1. FSM Tutorial

2. FSM is a finite state machine editor that generate the structure in ‘C language’. If the functionality can be represented using state diagrams, this tool generate the structure automatically. The code added to the states and transitions is copied into the generated code. Permit to have a graphic documentation of the software synchronised with the code. Its easy to show, and understand, a functionality using a state diagram that a C code.

3. FSM Tutorial-State properties The states have these fields: Index: used to sort the states in the in the final C-code. Name: name used into the C-code to refer this state. Entry: Code executed one time when this state gets active. During: Code executed always when this state is active. Else: Code executed, if all transitions are false, when this state is active. Exit: Code executed one time when this state leaves.

4. FSM Tutorial-State properties The states have these options: State confirmation: Activates a function that return TRUE (8bit) if this state is active: FsmName_IsIn_StateName() (Used in hierarchical FSM’s) State jump: Activates a function that force that change the state active to this: FsmName_Goto_StateName(); (Designed for hierarchical FSM’s, please avoid other use) Node mode: Initial: is the state active when the fist time. Final: mark this state like final. Standard: return this state to the default.

5. FSM Tutorial-Transition properties Transitions have these fields&options: Priority: is the priority used to analyse the transitions, if a more priority condition (lower number) is true the rest of conditions won’t be analysed. Transition condition: test condition that had to be true to modify the state active. If it’s empty it use ‘1’. Transition action: Code executed one when the condition is true. This Self-transition cause exit- entry: let us to decide if a self- transition had to cause these actions. (only valid for selfTrans.) Last transition: Ensure that even if we add new transitions this will be the last one.

6. FSM Tutorial-General properties The FSM has these fields(1/2): Name: Is the same name of the FSM file that will be used for the C-modules (.c &.h) and also for the task function. Parameters: parameter list that will implement the task function. If it’s empty it use void. Headers: general comment to be included on the top of the module and on top of the task FSM function. Initialisation: Code area to put includes, prototypes and variable declarations.

7. FSM Tutorial-General properties The FSM has these fields(2/2): PreProcess: Code executed always before call the state dispatcher. Can include local variable declarations. DefaultCase: Code executed if the dispatcher index don’t match wit a valid state. This can happens only if we manipulate this index. Only is used whit generation models based on “switch cases”. ProstProcess: Code executed always after call the state dispatcher. Extra Code: Code area to implement optionally C-functions.

8. FSM Tutorial-General properties The FSM has these options(1/4): History: determine if this diagram had to be a historic behaviour or not. Applicable only to hierarchical FSM’s where a child diagram called from a state optionally can be initialised to its initial state when the state of the parent FSM changes. Restart Function: Activates a function that force that change the state active to the initial: FsmName_Init(); (This was used for hierarchical FSM’s but today we can use the History option, please avoid other use)

9. FSM Tutorial-General properties The FSM has these options(2/4): Final node confirmation: State confirmation: Activate a function that return TRUE (8bit) if one final state is active: FsmName_End() (By now this is the only use of final states) Debug Info: implements 3 interfaces; FSM_NAME(), FSM_STATE_NAME() & FSM_TRANS_NUMBER() that can be used for debugging. The compilation had to define FSM_DEBUG to enable these interfaces: #if defined(FSM_DEBUG) #define FSM_STATE_NAME() debug_stateNames[ind_TaskX] #define FSM_TRANS_NUMBER() debug_transNumber #define FSM_NAME() "TaskX" #else #define FSM_STATE_NAME() #define FSM_TRANS_NUMBER() #define FSM_NAME() #endif

10. FSM Tutorial-General properties The FSM has these options(3/4): Ansi-C comments: The generator convert all lines that have // ~~~ comment to /* ~~~ */. Print Text Boxes: The text boxes (comments) are also printed like C- comments in the bottom of the ‘.c file’. (This feature must be enhanced in future versions) Use bitfields: Applicable only to hierarchical FSM’s compiled with the format hierarchical switch case. This format join all fsm’s (parent & child-diagrams) in a single file, then all entry flags variables can be packed in a bit structure.

11. FSM Tutorial-General properties The FSM has these options(4/4): Implement interfaces like macros: Applicable only to hierarchical FSM’s compiled with the format hierarchical switch case. This format join all fsm’s (parent & child-diagrams) in a single file. Here all interfaces, that originally were developed to improve the hierarchical navigability, can be declared like macros. This encapsulate more the code and optimise the execution. Color buttons: Let us to modify the state colors. Note you can create a template with your favourite colors.

12. FSM Tutorial-Menus & buttons Buttons: New, Open, Save & Generate C-Code (using the predefined method). Print & Print Preview. Cut, Copy, Paste: (Copy & paste work only with remark boxes). Find Text: Find and optionally replace text. Undo last action & Redo last undo. Reduce Font, Change Font, Enlarge Font. Lock & Unlock diagram, InsertMode: Change the editor between insert mode and select mode. AutoSize: Set if the state size can be adjusted automatically or manually. Properties edit: Opens the properties menu (equivalent to do a double click in the diagram) Insert Remark: Inserts a new remark box. Open Parent diagram & Open child diagram (hierarchical navigation)

13. FSM Tutorial-Menus & buttons Menu - File(1/2): New:opens a new diagram. New Childopens a new diagram into a subdirectory. (this directory is named like the parent). Openopens a existent diagram (only fsm format). Closecloses the diagram. Savesaves the diagram. Save As…saves the diagram with a new name. Save Allsaves all open diagrams. Save As enhanced metafile…saves the diagram like a metafile. Save As HTML File…saves the diagram like HTML. Generate List… saves the diagram info in a list.

14. FSM Tutorial-Menus & buttons Menu - File(2/2): Generate C-code: - Pointer Array: Generates the code using a function pointer array dispatcher. - Direct Pointers: Generates the code using a function pointer dispatcher. (Probably this pointer methods won’t be updated in future versions due that have more disadvantages that the switch case methods) - Switch Case: Generates the code using a switch case dispatcher. - Hierarchical Switch Case: Generates the code of a diagram and all child diagrams into a single module, using switch case dispatchers. (We tend to use this format because is more polyvalent) Printer Setup, Print Preview & Print. List of recent files. Exit

15. FSM Tutorial-Menus & buttons Menu - Edit(1/2): FSM Properties: Opens the properties menu (equivalent to do a double click in the diagram) Insert Remark: Inserts a new remark box. Font - Change:Menu to edit font parameters - Fixed Pitch:Let us to select fixed or non fixed pitch fonts. Find: Find and optionally replace text. Undo: Undo last action. Redo: Redo last undo. Cut, Copy & Paste: (Copy & paste work only with remark boxes). Delete. Export as Enhanced Metafile: Puts the selected items into clipboard.

16. FSM Tutorial-Menus & buttons Menu - Edit(2/2): Select All:Select all items (states, transitions & Remark boxes) Select Mode:Change the editor between insert mode and select mode. Autosize Nodes: Set if the state size can be adjusted automatically. Locked: Lock & Unlock diagram.

17. FSM Tutorial-Menus & buttons Menu - View: Toolbar: Hide or show the toolbar. Status Bar : Hide or show the status bar. Hide Comments ‘//’ : Hide all comment lines that star with //. Grid - Show grid - Snap to grid - Grid Size (60, 120, 180, 240, 300, 360). Zoom: 150%, 100% (&Normal), 75%, 50%, 25%, Fit in Window Zoom Window

18. FSM Tutorial-Menus & buttons Menu - Window: Window Cascade Tile Horizontally Tile Vertically Reorganise Menu - ? : Help About

19. FSM Tutorial-Basic navigation Adding a state: In insert mode press the left mouse key move the mouse one cm and release. Edit a state properties: Double click the left mouse key over the state. (Sometimes it needs first to select the state with a single click). Move states: Select, Drag & drop.

20. FSM Tutorial-Basic navigation Adding a transition: Select the source state with a click (left mouse key). Drag the central connection point (small black square) and drop over the destination state. Edit a transition properties: Double click the left mouse key over the transition text. (Sometimes it needs first to select the transition with a single click). Move transition text: Select, Drag & drop.

21. FSM Tutorial-Basic navigation Modifying transition lines: Its possible to convert in curve lines with the mouse. A double click over a line convert it in a straight line. Change the source state for a transition: Select the new source state with a click. Drag the central connection point and drop over the transition. Change the destination for a transition: Select the transition with a click. Drag the central connection point (if it’s empty sometimes is difficult) and drop over the destination state.

22. FSM Tutorial- Command Line options This command are focused in the integration of FSM into a make file. These commands override the default options. path\FSM.exe file.fsm [/?][/C[S|P|A]][/H[L]][/W][/O ][/E ][/D+|-][/AC+|-] /C generates default C-code/CS generates "switch case" code /CP generates "direct pointer" code/CA generates "pointer array" code /CH generates "hierachical switch case" code /LS generates list /H generates HTML/HL generates HTML with links in the same path /W generates WMF /O output path /E error file output path /D+ with debug info/D- without debug info /AC+ ANSI comments: "/* */”/AC- not ANSI comments: "// " /PT+ print the text boxes into the code/PT- don't print the text boxes into the code /BF- don't use bitfields/BF+ use bitfields to save RAM /? Help Return: A file ("FSM_ERR.LOG"), in /Epath, with the error list, if FSM couldn't generate code.

23. FSM Tutorial- Hierarchical files Basic concepts about Hierarchical implementations : Are useful to divide a problem into small sub-problems. – Example of a three level hierarchy: The first level decides if the functionality is “disabled”, “running” or “sleep”. The second level implement the “running” main lines: “On”, “Off”, “waiting inputs”, etc. The third level does the basic functions. E.g: if “On” handle a intermittent output, a child-FSM of “On” can control the flashing of the output timings. Are built nesting one or more child-FSM into other parent-FSM. The child-FSM is a function called into a “during” or “else” action of a parent-FSM. A child-FSM file should be found into a subdirectory called like their parent. This enables the editor automatic hierarchical capabilities. –TaskX.fsm –TaskX\ProcessFuncX.fsm –now “ProcessFuncX.fsm” will be a child of “TaskX.fsm” if ProcessFuncX() is called from a ”during” or “else” action of TaskX().

24. FSM Tutorial- Hierarchical files History concept: A child-FSM can have a historical behaviour if only is started to its initial state on a program reset. A child-FSM can have a standard behaviour if is initialized (the state index points to the initial state again) when the parent-FSM state changes. A remark appears into the initial state to distinguish the historical FSMs.

25. FSM Tutorial- Hierarchical files Hierarchical transition examples: The implementation of a transition is easy if the source and destination are in the same level. This means in the same diagram. –This hierarchy: –Is Implemented in two FSMs called Parent_FSM() & Child_FSM(): note: the child is standard (not historical) then on every SwitchOff()+SwitchOn() the child will start in LoadOn state again.

26. FSM Tutorial- Hierarchical files Hierarchical transition examples: If we have a transition from a parent level state to a child level state. We should use the interface function called ”Child_FSM_GoTo_LoadOff();” to implement the same behaviour. –This hierarchy: –Is Implemented in two FSMs called Parent_FSM() & Child_FSM():

27. FSM Tutorial- Hierarchical files Hierarchical transition examples: If we have a transition from a child level state to a parent level state. We should use the interface function called ”Child_FSM_IsIn_LoadOff()” to implement the same behaviour. –This hierarchy: –Is Implemented in two FSMs called Parent_FSM() & Child_FSM():

28. FSM Tutorial- Hierarchical files Execution sequence on every call to a two level diagram if the child-FSM is called into a “else action”: Parent-state “entry action” (if it wasn’t the active state on last call). Parent-state “during action”. Parent-state “transition conditions” analysis in sequence. –If a transition condition is valid: Parent-state “exit action”. Parent-state “transition action” (of the accepted transition). END Parent-state “else action” (here is the call to the child-Fsm). –Child-state “entry action” (if it wasn’t the active child-state on last call). –Child-state “during action”. –Child-state “transition conditions” analysis in sequence. If a transition condition is valid: –Child-state “exit action”. –Child-state “transition action” (of the accepted transition). –END

29. FSM Tutorial- Hierarchical files Execution sequence on every call to a two level diagram if the child-FSM is called into a “during action”: Parent-state “entry action” (if it wasn’t the active state on last call). Parent-state “during action” (here is the call to the child-Fsm). –Child-state “entry action” (if it wasn’t the active child-state on last call). –Child-state “during action”. –Child-state “transition conditions” analysis in sequence. If a transition condition is valid: –Child-state “exit action”. –Child-state “transition action” (of the accepted transition). –END Parent-state “transition conditions” analysis in sequence. –If a transition condition is valid: Parent-state “exit action”. Parent-state “transition action” (of the accepted transition). END Parent-state “else action”.