Distributed FSM Examples

Features

• Type Save FSM (type state pattern)
• FSM run in their own thread
• Communication via bidirectional message queues
• State transition and message handling boiler plate managed by fsm! macro

One such FSM is a simplistic lathe:

stateDiagram-v2
    state "Off" as off
    state "Spindle Spinning" as spinning
    state "Feed" as feeding
    state "Emergency Stop" as notaus

    [*] --> off
    off --> spinning
    spinning --> feeding
    spinning --> off
    feeding --> spinning
    off --> notaus
    spinning --> notaus
    feeding --> notaus
    notaus --> off : Acknowledge

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Another FSM is a Mill with different state transitions but based on the same mechanics

stateDiagram-v2
    state "Off" as off
    state "Spinning" as spinning
    state "Moving" as moving

    [*] --> off
    off --> spinning : StartSpinning(revs)
    spinning --> off : StopSpinning
    spinning --> moving : Move(linear_move)
    moving --> spinning : StopMoving

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