Replace static states with dynamic allocation (simplifies init code).

Author: aentinger

examples/Braccio_Learn_and_Repeat/AppState.cpp

@@ -32,11 +32,6 @@ const char * btnm_map[] = { "RECORD", "\n", "REPLAY", "\n", "ZERO_POSITION", "\n
 static float sample_buf[SAMPLE_BUF_SIZE];
 static int   sample_cnt;
 
-IdleState   LearnAndRepeatApp::_idle_state;
-RecordState LearnAndRepeatApp::_record_state;
-ReplayState LearnAndRepeatApp::_replay_state;
-ZeroState   LearnAndRepeatApp::_zero_state;
-
 extern LearnAndRepeatApp app;
 
 /**************************************************************************************
@@ -107,7 +102,7 @@ void custom_main_menu()
 
 State * State::handle_OnZeroPosition()
 {
-  return &LearnAndRepeatApp::_zero_state;
+  return new ZeroState();
 }
 
 /**************************************************************************************
@@ -126,12 +121,12 @@ void IdleState::onExit()
 
 State * IdleState::handle_OnRecord()
 {
-  return &LearnAndRepeatApp::_record_state;
+  return new RecordState();
 }
 
 State * IdleState::handle_OnReplay()
 {
-  return &LearnAndRepeatApp::_replay_state;
+  return new ReplayState();
 }
 
 /**************************************************************************************
@@ -159,14 +154,14 @@ void RecordState::onExit()
 
 State * RecordState::handle_OnRecord()
 { 
-  return &LearnAndRepeatApp::_idle_state;
+  return new IdleState();
 }
 
 State * RecordState::handle_OnTimerTick()
 {
   /* The sample buffer is full. */
   if (sample_cnt >= SAMPLE_BUF_SIZE) {
-    return &LearnAndRepeatApp::_idle_state;
+    return new IdleState();
   }
 
   /* We still have space, let's sample some data. */
@@ -185,8 +180,6 @@ State * RecordState::handle_OnTimerTick()
 
 void ReplayState::onEnter()
 {
-  _replay_cnt = 0;
-
   btnm_map[2] = "STOP";
   lv_btnmatrix_set_btn_ctrl(btnm, 0, LV_BTNMATRIX_CTRL_DISABLED);
   lv_btnmatrix_set_btn_ctrl(btnm, 1, LV_BTNMATRIX_CTRL_CHECKED);
@@ -202,14 +195,14 @@ void ReplayState::onExit()
 
 State * ReplayState::handle_OnReplay()
 {
-  return &LearnAndRepeatApp::_idle_state;
+  return new IdleState();
 }
 
 State * ReplayState::handle_OnTimerTick()
 {
   /* All samples have been replayed. */
   if (_replay_cnt >= sample_cnt) {
-    return &LearnAndRepeatApp::_idle_state;
+    return new IdleState();
   }
 
   /* Replay recorded movements. */
@@ -232,7 +225,7 @@ State * ReplayState::handle_OnTimerTick()
 
 State * ZeroState::handle_OnTimerTick()
 {
-  return &LearnAndRepeatApp::_idle_state;
+  return new IdleState();
 }
 
 void ZeroState::onEnter()

examples/Braccio_Learn_and_Repeat/AppState.h

@@ -87,6 +87,7 @@ class RecordState : public State
 class ReplayState : public State
 {
 public:
+           ReplayState() : _replay_cnt{0} { }
   virtual ~ReplayState() { }
   virtual StateName name() override { return StateName::Replay; }
   virtual void onEnter() override;
@@ -120,11 +121,6 @@ class LearnAndRepeatApp
   , _mtx{}
   { }
 
-  static IdleState   _idle_state;
-  static RecordState _record_state;
-  static ReplayState _replay_state;
-  static ZeroState   _zero_state;
-
   void enableButtons();
 
   void update(EventSource const evt_src)
@@ -133,7 +129,7 @@ class LearnAndRepeatApp
 
     if (!_state)
     {
-      _state = &_zero_state;
+      _state = new ZeroState();
       _state->onEnter();
       return;
     }
@@ -143,6 +139,7 @@ class LearnAndRepeatApp
     if (next_state->name() != _state->name())
     {
       _state->onExit();
+      delete _state;
       _state = next_state;
       _state->onEnter();
     }