FSM.md

@@ -243,6 +243,10 @@ This can be done via delayed events.
 #include "events/HSM.h"
 #include "events/EventBroker.h"
 
+#define sEventBroker Singleton<EventBroker>::getInstance()
+
+namespace Boardcore {
+
 enum ExampleEvents : uint8_t
 {
     EV_1 = EV_FIRST_CUSTOM,
@@ -259,17 +263,17 @@ class MyFSM : public FSM<MyFSM>
 public:
   MyFSM() : FSM(&MyFSM::state_S1)
   {
-      sEventBroker->subscribe(this, TOPIC_1);
+      sEventBroker.subscribe(this, TOPIC_1);
   }
 
   ~MyFSM()
   {
-      sEventBroker->unsubscribe(this);
+      sEventBroker.unsubscribe(this);
   }
 
   void state_S1(const Event& ev)
   {
-    switch (ev.sig)
+    switch (ev)
     {
         case EV_ENTRY:
         case EV_EXIT:
@@ -282,7 +286,7 @@ public:
             const unsigned int TIMEOUT = 1000; // in milliseconds
             // post delayed event and store the event id
             delayed_event_id =
-                sEventBroker->postDelayed<TIMEOUT>({EV_2}, TOPIC_1);
+                sEventBroker.postDelayed<TIMEOUT>({EV_2}, TOPIC_1);
             break;
         }
         case EV_2:
@@ -297,18 +301,18 @@ public:
         }
     }
     
-    last_event = ev.sig;
+    last_event = ev;
   }
   
   void state_S2(const Event& ev)
   {
-    switch (ev.sig)
+    switch (ev)
     {
         case EV_ENTRY:
         {
             TRACE("S2 : EV_ENTRY (remove delayed EV_2) \n");
             // if it's not needed, remove the delayed event
-            sEventBroker->removeDelayed(delayed_event_id);
+            sEventBroker.removeDelayed(delayed_event_id);
             break;
         }
         case EV_EXIT:
@@ -321,25 +325,29 @@ public:
         }
     }
 
-    last_event = ev.sig;
+    last_event = ev;
   }
 
 private:
     uint8_t delayed_event_id = 0;
     uint8_t last_event = 0;
 };
+
+} //namespace Boardcore
 ```
 #### test-fsm.cpp
 ```cpp
-#include <Common.h>
-#include "MyFSM.h"
+#include <miosix.h>
+#include "events/MyFSM.h"
+
+#define broker Singleton<EventBroker>::getInstance()
 
 using namespace miosix;
+using namespace Boardcore;
 
 int main()
 {
-    EventBroker* broker = EventBroker::getInstance(); // singleton object
-    broker->start();
+    broker.start();
 
     MyFSM fsm;
     
@@ -348,14 +356,14 @@ int main()
         // 1. trigger post of delayed event (timer)
         // 2. when the timer elapsed EV_2 is posted
         //    and the FSM moves to state S2
-        broker->post(Event{EV_1}, TOPIC_1);
+        broker.post(Event{EV_1}, TOPIC_1);
 
         // wait for the delayed event to be posted 
         // before stopping the active objects
         Thread::sleep(2000);
 
         fsm.stop();
-        broker->stop();
+        broker.stop();
     }
     else {
         TRACE("Failed to start MyFSM\n");
@@ -363,10 +371,11 @@ int main()
 
     return 0;
 }
+
 ```
 #### Output
 ```
-0.12> S1 : EV_1 (start timer, post delayed EV_2) 
-1.15> S1 : EV_2 (timeout) ---> S2 
-1.17> S2 : EV_ENTRY (remove delayed EV_2)
+0.04> S1 : EV_1 (start timer, post delayed EV_2)
+1.04> S1 : EV_2 (timeout) ---> S2
+1.05> S2 : EV_ENTRY (remove delayed EV_2)
 ```
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