smacc_state_impl.hpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#pragma once
#include <smacc2/introspection/introspection.hpp>
#include <smacc2/smacc_client_behavior.hpp>
#include <smacc2/smacc_orthogonal.hpp>
#include <smacc2/smacc_state.hpp>
#include <smacc2/smacc_state_reactor.hpp>
//#include <smacc2/smacc_event_generator.hpp>
#include <smacc2/introspection/smacc_type_info.hpp>
#include <smacc2/smacc_client_behavior.hpp>
#include <smacc2/smacc_state_machine.hpp>
 
namespace smacc2
{
using namespace smacc2::introspection;
#define THIS_STATE_NAME ((demangleSymbol(typeid(*this).name()).c_str()))
template <typename TOrthogonal, typename TBehavior, typename... Args>
std::shared_ptr<TBehavior> ISmaccState::configure(Args &&... args)
{
  std::string orthogonalkey = demangledTypeName<TOrthogonal>();
  RCLCPP_INFO(
    getLogger(), "[%s] Configuring orthogonal: %s", THIS_STATE_NAME, orthogonalkey.c_str());
 
  TOrthogonal * orthogonal = this->getOrthogonal<TOrthogonal>();
  if (orthogonal != nullptr)
  {
    auto clientBehavior =
      std::shared_ptr<TBehavior>(new TBehavior(args...));  // is there an error here? are the
                                                           // behavior constructor parameters right?
    orthogonal->addClientBehavior(clientBehavior);
    clientBehavior->template onOrthogonalAllocation<TOrthogonal, TBehavior>();
    clientBehavior->template onStateOrthogonalAllocation<TOrthogonal, TBehavior>();
    return clientBehavior;
  }
  else
  {
    RCLCPP_ERROR(
      getLogger(), "[%s] Skipping client behavior creation in orthogonal [%s]. It does not exist.",
      THIS_STATE_NAME, orthogonalkey.c_str());
    return nullptr;
  }
}
//-------------------------------------------------------------------------------------------------------
 
template <typename SmaccComponentType>
void ISmaccState::requiresComponent(SmaccComponentType *& storage)
{
  this->getStateMachine().requiresComponent(storage);
}
//-------------------------------------------------------------------------------------------------------
 
template <typename SmaccClientType>
void ISmaccState::requiresClient(SmaccClientType *& storage)
{
  const char * sname = (demangleSymbol(typeid(*this).name()).c_str());
  storage = nullptr;
  auto & orthogonals = this->getStateMachine().getOrthogonals();
  for (auto & ortho : orthogonals)
  {
    ortho.second->requiresClient(storage);
    if (storage != nullptr) return;
  }
 
  RCLCPP_ERROR(
    getLogger(),
    "[%s] Client of type '%s' not found in any orthogonal of the current state machine. This may "
    "produce a segmentation fault if the returned reference is used.",
    sname, demangleSymbol<SmaccClientType>().c_str());
}
//-------------------------------------------------------------------------------------------------------
 
template <typename T>
bool ISmaccState::getGlobalSMData(std::string name, T & ret)
{
  return this->getStateMachine().getGlobalSMData(name, ret);
}
//-------------------------------------------------------------------------------------------------------
 
// Store globally in this state machine. (By value parameter )
template <typename T>
void ISmaccState::setGlobalSMData(std::string name, T value)
{
  this->getStateMachine().setGlobalSMData(name, value);
}
//-------------------------------------------------------------------------------------------------------
 
template <typename TStateReactor, typename... TEvArgs>
std::shared_ptr<TStateReactor> ISmaccState::createStateReactor(TEvArgs... args)
{
  auto sr = std::make_shared<TStateReactor>(args...);
  // sb->initialize(this, mock);
  // sb->setOutputEvent(typelist<TTriggerEvent>());
  stateReactors_.push_back(sr);
  return sr;
}
 
template <typename TEventGenerator, typename... TEvArgs>
std::shared_ptr<TEventGenerator> ISmaccState::createEventGenerator(TEvArgs... args)
{
  auto eg = std::make_shared<TEventGenerator>(args...);
  eventGenerators_.push_back(eg);
  return eg;
}
 
// used to iterate on the source events list and fill the information of the stateReactorInfo structure
template <typename TEventList>
struct AddTEventTypeStateReactorInfo
{
  smacc2::SmaccStateReactorInfo * srInfo_;
  AddTEventTypeStateReactorInfo(smacc2::SmaccStateReactorInfo * srInfo) : srInfo_(srInfo) {}
 
  template <typename T>
  void operator()(T)
  {
    auto evinfo = std::make_shared<SmaccEventInfo>(TypeInfo::getTypeInfoFromType<T>());
    srInfo_->sourceEventTypes.push_back(evinfo);
    EventLabel<T>(evinfo->label);
  }
};
 
// used to iterate on the source events list and fill the information of the stateReactorInfo structure
// (is it required alreadyy having the AddTEventTypeStateReactorInfo?)
template <typename TEventList>
struct AddTEventTypeStateReactor
{
  smacc2::StateReactor * sr_;
  AddTEventTypeStateReactor(smacc2::StateReactor * sr) : sr_(sr) {}
 
  template <typename T>
  void operator()(T)
  {
    sr_->addInputEvent<T>();
  }
};
 
template <typename TStateReactor, typename TTriggerEvent, typename TEventList, typename... TEvArgs>
std::shared_ptr<TStateReactor> ISmaccState::createStateReactor(TEvArgs... args)
{
  auto sr = std::make_shared<TStateReactor>(args...);
  sr->initialize(this);
  sr->template setOutputEvent<TTriggerEvent>();
 
  using boost::mpl::_1;
  using wrappedList = typename boost::mpl::transform<TEventList, _1>::type;
  AddTEventTypeStateReactor<TEventList> op(sr.get());
  boost::mpl::for_each<wrappedList>(op);
 
  stateReactors_.push_back(sr);
  return sr;
}
 
template <typename TOrthogonal>
TOrthogonal * ISmaccState::getOrthogonal()
{
  return this->getStateMachine().getOrthogonal<TOrthogonal>();
}
 
template <typename TOrthogonal, typename TClientBehavior>
TClientBehavior * ISmaccState::getClientBehavior(int index)
{
  return this->getStateMachine().getClientBehavior<TOrthogonal, TClientBehavior>(index);
}
 
template <typename TEventGenerator>
TEventGenerator * ISmaccState::getEventGenerator()
{
  TEventGenerator * ret = nullptr;
  for (auto & evg : this->eventGenerators_)
  {
    ret = dynamic_cast<TEventGenerator *>(evg.get());
    if (ret != nullptr) break;
  }
  return ret;
}
 
template <typename TStateReactor>
TStateReactor * ISmaccState::getStateReactor()
{
  TStateReactor * ret = nullptr;
  for (auto & sr : this->eventGenerators_)
  {
    ret = dynamic_cast<TStateReactor *>(sr.get());
    if (ret != nullptr) break;
  }
  return ret;
}
 
// template <typename TStateReactor, typename TTriggerEvent, typename... TEvArgs>
// std::shared_ptr<TStateReactor> ISmaccState::createStateReactor(TEvArgs... args)
// {
//     auto sb = std::make_shared<TStateReactor>(std::forward(args...));
//     sb->initialize(this, typelist<TEvArgs...>());
//     sb->setOutputEvent(typelist<TTriggerEvent>());
//     stateReactors_.push_back(sb);
 
//     return sb;
// }
//-------------------------------------------------------------------------------------------------------
 
template <typename EventType>
void ISmaccState::postEvent(const EventType & ev)
{
  getStateMachine().postEvent(ev);
}
 
template <typename EventType>
void ISmaccState::postEvent()
{
  getStateMachine().postEvent<EventType>();
}
//-------------------------------------------------------------------------------------------------------
 
template <typename TransitionType>
void ISmaccState::notifyTransition()
{
  auto transitionType = TypeInfo::getTypeInfoFromType<TransitionType>();
  this->notifyTransitionFromTransitionTypeInfo(transitionType);
}
 
//-------------------------------------------------------------------------------------------------------------------
 
}  // namespace smacc2
 
// implementation depends on state definition
#include <smacc2/impl/smacc_event_generator_impl.hpp>
#include <smacc2/impl/smacc_state_reactor_impl.hpp>