From 2a62206b5eb6be723f72f64e0ea49cea7df5053e Mon Sep 17 00:00:00 2001
From: Michal Sojka <michal.sojka@cvut.cz>
Date: Thu, 14 Apr 2022 09:12:33 +0200
Subject: [PATCH] Add "simple" example of a nested FSM

As reported in #1, the motor example is too complex for newcomers.
Hopefully, this one is more understandable.
---
 examples/meson.build       |   1 +
 examples/simple-nested.cpp | 113 +++++++++++++++++++++++++++++++++++++
 2 files changed, 114 insertions(+)
 create mode 100644 examples/simple-nested.cpp

diff --git a/examples/meson.build b/examples/meson.build
index 5e29ebd..8d0dbcb 100644
--- a/examples/meson.build
+++ b/examples/meson.build
@@ -4,6 +4,7 @@ examples = [ 'simple',
 	     'events',
 	     'elevator',
 	     'elevator2',
+             'simple-nested',
 	     'motor',
 	     'states_out',
 	   ]
diff --git a/examples/simple-nested.cpp b/examples/simple-nested.cpp
new file mode 100644
index 0000000..aadc95a
--- /dev/null
+++ b/examples/simple-nested.cpp
@@ -0,0 +1,113 @@
+#include "msfsm.hpp"
+#include <iostream>
+
+using namespace msfsm;
+using namespace std;
+
+class SimpleNested : public msfsm::Fsm<SimpleNested>
+{
+public:
+    SimpleNested() { transition(outerState1); }
+
+    // Events
+    struct ToggleOuter {};
+    struct ToggleInner {};
+
+private:
+    friend Fsm;
+
+    // Base class for outer states
+    class State : public Fsm::State {
+        friend Fsm;
+        using Fsm::State::State;
+        virtual void event(ToggleOuter) = 0;
+        virtual void event(ToggleInner) = 0;
+    };
+
+    // This is both a state of SimpleNested FSM and a nested FSM with two inner states
+    class OuterState1 : public State, public Fsm<OuterState1> {
+        friend Fsm<SimpleNested>;
+        friend Fsm<OuterState1>;
+    public:
+        using SimpleNested::State::State;
+    private:
+        void entry() { cout << "OuterState1" << endl; Fsm<OuterState1>::transition(innerState11); }
+        void event(ToggleOuter) override { fsm.transition(fsm.outerState2); }
+        void event(ToggleInner e) override { handle(e); }
+        void exit() override { destroy(); } // destroy inner FSM
+
+        // Base class of inner states
+        class State : public Fsm<OuterState1>::State {
+            friend Fsm;
+            using Fsm::State::State;
+            virtual void event(ToggleInner e) = 0;
+        };
+
+        class InnerState11 : public State {
+            friend Fsm;
+            using State::State;
+
+            void entry() { cout << "InnerState11" << endl; };
+            void event(ToggleInner e) override { transition(fsm.innerState12); }
+        } innerState11 {this};
+
+        class InnerState12 : public State {
+            friend Fsm;
+            using State::State;
+            void entry() { cout << "InnerState12" << endl; }
+            void event(ToggleInner e) override { transition(fsm.innerState11); }
+        } innerState12{this};
+
+    } outerState1 {this};
+
+    class OuterState2 : public State, public Fsm<OuterState2> {
+        friend Fsm<SimpleNested>;
+        friend Fsm<OuterState2>;
+    public:
+        using SimpleNested::State::State;
+    private:
+        void entry() { cout << "OuterState2" << endl; Fsm<OuterState2>::transition(innerState22); }
+        void event(ToggleOuter) override { fsm.transition(fsm.outerState1); }
+        void event(ToggleInner e) override { this->handle(e); }
+        void exit() override { destroy(); } // destroy inner FSM
+
+        // Base class of inner states
+        class State : public Fsm<OuterState2>::State {
+            friend Fsm;
+            using Fsm::State::State;
+            virtual void event(ToggleInner e) = 0;
+        };
+
+        class InnerState21 : public State {
+            friend Fsm;
+            using State::State;
+            void entry() { cout << "InnerState21" << endl; }
+            void event(ToggleInner e) override { transition(fsm.innerState22); }
+        } innerState21 {this};
+
+        class InnerState22 : public State {
+            friend Fsm;
+            using State::State;
+            void entry() { cout << "InnerState22" << endl; }
+            void event(ToggleInner e) override { transition(fsm.innerState21); }
+        } innerState22{this};
+
+    } outerState2 {this};
+
+};
+
+int main(int argc, char *argv[])
+{
+    SimpleNested fsm;
+    fsm.handle(SimpleNested::ToggleInner());
+    fsm.handle(SimpleNested::ToggleInner());
+    fsm.handle(SimpleNested::ToggleInner());
+
+    fsm.handle(SimpleNested::ToggleOuter());
+
+    fsm.handle(SimpleNested::ToggleInner());
+    fsm.handle(SimpleNested::ToggleInner());
+
+    fsm.handle(SimpleNested::ToggleOuter());
+    return 0;
+}