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

#include <sm_dance_bot_strikes_back.hpp>

Inheritance diagram for sm_dance_bot_strikes_back::SmDanceBotStrikesBack:

Collaboration diagram for sm_dance_bot_strikes_back::SmDanceBotStrikesBack:

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< SmDanceBotStrikesBack, 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 141 of file sm_dance_bot_strikes_back.hpp.

Member Typedef Documentation

◆ deep_history

typedef mpl::bool_<false> sm_dance_bot_strikes_back::SmDanceBotStrikesBack::deep_history

Definition at line 148 of file sm_dance_bot_strikes_back.hpp.

◆ inherited_deep_history

typedef mpl::bool_<false> sm_dance_bot_strikes_back::SmDanceBotStrikesBack::inherited_deep_history

Definition at line 149 of file sm_dance_bot_strikes_back.hpp.

◆ shallow_history

typedef mpl::bool_<false> sm_dance_bot_strikes_back::SmDanceBotStrikesBack::shallow_history

Definition at line 147 of file sm_dance_bot_strikes_back.hpp.

Member Function Documentation

◆ onInitialize()

void sm_dance_bot_strikes_back::SmDanceBotStrikesBack::onInitialize ( )

inlineoverridevirtual

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

Reimplemented from smacc2::ISmaccStateMachine.

Definition at line 153 of file sm_dance_bot_strikes_back.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>();
  }