smacc2::SmaccStateMachineBase< DerivedStateMachine, InitialStateType > Struct Template Reference

State Machine. More...

#include <smacc_state_machine_base.hpp>

Inheritance diagram for smacc2::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >:

Collaboration diagram for smacc2::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >:

Public Member Functions
	SmaccStateMachineBase (my_context ctx, SignalDetector *signalDetector, rclcpp::NodeOptions node_options=rclcpp::NodeOptions())
virtual	~SmaccStateMachineBase ()
void	reset () override
void	stop () override
void	eStop () override
void	initiate_impl () override
Public Member Functions inherited from smacc2::ISmaccStateMachine
	ISmaccStateMachine (std::string stateMachineName, SignalDetector *signalDetector, rclcpp::NodeOptions nodeOptions=rclcpp::NodeOptions())
virtual	~ISmaccStateMachine ()
template<typename TOrthogonal >
TOrthogonal *	getOrthogonal ()
template<typename TOrthogonal , typename TClientBehavior >
TClientBehavior *	getClientBehavior (int index=0)
const std::map< std::string, std::shared_ptr< smacc2::ISmaccOrthogonal > > &	getOrthogonals () const
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, bool throwsExceptionIfNotExist=false)
template<typename EventType >
void	postEvent (EventType *ev, EventLifeTime evlifetime=EventLifeTime::ABSOLUTE)
template<typename EventType >
void	postEvent (EventLifeTime evlifetime=EventLifeTime::ABSOLUTE)
template<typename T >
bool	getGlobalSMData (std::string name, T &ret)
template<typename T >
void	setGlobalSMData (std::string name, T value)
std::string	getStateMachineName ()
void	state_machine_visualization ()
std::shared_ptr< SmaccStateInfo >	getCurrentStateInfo ()
void	publishTransition (const SmaccTransitionInfo &transitionInfo)
virtual void	onInitialize ()
	this function should be implemented by the user to create the orthogonals
void	getTransitionLogHistory (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< smacc2_msgs::srv::SmaccGetTransitionHistory::Request > req, std::shared_ptr< smacc2_msgs::srv::SmaccGetTransitionHistory::Response > res)
template<typename TSmaccSignal , typename TMemberFunctionPrototype , typename TSmaccObjectType >
boost::signals2::connection	createSignalConnection (TSmaccSignal &signal, TMemberFunctionPrototype callback, TSmaccObjectType *object)
void	disconnectSmaccSignalObject (void *object)
template<typename StateType >
void	notifyOnStateEntryStart (StateType *state)
template<typename StateType >
void	notifyOnStateEntryEnd (StateType *state)
template<typename StateType >
void	notifyOnRuntimeConfigured (StateType *state)
template<typename StateType >
void	notifyOnStateExitting (StateType *state)
template<typename StateType >
void	notifyOnStateExited (StateType *state)
template<typename StateType >
void	notifyOnRuntimeConfigurationFinished (StateType *state)
int64_t	getCurrentStateCounter () const
ISmaccState *	getCurrentState () const
const SmaccStateMachineInfo &	getStateMachineInfo ()
template<typename InitialStateType >
void	buildStateMachineInfo ()
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()
std::recursive_mutex &	getMutex ()

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccStateMachine
void	checkStateMachineConsistence ()
void	initializeROS (std::string smshortname)
void	onInitialized ()
template<typename TOrthogonal >
void	createOrthogonal ()
Protected Attributes inherited from smacc2::ISmaccStateMachine
rclcpp::Node::SharedPtr	nh_
rclcpp::TimerBase::SharedPtr	timer_
rclcpp::Publisher< smacc2_msgs::msg::SmaccStateMachine >::SharedPtr	stateMachinePub_
rclcpp::Publisher< smacc2_msgs::msg::SmaccStatus >::SharedPtr	stateMachineStatusPub_
rclcpp::Publisher< smacc2_msgs::msg::SmaccTransitionLogEntry >::SharedPtr	transitionLogPub_
rclcpp::Publisher< smacc2_msgs::msg::SmaccEvent >::SharedPtr	eventsLogPub_
rclcpp::Service< smacc2_msgs::srv::SmaccGetTransitionHistory >::SharedPtr	transitionHistoryService_
std::vector< ISmaccState * >	currentState_
std::shared_ptr< SmaccStateInfo >	currentStateInfo_
smacc2_msgs::msg::SmaccStatus	status_msg_
std::map< std::string, std::shared_ptr< smacc2::ISmaccOrthogonal > >	orthogonals_
std::vector< boost::signals2::scoped_connection >	longLivedSignalConnections_
std::shared_ptr< SmaccStateMachineInfo >	stateMachineInfo_

Detailed Description

template<typename DerivedStateMachine, typename InitialStateType>
struct smacc2::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >

State Machine.

Definition at line 30 of file smacc_state_machine_base.hpp.

Constructor & Destructor Documentation

SmaccStateMachineBase()

template<typename DerivedStateMachine , typename InitialStateType >

smacc2::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >::SmaccStateMachineBase ( my_context ctx, SignalDetector * signalDetector, rclcpp::NodeOptions node_options = rclcpp::NodeOptions() )

inline

Definition at line 36 of file smacc_state_machine_base.hpp.

  : ISmaccStateMachine(
      smacc2::utils::cleanShortTypeName<DerivedStateMachine>(), signalDetector, node_options),
    sc::asynchronous_state_machine<
      DerivedStateMachine, InitialStateType, SmaccFifoScheduler, SmaccAllocator>(ctx)
  {
  }

~SmaccStateMachineBase()

template<typename DerivedStateMachine , typename InitialStateType >

virtual smacc2::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >::~SmaccStateMachineBase ( )

inlinevirtual

Definition at line 46 of file smacc_state_machine_base.hpp.

  {
    //updateCurrentState<InitialStateType>(false);
  }

Member Function Documentation

eStop()

template<typename DerivedStateMachine , typename InitialStateType >

void smacc2::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >::eStop ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccStateMachine.

Definition at line 64 of file smacc_state_machine_base.hpp.

  {
    ISmaccStateMachine::eStop();
    this->terminate();
  }

References smacc2::ISmaccStateMachine::eStop().

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initiate_impl()

template<typename DerivedStateMachine , typename InitialStateType >

void smacc2::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >::initiate_impl ( )

inlineoverride

Definition at line 70 of file smacc_state_machine_base.hpp.

  {
    globalNh_ = this->getNode();
 
    // this is before because this creates orthogonals
    this->onInitialize();
 
    RCLCPP_INFO(getLogger(), "[SmaccStateMachine] Introspecting state machine via typeWalker");
    this->buildStateMachineInfo<InitialStateType>();
 
    RCLCPP_INFO(getLogger(), "[SmaccStateMachine] initiate_impl");
    auto shortname = smacc2::utils::cleanShortTypeName(typeid(DerivedStateMachine));
 
    this->initializeROS(shortname);
 
    RCLCPP_INFO(getLogger(), "[SmaccStateMachine] Initializing ROS communication mechanisms");
    this->onInitialized();
 
    // publish startup state machine transition info
    auto transitionInfo = std::make_shared<SmaccTransitionInfo>();
    transitionInfo->destinyState = this->stateMachineInfo_->getState<InitialStateType>();
    this->publishTransition(*transitionInfo);
 
    RCLCPP_INFO(getLogger(), "[SmaccStateMachine] Initializing state machine");
    sc::state_machine<DerivedStateMachine, InitialStateType, SmaccAllocator>::initiate();
  }

References smacc2::ISmaccStateMachine::buildStateMachineInfo(), smacc2::utils::cleanShortTypeName(), smacc2::ISmaccStateMachine::getLogger(), smacc2::ISmaccStateMachine::getNode(), smacc2::introspection::globalNh_, smacc2::ISmaccStateMachine::initializeROS(), smacc2::ISmaccStateMachine::onInitialize(), smacc2::ISmaccStateMachine::onInitialized(), smacc2::ISmaccStateMachine::publishTransition(), and smacc2::ISmaccStateMachine::stateMachineInfo_.

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reset()

template<typename DerivedStateMachine , typename InitialStateType >

void smacc2::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >::reset ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccStateMachine.

Definition at line 51 of file smacc_state_machine_base.hpp.

  {
    ISmaccStateMachine::reset();
    this->terminate();
    smacc2::run<DerivedStateMachine>();
  }

References smacc2::ISmaccStateMachine::reset(), and smacc2::run().

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stop()

template<typename DerivedStateMachine , typename InitialStateType >

void smacc2::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >::stop ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccStateMachine.

Definition at line 58 of file smacc_state_machine_base.hpp.

  {
    ISmaccStateMachine::stop();
    this->terminate();
  }

References smacc2::ISmaccStateMachine::stop().

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The documentation for this struct was generated from the following file:

• smacc2/include/smacc2/smacc_state_machine_base.hpp