rcoder01 / umrsm-rs

University of Michigan RoboSub State Machine ported to Rust

UMRSM-RS

A state machine framework inspired by the University of Michigan RoboSub State Machine framework in python, but written in rust (🚀🚀🚀🚀🚀🔥🔥🔥🚀🚀) for increased type safety (and performance I guess).

Each state in the state machine is represented by a type which implements State, which has three associated types, Income, Transition, and Data.

Data is the data type which is shared by all states in the state machine and which persists for the duration of the machine's operation.

Income is the data type which should be passed to the new state's init method on transition.

Transition is the data type which is output by the current state on each iteration of the state machine. Transition must implement IntoOutcome, which converts the transition type into a BoxedOutcome (Box<dyn Outcome>). Note that IntoOutcome is blanket implemented for all types which implement Outcome.

Outcomes determine the state which the state machine should transition to. If the state determined by Outcome is different to the current state of the state machine, then the Outcome must also provides the Income data for the new state. Should the data provided by Outcome not match the type of Income for the new state or if the type indicated by the Outcome is not present, the StateMachine's step function will return an error.

All state machines loop forever, reach a state which isn't in the state machine, transition to a state with the wrong income data, panic in some state's implemented method, or end with a transition to ().

Disclaimer: this project is not affiliated with The Rust Foundation™ and does not claim to be in any form.