84 lines
1.7 KiB
C++
84 lines
1.7 KiB
C++
#include "Task.h"
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#include "TimeSystem.h"
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#include "TaskFSM.h"
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// User-defined GetGlobalTime() is required to link Task.h
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NAMESPACE_SQUID_BEGIN
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tTaskTime GetGlobalTime()
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{
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return (tTaskTime)TimeSystem::GetTime();
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}
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NAMESPACE_SQUID_END
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Task<> IdleTask()
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{
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TASK_NAME(__FUNCTION__);
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printf("Idle task\n");
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co_await WaitForever();
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}
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Task<> PeriodicTask(float in_duration)
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{
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TASK_NAME(__FUNCTION__);
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printf("Periodic task\n");
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co_await WaitSeconds(in_duration);
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}
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Task<> TestFsmTask()
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{
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TASK_NAME(__FUNCTION__);
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TaskFSM fsm;
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auto LambdaStateTask = [](float in_duration) -> Task<>
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{
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TASK_NAME(__FUNCTION__);
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printf("Lambda state!\n");
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auto stopCtx = co_await GetStopContext();
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co_await WaitSeconds(in_duration).CancelIf([&] { return stopCtx.IsStopRequested(); });
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};
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auto idleState = fsm.State("Idle", IdleTask);
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auto periodicState = fsm.State("Periodic", &PeriodicTask);
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auto lambdaState = fsm.State("Lambda", LambdaStateTask);
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auto endState = fsm.State("End");
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fsm.EntryLinks({
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idleState.Link(),
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});
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fsm.StateLinks(idleState, {
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periodicState.Link([]() -> std::optional<float> { return 1.0f; }),
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endState.OnCompleteLink(),
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});
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fsm.StateLinks(periodicState, {
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lambdaState.Link([]() -> std::optional<float> { return 2.0f; }),
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});
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fsm.StateLinks(lambdaState, {
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idleState.OnCompleteLink(),
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});
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auto fsmTask = fsm.Run();
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fsmTask.RequestStop();
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co_await std::move(fsmTask);
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}
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void TestTaskFSM()
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{
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auto task = TestFsmTask();
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while(task.Resume() != eTaskStatus::Done)
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{
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TimeSystem::UpdateTime(); // Update time before each frame (logically, all tasks should resume "at the same time")
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}
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}
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// Simple main function
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int main(int argc, char** argv)
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{
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TimeSystem::Create();
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TestTaskFSM();
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return 0;
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}
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