# fsm_pkg

**Repository Path**: remidako/fsm_pkg

## Basic Information

- **Project Name**: fsm_pkg
- **Description**: A ROS package containing a fsm.
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-06-30
- **Last Updated**: 2024-07-01

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# fsm_pkg

#### Description
A ROS package containing a fsm which is a name for finite-state machine.


#### Getting Started


Firstly, create a workspace, clone the repo, and build the workspace.

In order to do that, please run:


```
mkdir -p ws/src && cd ws/src
git clone https://gitee.com/remidako/ros-pid_pkg.git
cd ../..
catkin_make
source devel/setup.bash 
```


#### Usage

1.Define fsm's state and event.


```
typedef enum{

    EVENT_INIT//a certain event
    //and so on

}EVENT_ID;

typedef enum{

    STATE_INIT//a certain state
    //and so on

}STATE;
```

2.Define a fsm table.


```
FsmTable ssi_table[]=
{
    {STATE_INIT , EVENT_INIT , NEXT_STATE , act_Init},
    //and so on
}
```

3.Define the acting function.

For example, define the "act_Init" function in the step 2.

4.Define a fsm_init function and call the FSM_Regist function in it.
Then, Define a fsm_run function and call the FSM_EventHandle function in it.

5.Call the fsm_init for fsm initiation and fsm_run to run the finite-state machine.