#include <smacc_state.hpp>

Inheritance diagram for smacc2::ISmaccState:

Collaboration diagram for smacc2::ISmaccState:

Public Member Functions
virtual ISmaccStateMachine &	getStateMachine ()=0

virtual std::string	getName ()=0

ISmaccState *	getParentState ()

rclcpp::Node::SharedPtr &	getNode ()

rclcpp::Logger	getLogger ()

virtual std::string	getClassName ()

template<typename TOrthogonal , typename TBehavior , typename... Args>
std::shared_ptr< TBehavior >	configure (Args &&... args)

template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

template<typename T >
bool	getGlobalSMData (std::string name, T &ret)

template<typename T >
void	setGlobalSMData (std::string name, T value)

template<typename TStateReactor , typename TTriggerEvent , typename TEventList , typename... TEvArgs>
std::shared_ptr< TStateReactor >	createStateReactor (TEvArgs... args)

template<typename TStateReactor , typename... TEvArgs>
std::shared_ptr< TStateReactor >	createStateReactor (TEvArgs... args)

template<typename TEventGenerator , typename... TEvArgs>
std::shared_ptr< TEventGenerator >	createEventGenerator (TEvArgs... args)

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

template<typename TransitionType >
void	notifyTransition ()

void	notifyTransitionFromTransitionTypeInfo (std::shared_ptr< smacc2::introspection::TypeInfo > &transitionTypeInfo)

std::vector< std::shared_ptr< StateReactor > > &	getStateReactors ()

std::vector< std::shared_ptr< SmaccEventGenerator > > &	getEventGenerators ()

template<typename TOrthogonal >
TOrthogonal *	getOrthogonal ()

template<typename TOrthogonal , typename TClientBehavior >
TClientBehavior *	getClientBehavior (int index=0)

template<typename TEventGenerator >
TEventGenerator *	getEventGenerator ()

template<typename TStateReactor >
TStateReactor *	getStateReactor ()

Protected Attributes
rclcpp::Node::SharedPtr	node_

std::shared_ptr< rclcpp::Logger >	logger_

std::vector< std::shared_ptr< StateReactor > >	stateReactors_

std::vector< std::shared_ptr< smacc2::SmaccEventGenerator > >	eventGenerators_

ISmaccState *	parentState_

const smacc2::introspection::SmaccStateInfo *	stateInfo_

Detailed Description

Definition at line 25 of file smacc_state.hpp.

Member Function Documentation

◆ configure()

template<typename TOrthogonal , typename TBehavior , typename... Args>

std::shared_ptr< TBehavior > smacc2::ISmaccState::configure ( Args &&... args )

Definition at line 35 of file smacc_state_impl.hpp.

{
  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 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;
  }
}

References smacc2::introspection::demangledTypeName(), getLogger(), getOrthogonal(), and THIS_STATE_NAME.

Referenced by smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::configure_orthogonal(), smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::configure_orthogonal_runtime(), and smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::configure_orthogonal_runtime().

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◆ createEventGenerator()

template<typename TEventGenerator , typename... TEvArgs>

std::shared_ptr< TEventGenerator > smacc2::ISmaccState::createEventGenerator ( TEvArgs... args )

Definition at line 112 of file smacc_state_impl.hpp.

{
  auto eg = std::make_shared<TEventGenerator>(args...);
  eventGenerators_.push_back(eg);
  return eg;
}

References eventGenerators_.

◆ createStateReactor() [1/2]

template<typename TStateReactor , typename TTriggerEvent , typename TEventList , typename... TEvArgs>

std::shared_ptr< TStateReactor > smacc2::ISmaccState::createStateReactor ( TEvArgs... args )

Definition at line 151 of file smacc_state_impl.hpp.

{
  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;
}

References stateReactors_.

◆ createStateReactor() [2/2]

template<typename TStateReactor , typename... TEvArgs>

std::shared_ptr< TStateReactor > smacc2::ISmaccState::createStateReactor ( TEvArgs... args )

Definition at line 104 of file smacc_state_impl.hpp.

{
  auto sr = std::make_shared<TStateReactor>(args...);
  stateReactors_.push_back(sr);
  return sr;
}

References stateReactors_.

◆ getClassName()

std::string smacc2::ISmaccState::getClassName ( )

virtual

Definition at line 26 of file smacc_state.cpp.

26{ return demangleSymbol(typeid(*this).name()); }

smacc2::introspection::demangleSymbol

std::string demangleSymbol()

Definition introspection.hpp:93

References smacc2::introspection::demangleSymbol().

Referenced by smacc2::ISmaccOrthogonal::initState(), and smacc2::ISmaccStateMachine::propagateEventToStateReactors().

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◆ getClientBehavior()

template<typename TOrthogonal , typename TClientBehavior >

TClientBehavior * smacc2::ISmaccState::getClientBehavior ( int index = 0 )

Definition at line 173 of file smacc_state_impl.hpp.

{
  return this->getStateMachine().getClientBehavior<TOrthogonal, TClientBehavior>(index);
}

References smacc2::ISmaccStateMachine::getClientBehavior(), and getStateMachine().

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◆ getEventGenerator()

template<typename TEventGenerator >

TEventGenerator * smacc2::ISmaccState::getEventGenerator ( )

Definition at line 179 of file smacc_state_impl.hpp.

{
  TEventGenerator * ret = nullptr;
  for (auto & evg : this->eventGenerators_)
  {
    ret = dynamic_cast<TEventGenerator *>(evg.get());
    if (ret != nullptr) break;
  }
  return ret;
}

References eventGenerators_.

◆ getEventGenerators()

std::vector< std::shared_ptr< SmaccEventGenerator > > & smacc2::ISmaccState::getEventGenerators ( )

inline

Definition at line 82 of file smacc_state.hpp.

  {
    return eventGenerators_;
  }

References eventGenerators_.

Referenced by smacc2::SignalDetector::findUpdatableStateElements().

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◆ getGlobalSMData()

template<typename T >

bool smacc2::ISmaccState::getGlobalSMData	(	std::string	name,
		T &	ret )

Definition at line 89 of file smacc_state_impl.hpp.

{
  return this->getStateMachine().getGlobalSMData(name, ret);
}

References smacc2::ISmaccStateMachine::getGlobalSMData(), and getStateMachine().

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◆ getLogger()

rclcpp::Logger smacc2::ISmaccState::getLogger ( )

inline

Definition at line 36 of file smacc_state.hpp.

36{ return *logger_; }

smacc2::ISmaccState::logger_

std::shared_ptr< rclcpp::Logger > logger_

Definition smacc_state.hpp:104

References logger_.

Referenced by smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::checkWhileLoopConditionAndThrowEvent(), configure(), smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::entryStateInternal(), smacc2::StateReactor::getLogger(), notifyTransitionFromTransitionTypeInfo(), requiresClient(), and smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::SmaccState().

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◆ getName()

virtual std::string smacc2::ISmaccState::getName ( )

pure virtual

Implemented in smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >.

Referenced by cl_nav2z::CbAbsoluteRotate::onEntry(), cl_nav2z::CbNavigateForward::onEntry(), cl_nav2z::CbNavigateGlobalPosition::onEntry(), cl_nav2z::CbRotate::onEntry(), and cl_nav2z::CpWaypointNavigator::sendNextGoal().

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◆ getNode()

rclcpp::Node::SharedPtr & smacc2::ISmaccState::getNode ( )

inline

Definition at line 34 of file smacc_state.hpp.

34{ return node_; }

smacc2::ISmaccState::node_

rclcpp::Node::SharedPtr node_

Definition smacc_state.hpp:103

References node_.

Referenced by smacc2::StateReactor::getNode().

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◆ getOrthogonal()

template<typename TOrthogonal >

TOrthogonal * smacc2::ISmaccState::getOrthogonal ( )

Definition at line 167 of file smacc_state_impl.hpp.

{
  return this->getStateMachine().getOrthogonal<TOrthogonal>();
}

References smacc2::ISmaccStateMachine::getOrthogonal(), and getStateMachine().

Referenced by configure(), and smacc2::client_behaviors::CbSequence::then().

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◆ getParentState()

ISmaccState * smacc2::ISmaccState::getParentState ( )

inline

Definition at line 32 of file smacc_state.hpp.

32{ return parentState_; }

smacc2::ISmaccState::parentState_

ISmaccState * parentState_

Definition smacc_state.hpp:108

References parentState_.

Referenced by smacc2::ISmaccStateMachine::propagateEventToStateReactors().

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◆ getStateMachine()

virtual ISmaccStateMachine & smacc2::ISmaccState::getStateMachine ( )

pure virtual

Implemented in smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >.

Referenced by getClientBehavior(), getGlobalSMData(), getOrthogonal(), notifyTransitionFromTransitionTypeInfo(), postEvent(), postEvent(), requiresClient(), requiresComponent(), setGlobalSMData(), and smacc2::StateReactor::setOutputEvent().

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◆ getStateReactor()

template<typename TStateReactor >

TStateReactor * smacc2::ISmaccState::getStateReactor ( )

Definition at line 191 of file smacc_state_impl.hpp.

{
  TStateReactor * ret = nullptr;
  for (auto & sr : this->eventGenerators_)
  {
    ret = dynamic_cast<TStateReactor *>(sr.get());
    if (ret != nullptr) break;
  }
  return ret;
}

References eventGenerators_.

◆ getStateReactors()

std::vector< std::shared_ptr< StateReactor > > & smacc2::ISmaccState::getStateReactors ( )

inline

Definition at line 80 of file smacc_state.hpp.

80{ return stateReactors_; }

References stateReactors_.

Referenced by smacc2::SignalDetector::findUpdatableStateElements(), and smacc2::ISmaccStateMachine::propagateEventToStateReactors().

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◆ notifyTransition()

template<typename TransitionType >

void smacc2::ISmaccState::notifyTransition ( )

Definition at line 218 of file smacc_state_impl.hpp.

{
  auto transitionType = TypeInfo::getTypeInfoFromType<TransitionType>();
  this->notifyTransitionFromTransitionTypeInfo(transitionType);
}

References smacc2::introspection::TypeInfo::getTypeInfoFromType(), and notifyTransitionFromTransitionTypeInfo().

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◆ notifyTransitionFromTransitionTypeInfo()

void smacc2::ISmaccState::notifyTransitionFromTransitionTypeInfo ( std::shared_ptr< smacc2::introspection::TypeInfo > & transitionTypeInfo )

Definition at line 28 of file smacc_state.cpp.

{
  RCLCPP_INFO_STREAM(getLogger(), "TRANSITION RULE TRIGGERED: " << transitionType->getFullName());
 
  auto currstateinfo = this->stateInfo_;
 
  if (currstateinfo != nullptr)
  {
    //RCLCPP_ERROR_STREAM(getLogger(),"CURRENT STATE INFO: " << currstateinfo->fullStateName);
    for (auto & transition : currstateinfo->transitions_)
    {
      std::string transitionCandidateName = transition.transitionTypeInfo->getFullName();
      //RCLCPP_ERROR_STREAM(getLogger(),"candidate transition: " << transitionCandidateName);
 
      if (transitionType->getFullName() == transitionCandidateName)
      {
        this->getStateMachine().publishTransition(transition);
        return;
      }
    }
 
    // debug information if not found
    RCLCPP_ERROR_STREAM(
      getLogger(),
      "Transition happened, from current state "
        << currstateinfo->getDemangledFullName()
        << " but there is not any transitioninfo match available to publish transition: "
        << transitionType->getFullName());
    std::stringstream ss;
 
    auto stateinfo = currstateinfo;
 
    for (auto & transition : currstateinfo->transitions_)
    {
      std::string transitionCandidateName = transition.transitionTypeInfo->getFullName();
      RCLCPP_ERROR_STREAM(getLogger(), "- candidate transition: " << transitionCandidateName);
    }
 
    RCLCPP_ERROR(getLogger(), "Ancestors candidates: ");
 
    std::list<const SmaccStateInfo *> ancestors;
    stateinfo->getAncestors(ancestors);
 
    for (auto & ancestor : ancestors)
    {
      RCLCPP_ERROR_STREAM(getLogger(), " * Ancestor " << ancestor->getDemangledFullName() << ":");
      for (auto & transition : ancestor->transitions_)
      {
        std::string transitionCandidateName = transition.transitionTypeInfo->getFullName();
        RCLCPP_ERROR_STREAM(getLogger(), "- candidate transition: " << transitionCandidateName);
        if (transitionType->getFullName() == transitionCandidateName)
        {
          RCLCPP_ERROR(getLogger(), "GOTCHA");
        }
      }
    }
  }
  else
  {
    RCLCPP_ERROR_STREAM(
      getLogger(), "Transition happened, but current state was not set. Transition candidates:");
  }
}

References getLogger(), getStateMachine(), smacc2::ISmaccStateMachine::publishTransition(), and stateInfo_.

Referenced by notifyTransition().

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◆ postEvent() [1/2]

template<typename EventType >

void smacc2::ISmaccState::postEvent ( )

Definition at line 211 of file smacc_state_impl.hpp.

{
  getStateMachine().postEvent<EventType>();
}

References getStateMachine(), and smacc2::ISmaccStateMachine::postEvent().

Referenced by smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::checkWhileLoopConditionAndThrowEvent(), and smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::throwSequenceFinishedEvent().

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◆ postEvent() [2/2]

template<typename EventType >

void smacc2::ISmaccState::postEvent ( const EventType & ev )

Definition at line 205 of file smacc_state_impl.hpp.

{
  getStateMachine().postEvent(ev);
}

References getStateMachine(), and smacc2::ISmaccStateMachine::postEvent().

Referenced by smacc2::SmaccEventGenerator::postEvent(), smacc2::SmaccEventGenerator::postEvent(), smacc2::StateReactor::postEvent(), and smacc2::StateReactor::postEvent().

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◆ requiresClient()

template<typename SmaccClientType >

void smacc2::ISmaccState::requiresClient ( SmaccClientType *& storage )

Definition at line 69 of file smacc_state_impl.hpp.

{
  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());
}

References smacc2::introspection::demangleSymbol(), getLogger(), smacc2::ISmaccStateMachine::getOrthogonals(), and getStateMachine().

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◆ requiresComponent()

template<typename SmaccComponentType >

void smacc2::ISmaccState::requiresComponent ( SmaccComponentType *& storage )

Definition at line 62 of file smacc_state_impl.hpp.

{
  this->getStateMachine().requiresComponent(storage);
}

References getStateMachine(), and smacc2::ISmaccStateMachine::requiresComponent().

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◆ setGlobalSMData()

template<typename T >

void smacc2::ISmaccState::setGlobalSMData	(	std::string	name,
		T	value )

Definition at line 97 of file smacc_state_impl.hpp.

{
  this->getStateMachine().setGlobalSMData(name, value);
}

References getStateMachine(), and smacc2::ISmaccStateMachine::setGlobalSMData().

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Member Data Documentation

◆ eventGenerators_

std::vector<std::shared_ptr<smacc2::SmaccEventGenerator> > smacc2::ISmaccState::eventGenerators_

protected

Definition at line 106 of file smacc_state.hpp.

Referenced by createEventGenerator(), getEventGenerator(), getEventGenerators(), and getStateReactor().

◆ logger_

std::shared_ptr<rclcpp::Logger> smacc2::ISmaccState::logger_

protected

Definition at line 104 of file smacc_state.hpp.

Referenced by getLogger(), and smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::SmaccState().

◆ node_

rclcpp::Node::SharedPtr smacc2::ISmaccState::node_

protected

Definition at line 103 of file smacc_state.hpp.

Referenced by getNode(), and smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::SmaccState().

◆ parentState_

ISmaccState* smacc2::ISmaccState::parentState_

protected

Definition at line 108 of file smacc_state.hpp.

Referenced by getParentState(), smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::getParentState(), and smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::SmaccState().

◆ stateInfo_

const smacc2::introspection::SmaccStateInfo* smacc2::ISmaccState::stateInfo_

protected

Definition at line 110 of file smacc_state.hpp.

Referenced by notifyTransitionFromTransitionTypeInfo(), and smacc2::SmaccState< MostDerived, Context, InnerInitial, historyMode >::SmaccState().

◆ stateReactors_

std::vector<std::shared_ptr<StateReactor> > smacc2::ISmaccState::stateReactors_

protected

Definition at line 105 of file smacc_state.hpp.

Referenced by createStateReactor(), and getStateReactors().

The documentation for this class was generated from the following files:

smacc2/include/smacc2/smacc_state.hpp
smacc2/include/smacc2/impl/smacc_state_impl.hpp
smacc2/src/smacc2/smacc_state.cpp

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ configure()

◆ createEventGenerator()

◆ createStateReactor() [1/2]

◆ createStateReactor() [2/2]

◆ getClassName()

◆ getClientBehavior()

◆ getEventGenerator()

◆ getEventGenerators()

◆ getGlobalSMData()

◆ getLogger()

◆ getName()

◆ getNode()

◆ getOrthogonal()

◆ getParentState()

◆ getStateMachine()

◆ getStateReactor()

◆ getStateReactors()

◆ notifyTransition()

◆ notifyTransitionFromTransitionTypeInfo()

◆ postEvent() [1/2]

◆ postEvent() [2/2]

◆ requiresClient()

◆ requiresComponent()

◆ setGlobalSMData()

Member Data Documentation

◆ eventGenerators_

◆ logger_

◆ node_

◆ parentState_

◆ stateInfo_

◆ stateReactors_