FSM.md

@@ -71,6 +71,10 @@ As always when dealing with events and topics, after we include the required dep
 #include "events/FSM.h"
 #include "events/EventBroker.h"
 
+#define sEventBroker Singleton<EventBroker>::getInstance()
+
+
+namespace Boardcore {
 enum ExampleEvents : uint8_t
 {
     EV_1 = EV_FIRST_CUSTOM,
@@ -81,11 +85,7 @@ enum ExampleTopics : uint8_t
 {
     TOPIC_1
 };
-```
-
-Then we can define the MyFSM class and its states, which are identified by the two methods `state_S1` and `state_S2`.
 
-```cpp
 class MyFSM : public FSM<MyFSM>
 {
 public:
@@ -94,18 +94,18 @@ public:
           last_event(0)
     {
         // make this object to subscribe to TOPIC_1
-        sEventBroker->subscribe(this, TOPIC_1);
+        sEventBroker.subscribe(this, TOPIC_1);
     }
 
     ~MyFSM()
     {
         // unsubscribe from all the topics this object was subscribed to
-        sEventBroker->unsubscribe(this);
+        sEventBroker.unsubscribe(this);
     }
 
     void state_S1(const Event& ev)
     {
-        switch (ev.sig)
+        switch (ev)
         {
             case EV_ENTRY:
             case EV_EXIT:
@@ -131,12 +131,12 @@ public:
             }    
         }
 
-        last_event = ev.sig;
+        last_event = ev;
     }
 
     void state_S2(const Event& ev)
     {
-        switch (ev.sig)
+        switch (ev)
         {
             case EV_ENTRY:
             case EV_EXIT:
@@ -162,52 +162,58 @@ public:
             }    
         }
 
-        last_event = ev.sig;
+        last_event = ev;
     }
 
 private:
     uint8_t last_event;
 };
+
+} //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();
+    //EventBroker* broker = EventBroker::getInstance(); // singleton object
+    broker.start();
 
     MyFSM fsm;
     
     if (fsm.start()) 
     {
         // trigger self-loop on state S1
-        broker->post(Event{EV_1}, TOPIC_1);
+        broker.post(Event{EV_1}, TOPIC_1);
         Thread::sleep(100);
 
         // trigger transition to state S2
-        broker->post(Event{EV_2}, TOPIC_1);
+        broker.post(Event{EV_2}, TOPIC_1);
         Thread::sleep(100);
 
         // trigger self-loop on state S2
-        broker->post(Event{EV_2}, TOPIC_1);
+        broker.post(Event{EV_2}, TOPIC_1);
         Thread::sleep(100);
 
         // trigger transition to state S1 with a delayed event
         const unsigned int DELAY_MS = 1000;
-        broker->postDelayed<DELAY_MS>(Event{EV_1}, TOPIC_1);
+        broker.postDelayed<DELAY_MS>(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");
@@ -220,10 +226,10 @@ int main()
 #### Output
 
 ```
-0.12> S1: EV_1 
-0.22> S1: EV_2 ---> S2 
-0.32> S2: EV_2 
-1.42> S2: EV_1 ---> S1
+0.04> S1: EV_1
+0.14> S1: EV_2 ---> S2
+0.24> S2: EV_2
+1.34> S2: EV_1 ---> S1
 ```
 
 ## Example 2 - Timeouts