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    • Updated blank line and italic style authored by Luca Conterio's avatar Luca Conterio
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    FSM.md
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    ......@@ -2,7 +2,7 @@ A **finite state machine** is a model that can simulate some logic or computer p
    This abstraction is very useful when designing an algorithm since it can be translated to code almost for free.
    ## Implementation
    In *skyward-boardcore* implementation, the **FSM** class extends the [EventHandler](EventHandler) class. This means that the main communication method use by FSMs are events: state machines can receive events, handle them and react according to the received event. If an [EventBroker](EventBroker) is used, the FSM can subscribe only to the required topics, in order to "filter" the events it will receive.
    In _skyward-boardcore_ implementation, the **FSM** class extends the [EventHandler](EventHandler) class. This means that the main communication method use by FSMs are events: state machines can receive events, handle them and react according to the received event. If an [EventBroker](EventBroker) is used, the FSM can subscribe only to the required topics, in order to "filter" the events it will receive.
    The machine states are defined by the class methods, for example:
    ```cpp
    ......@@ -25,7 +25,7 @@ void state_myState(const Event& ev)
    ```
    In the constructor we can specify the initial one.
    The FSM maintains the current state by means of a pointer to one of the class methods.
    Then, whenever a new event is received, *handleEvent()* dereferences the current state pointer, calling the relative method (and passing the event as parameter):
    Then, whenever a new event is received, _handleEvent()_ dereferences the current state pointer, calling the relative method (and passing the event as parameter):
    ```cpp
    void handleEvent(const Event& e) override
    {
    ......@@ -49,9 +49,9 @@ Available public methods are:
    #### Standard Events
    `EV_ENTRY` and `EV_EXIT` are automatically posted when entering or exiting a state.
    In fact when the *transition()* method is called, the FSM itself handles `EV_EXIT` according to the current state, performs the state transition and then handles `EV_ENTRY` according to the new state.
    By handling these two events, actions to be performed on entry/exit from a state can be specified.
    In fact when the _transition()_ method is called, the FSM itself handles `EV_EXIT` according to the current state, performs the state transition and then handles `EV_ENTRY` according to the new state.
    By handling these two events, actions to be performed on entry/exit from a state can be specified.
    You can find the complete implementation of the FSM class in `src/shared/events/FSM.h`.
    ## Example 1
    ......@@ -59,8 +59,8 @@ This example implements the following very simple finite state machine behavior:
    ![FSM](images/fsm/fsm.png)
    No action is specified for the involved events (`EV_ENTRY`, `EV_EXIT`, `EV_1`, `EV_2`). They simply trigger the transitions.
    No action is specified for the involved events (`EV_ENTRY`, `EV_EXIT`, `EV_1`, `EV_2`). They simply trigger the transitions.
    [Here](https://git.skywarder.eu/scs/skyward-boardcore/-/tree/master/src/tests/catch/examples) and [here](https://git.skywarder.eu/r2a/skyward-boardcore/tree/master/src/entrypoints/examples) you can find a more advanced example which also use the [catch testing framework](Testing) to test the implemented FSM.
    #### MyFSM.h
    ......@@ -170,7 +170,6 @@ private:
    };
    ```
    #### test-fsm.cpp
    ```cpp
    #include <Common.h>
    ......