smacc2::StateReactor Class Reference

#include <smacc_state_reactor.hpp>

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Public Member Functions
	StateReactor ()
virtual	~StateReactor ()
virtual void	onInitialized ()
virtual void	onEntry ()
virtual void	onExit ()
virtual void	onEventNotified (const std::type_info *eventType)
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename T , typename TClass >
void	createEventCallback (void(TClass::*callback)(T *), TClass *object)
template<typename T >
void	createEventCallback (std::function< void(T *)> callback)
void	update ()
virtual bool	triggers ()=0
template<typename TEv >
void	addInputEvent ()
template<typename TEv >
void	setOutputEvent ()
void	initialize (ISmaccState *ownerState)
rclcpp::Node::SharedPtr &	getNode ()
rclcpp::Logger	getLogger ()

Public Attributes
ISmaccState *	ownerState
std::function< void()>	postEventFn
std::vector< const std::type_info * >	eventTypes
std::map< const std::type_info *, std::function< void(void *)> >	eventCallbacks_

Private Member Functions
template<typename TEvent >
void	notifyEvent (TEvent *ev)

Private Attributes
friend	ISmaccStateMachine

Detailed Description

Definition at line 43 of file smacc_state_reactor.hpp.

Constructor & Destructor Documentation

StateReactor()

smacc2::StateReactor::StateReactor

(

)

Definition at line 29 of file state_reactor.cpp.

{}

~StateReactor()

smacc2::StateReactor::~StateReactor ( )

virtual

Definition at line 31 of file state_reactor.cpp.

{}

Member Function Documentation

addInputEvent()

template<typename TEv >

void smacc2::StateReactor::addInputEvent

Definition at line 51 of file smacc_state_reactor_impl.hpp.

{
  this->eventTypes.push_back(&typeid(TEv));
}

References eventTypes.

Referenced by smacc2::AddTEventTypeStateReactor< TEventList >::operator()().

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createEventCallback() [1/2]

template<typename T >

void smacc2::StateReactor::createEventCallback

(

std::function< void(T *)>

callback

)

Definition at line 67 of file smacc_state_reactor_impl.hpp.

{
  const auto * eventtype = &typeid(T);
  this->eventCallbacks_[eventtype] = [=](void * msg) {
    T * evptr = (T *)msg;
    callback(evptr);
  };
}

References callback(), and eventCallbacks_.

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createEventCallback() [2/2]

template<typename T , typename TClass >

void smacc2::StateReactor::createEventCallback	(	void(TClass::*)(T *)	callback,
		TClass *	object
	)

Definition at line 57 of file smacc_state_reactor_impl.hpp.

{
  const auto * eventtype = &typeid(T);
  this->eventCallbacks_[eventtype] = [=](void * msg) {
    T * evptr = (T *)msg;
    (object->*callback)(evptr);
  };
}

References callback(), and eventCallbacks_.

Referenced by smacc2::state_reactors::SrConditional< TEv >::SrConditional().

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getLogger()

rclcpp::Logger smacc2::StateReactor::getLogger

(

)

Definition at line 58 of file state_reactor.cpp.

{ return ownerState->getLogger(); }

References smacc2::ISmaccState::getLogger(), and ownerState.

Referenced by smacc2::state_reactors::SrAllEventsGo::onEventNotified(), smacc2::state_reactors::SrEventCountdown::onEventNotified(), setOutputEvent(), smacc2::state_reactors::SrAllEventsGo::triggers(), smacc2::state_reactors::SrEventCountdown::triggers(), and update().

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getNode()

rclcpp::Node::SharedPtr & smacc2::StateReactor::getNode

(

)

Definition at line 56 of file state_reactor.cpp.

{ return ownerState->getNode(); }

References smacc2::ISmaccState::getNode(), and ownerState.

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initialize()

void smacc2::StateReactor::initialize

(

smacc2::ISmaccState *

ownerState

)

Definition at line 33 of file state_reactor.cpp.

{
  this->ownerState = ownerState;
  this->onInitialized();
}

References onInitialized(), and ownerState.

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notifyEvent()

template<typename TEvent >

void smacc2::StateReactor::notifyEvent ( TEvent *  ev )

inlineprivate

Definition at line 97 of file smacc_state_reactor.hpp.

  {
    //the state machine uses this method to notify this state reactor some event happened.
    auto tid = &(typeid(TEvent));
    if (std::find(eventTypes.begin(), eventTypes.end(), tid) != eventTypes.end())
    {
      this->onEventNotified(tid);
      this->update();
 
      if (eventCallbacks_.count(tid))
      {
        eventCallbacks_[tid]((void *)ev);
      }
    }
  }

References eventCallbacks_, eventTypes, onEventNotified(), and update().

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onEntry()

void smacc2::StateReactor::onEntry ( )

virtual

Definition at line 43 of file state_reactor.cpp.

{}

onEventNotified()

void smacc2::StateReactor::onEventNotified ( const std::type_info *  eventType )

virtual

Reimplemented in smacc2::state_reactors::SrAllEventsGo, and smacc2::state_reactors::SrEventCountdown.

Definition at line 41 of file state_reactor.cpp.

{}

Referenced by notifyEvent().

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onExit()

void smacc2::StateReactor::onExit ( )

virtual

Definition at line 45 of file state_reactor.cpp.

{}

onInitialized()

void smacc2::StateReactor::onInitialized ( )

virtual

Reimplemented in smacc2::state_reactors::SrAllEventsGo, and smacc2::state_reactors::SrEventCountdown.

Definition at line 39 of file state_reactor.cpp.

{}

Referenced by initialize().

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postEvent() [1/2]

template<typename EventType >

void smacc2::StateReactor::postEvent

Definition at line 34 of file smacc_state_reactor_impl.hpp.

{
  ownerState->postEvent<EventType>();
}

References ownerState, and smacc2::ISmaccState::postEvent().

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postEvent() [2/2]

template<typename EventType >

void smacc2::StateReactor::postEvent

(

const EventType &

ev

)

Definition at line 28 of file smacc_state_reactor_impl.hpp.

{
  ownerState->postEvent(ev);
}

References ownerState, and smacc2::ISmaccState::postEvent().

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setOutputEvent()

template<typename TEv >

void smacc2::StateReactor::setOutputEvent

Definition at line 40 of file smacc_state_reactor_impl.hpp.

{
  this->postEventFn = [this]() {
    RCLCPP_INFO_STREAM(
      this->getLogger(), "[State Reactor Base] postingfn posting event: " << demangleSymbol<TEv>());
    auto * ev = new TEv();
    this->ownerState->getStateMachine().postEvent(ev);
  };
}

References getLogger(), smacc2::ISmaccState::getStateMachine(), ownerState, smacc2::ISmaccStateMachine::postEvent(), and postEventFn.

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triggers()

virtual bool smacc2::StateReactor::triggers ( )

pure virtual

Implemented in smacc2::state_reactors::SrConditional< TEv >, smacc2::state_reactors::SrAllEventsGo, and smacc2::state_reactors::SrEventCountdown.

Referenced by update().

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update()

void smacc2::StateReactor::update

(

)

Definition at line 47 of file state_reactor.cpp.

{
  if (this->triggers())
  {
    RCLCPP_INFO(getLogger(), "State reactor base REALLY TRIGGERS!!");
    this->postEventFn();
  }
}

References getLogger(), postEventFn, and triggers().

Referenced by notifyEvent().

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Member Data Documentation

eventCallbacks_

std::map<const std::type_info *, std::function<void(void *)> > smacc2::StateReactor::eventCallbacks_

Definition at line 49 of file smacc_state_reactor.hpp.

Referenced by createEventCallback(), and notifyEvent().

eventTypes

std::vector<const std::type_info *> smacc2::StateReactor::eventTypes

Definition at line 48 of file smacc_state_reactor.hpp.

Referenced by addInputEvent(), notifyEvent(), smacc2::state_reactors::SrAllEventsGo::onInitialized(), and smacc2::state_reactors::SrEventCountdown::onInitialized().

ISmaccStateMachine

friend smacc2::StateReactor::ISmaccStateMachine

private

Definition at line 94 of file smacc_state_reactor.hpp.

ownerState

ISmaccState* smacc2::StateReactor::ownerState

Definition at line 46 of file smacc_state_reactor.hpp.

Referenced by getLogger(), getNode(), initialize(), postEvent(), and setOutputEvent().

postEventFn

std::function<void()> smacc2::StateReactor::postEventFn

Definition at line 47 of file smacc_state_reactor.hpp.

Referenced by setOutputEvent(), and update().

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

• smacc2/include/smacc2/smacc_state_reactor.hpp
• smacc2/include/smacc2/impl/smacc_state_reactor_impl.hpp
• smacc2/src/smacc2/state_reactor.cpp