environnement. The major difference is the way threads are created and launched as cpp_freertos use a java like pattern with subclass and virtual run() method for threads.

I have (not so) sucessfully ported the HsmEventDispatcherBase.hpp/cpp files to HsmEventDispatcherBaseFREERTOS.hpp/cpp, also HsmEventDispatcherSTD.hpp/cpp files to HsmEventDispatcherFREERTOS.hpp/cpp with the cpp_freertos threading API.

I am now stuck with the hsm.hpp file here :

template <typename HsmStateEnum, typename HsmEventEnum>
void HierarchicalStateMachine<HsmStateEnum, HsmEventEnum>::PendingEventInfo::wait(const int timeoutMs)
{
    if (isSync())
    {
        std::unique_lock<std::mutex> lck(*cvLock);

        if (timeoutMs > 0)
        {
            syncProcessed->wait_for(lck, std::chrono::milliseconds(timeoutMs),
                                    [=](){return (HsmEventStatus_t::PENDING != *transitionStatus);});
        }
        else
        {
            syncProcessed->wait(lck, [=](){return (HsmEventStatus_t::PENDING != *transitionStatus);});
        }
    }

With cpp_freertos API that could become (i don't need the timeout) :

template <typename HsmStateEnum, typename HsmEventEnum>
void HierarchicalStateMachine<HsmStateEnum, HsmEventEnum>::PendingEventInfo::wait()
{
    if (isSync())
    {
        cpp_freertos::LockGuard lck(cvLock);
        Wait(syncProcessed, cvLock);
    }
}

You call syncProcessed->wait and that's a std::condition_variable method usable outside a thread (on a bare metal POSIX the main loop is also a thread indeed, not on a MCU).
However, my cpp_freertos::Thread::Wait method need to be called inside the scope of a thread.
So here i'm stuck, i don't know how i can fix it.

Maybe i can subclass HierarchicalStateMachine to run it inside a thread ?

Looking for help on this.

Hello, Igor Krechetov.

Would you like to add a tag to this project??
I will be glad if you do.

Thank you.