sm_dance_bot::SmDanceBot Struct Reference

Advanced example of state machine with smacc that shows multiple techniques for the development of state machines. More...

#include <sm_dance_bot.hpp>

Inheritance diagram for sm_dance_bot::SmDanceBot:

Collaboration diagram for sm_dance_bot::SmDanceBot:

Public Types
typedef mpl::bool_< false >	shallow_history
typedef mpl::bool_< false >	deep_history
typedef mpl::bool_< false >	inherited_deep_history

Public Member Functions
void	onInitialize () override
	this function should be implemented by the user to create the orthogonals More...
Public Member Functions inherited from smacc2::SmaccStateMachineBase< SmDanceBot, MsDanceBotRunMode >
	SmaccStateMachineBase (my_context ctx, SignalDetector *signalDetector)
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)
virtual	~ISmaccStateMachine ()
virtual void	reset ()
virtual void	stop ()
virtual void	eStop ()
template<typename TOrthogonal >
TOrthogonal *	getOrthogonal ()
const std::map< std::string, std::shared_ptr< smacc2::ISmaccOrthogonal > > &	getOrthogonals () const
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)
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)
template<typename StateField , typename BehaviorType >
void	mapBehavior ()
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 More...
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)
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)
void	disposeStateAndDisconnectSignals ()
template<typename StateType >
void	notifyOnRuntimeConfigurationFinished (StateType *state)
unsigned long	getCurrentStateCounter () const
ISmaccState *	getCurrentState () const
const SmaccStateMachineInfo &	getStateMachineInfo ()
template<typename InitialStateType >
void	buildStateMachineInfo ()
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()
std::recursive_mutex &	getMutex ()

Public Attributes
int	counter_1
bool	rt_ready_flag

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::Service< smacc2_msgs::srv::SmaccGetTransitionHistory >::SharedPtr	transitionHistoryService_
ISmaccState *	currentState_
std::shared_ptr< SmaccStateInfo >	currentStateInfo_
smacc2_msgs::msg::SmaccStatus	status_msg_
std::map< std::string, std::shared_ptr< smacc2::ISmaccOrthogonal > >	orthogonals_
std::shared_ptr< SmaccStateMachineInfo >	stateMachineInfo_

Detailed Description

Advanced example of state machine with smacc that shows multiple techniques for the development of state machines.

Definition at line 140 of file sm_dance_bot.hpp.

Member Typedef Documentation

deep_history

typedef mpl::bool_<false> sm_dance_bot::SmDanceBot::deep_history

Definition at line 146 of file sm_dance_bot.hpp.

inherited_deep_history

typedef mpl::bool_<false> sm_dance_bot::SmDanceBot::inherited_deep_history

Definition at line 147 of file sm_dance_bot.hpp.

shallow_history

typedef mpl::bool_<false> sm_dance_bot::SmDanceBot::shallow_history

Definition at line 145 of file sm_dance_bot.hpp.

Member Function Documentation

onInitialize()

void sm_dance_bot::SmDanceBot::onInitialize ( )

inlineoverridevirtual

this function should be implemented by the user to create the orthogonals

Reimplemented from smacc2::ISmaccStateMachine.

Definition at line 151 of file sm_dance_bot.hpp.

  {
    this->setGlobalSMData("counter_1", counter_1);
    this->setGlobalSMData("rt_ready_flag", rt_ready_flag);
 
    this->createOrthogonal<OrNavigation>();
    this->createOrthogonal<OrObstaclePerception>();
    this->createOrthogonal<OrLED>();
    this->createOrthogonal<OrTemperatureSensor>();
    this->createOrthogonal<OrStringPublisher>();
    this->createOrthogonal<OrService3>();
    this->createOrthogonal<OrTimer>();
    this->createOrthogonal<OrUpdatablePublisher>();
  }

References smacc2::ISmaccStateMachine::setGlobalSMData().

Here is the call graph for this function:

Member Data Documentation

counter_1

int sm_dance_bot::SmDanceBot::counter_1

Definition at line 142 of file sm_dance_bot.hpp.

rt_ready_flag

bool sm_dance_bot::SmDanceBot::rt_ready_flag

Definition at line 143 of file sm_dance_bot.hpp.

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

• smacc2_sm_reference_library/sm_dance_bot/include/sm_dance_bot/sm_dance_bot.hpp