#include <smacc_state.h>

Inheritance diagram for smacc::ISmaccState:

Collaboration diagram for smacc::ISmaccState:

Public Member Functions
virtual ISmaccStateMachine &	getStateMachine ()=0

ISmaccState *	getParentState ()

ros::NodeHandle &	getROSNode ()

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< smacc::introspection::TypeInfo > &transitionTypeInfo)

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

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

template<typename T >
bool	getParam (std::string param_name, T &param_storage)

template<typename T >
void	setParam (std::string param_name, T param_val)

template<typename T >
bool	param (std::string param_name, T &param_val, const T &default_val) const

template<typename TOrthogonal >
TOrthogonal *	getOrthogonal ()

template<typename TEventGenerator >
TEventGenerator *	getEventGenerator ()

template<typename TStateReactor >
TStateReactor *	getStateReactor ()

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

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

ros::NodeHandle	nh

ros::NodeHandle	contextNh

ISmaccState *	parentState_

const smacc::introspection::SmaccStateInfo *	stateInfo_

Detailed Description

Definition at line 11 of file smacc_state.h.

Member Function Documentation

◆ configure()

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

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

Definition at line 48 of file smacc_state_impl.h.

    {
        std::string orthogonalkey = demangledTypeName<TOrthogonal>();
        ROS_INFO("[%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...));
            clientBehavior->currentState = this;
            orthogonal->addClientBehavior(clientBehavior);
            clientBehavior->template onOrthogonalAllocation<TOrthogonal, TBehavior>();
            return clientBehavior;
        }
        else
        {
            ROS_ERROR("[%s] Skipping client behavior creation in orthogonal [%s]. It does not exist.", THIS_STATE_NAME, orthogonalkey.c_str());
            return nullptr;
        }
    }

References THIS_STATE_NAME.

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

Here is the caller graph for this function:

◆ createEventGenerator()

template<typename TEventGenerator , typename... TEvArgs>

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

Definition at line 120 of file smacc_state_impl.h.

    {
        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 > smacc::ISmaccState::createStateReactor ( TEvArgs... args )

Definition at line 143 of file smacc_state_impl.h.

    {
        auto sr = std::make_shared<TStateReactor>(args...);
        TEventList *mock;
        sr->initialize(this);
        sr->template setOutputEvent<TTriggerEvent>();
 
        using boost::mpl::_1;
        using wrappedList = typename boost::mpl::transform<TEventList, _1>::type;
        AddTEventType<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 > smacc::ISmaccState::createStateReactor ( TEvArgs... args )

Definition at line 110 of file smacc_state_impl.h.

    {
        auto sr = std::make_shared<TStateReactor>(args...);
        //sb->initialize(this, mock);
        //sb->setOutputEvent(typelist<TTriggerEvent>());
        stateReactors_.push_back(sr);
        return sr;
    }

References stateReactors_.

◆ getClassName()

std::string smacc::ISmaccState::getClassName ( )

virtual

Definition at line 6 of file smacc_state.cpp.

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

References smacc::introspection::demangleSymbol().

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

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getEventGenerator()

template<typename TEventGenerator >

TEventGenerator * smacc::ISmaccState::getEventGenerator

Definition at line 168 of file smacc_state_impl.h.

    {
        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 > > & smacc::ISmaccState::getEventGenerators ( )

inline

Definition at line 62 of file smacc_state.h.

62{ return eventGenerators_; }

References eventGenerators_.

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

Here is the caller graph for this function:

◆ getGlobalSMData()

template<typename T >

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

Definition at line 95 of file smacc_state_impl.h.

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

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

Here is the call graph for this function:

◆ getOrthogonal()

template<typename TOrthogonal >

TOrthogonal * smacc::ISmaccState::getOrthogonal

Definition at line 161 of file smacc_state_impl.h.

    {
        //static_assert(boost::type_traits::is_base_of<ISmaccOrthogonal,TOrthogonal>::value);
        return this->getStateMachine().getOrthogonal<TOrthogonal>();
    }

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

Here is the call graph for this function:

◆ getParam()

template<typename T >

bool smacc::ISmaccState::getParam	(	std::string	param_name,
		T &	param_storage
	)

Definition at line 24 of file smacc_state_impl.h.

    {
        return nh.getParam(param_name, param_storage);
    }

References nh.

Referenced by cl_move_base_z::CbNavigateGlobalPosition::readStartPoseFromParameterServer().

Here is the caller graph for this function:

◆ getParentState()

ISmaccState * smacc::ISmaccState::getParentState ( )

inline

Definition at line 16 of file smacc_state.h.

16{ return parentState_; }

smacc::ISmaccState::parentState_

ISmaccState * parentState_

Definition: smacc_state.h:93

References parentState_.

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

Here is the caller graph for this function:

◆ getROSNode()

ros::NodeHandle & smacc::ISmaccState::getROSNode ( )

inline

Definition at line 18 of file smacc_state.h.

18{ return nh; }

References nh.

◆ getStateMachine()

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

pure virtual

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

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

Here is the caller graph for this function:

◆ getStateReactor()

template<typename TStateReactor >

TStateReactor * smacc::ISmaccState::getStateReactor

Definition at line 181 of file smacc_state_impl.h.

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

References stateReactors_.

◆ getStateReactors()

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

inline

Definition at line 60 of file smacc_state.h.

60{ return stateReactors_; }

References stateReactors_.

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

Here is the caller graph for this function:

◆ notifyTransition()

template<typename TransitionType >

void smacc::ISmaccState::notifyTransition

Definition at line 219 of file smacc_state_impl.h.

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

References notifyTransitionFromTransitionTypeInfo().

Here is the call graph for this function:

◆ notifyTransitionFromTransitionTypeInfo()

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

Definition at line 11 of file smacc_state.cpp.

{
    ROS_INFO_STREAM("NOTIFY TRANSITION: " << transitionType->getFullName());
 
    //auto currstateinfo = this->getStateMachine().getCurrentStateInfo();
    auto currstateinfo = this->stateInfo_;
 
    if (currstateinfo != nullptr)
    {
        //ROS_ERROR_STREAM("CURRENT STATE INFO: " << currstateinfo->fullStateName);
        for (auto &transition : currstateinfo->transitions_)
        {
            std::string transitionCandidateName = transition.transitionTypeInfo->getFullName();
            //ROS_ERROR_STREAM("candidate transition: " << transitionCandidateName);
 
            if (transitionType->getFullName() == transitionCandidateName)
            {
                this->getStateMachine().publishTransition(transition);
                return;
            }
        }
 
        // debug information if not found
        ROS_ERROR_STREAM("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();
            ROS_ERROR_STREAM("- candidate transition: " << transitionCandidateName);
        }
 
        ROS_ERROR("Ancestors candidates: ");
 
        std::list<const SmaccStateInfo *> ancestors;
        stateinfo->getAncestors(ancestors);
 
        for (auto &ancestor : ancestors)
        {
            ROS_ERROR_STREAM(" * Ancestor " << ancestor->getDemangledFullName() << ":");
            for (auto &transition : ancestor->transitions_)
            {
                std::string transitionCandidateName = transition.transitionTypeInfo->getFullName();
                ROS_ERROR_STREAM("- candidate transition: " << transitionCandidateName);
                if (transitionType->getFullName() == transitionCandidateName)
                {
                    ROS_ERROR("GOTCHA");
                }
            }
        }
    }
    else
    {
        ROS_ERROR_STREAM("Transition happened, but current state was not set. Transition candidates:");
    }
}

References getStateMachine(), smacc::ISmaccStateMachine::publishTransition(), and stateInfo_.

Referenced by notifyTransition().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ param()

template<typename T >

bool smacc::ISmaccState::param	(	std::string	param_name,
		T &	param_val,
		const T &	default_val
	)		const

Definition at line 40 of file smacc_state_impl.h.

    {
        return nh.param(param_name, param_val, default_val);
    }

References nh.

Referenced by cl_move_base_z::CbAbsoluteRotate::onEntry(), cl_move_base_z::CbNavigateBackwards::onEntry(), cl_move_base_z::CbNavigateForward::onEntry(), and cl_move_base_z::CbRotate::onEntry().

Here is the caller graph for this function:

◆ postEvent() [1/2]

template<typename EventType >

void smacc::ISmaccState::postEvent

Definition at line 212 of file smacc_state_impl.h.

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

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

Here is the call graph for this function:

◆ postEvent() [2/2]

template<typename EventType >

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

Definition at line 206 of file smacc_state_impl.h.

    {
        getStateMachine().postEvent(ev);
    }

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

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

Here is the call graph for this function:

Here is the caller graph for this function:

◆ requiresClient()

template<typename SmaccClientType >

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

Definition at line 78 of file smacc_state_impl.h.

    {
        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;
        }
 
        ROS_ERROR("[%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 smacc::introspection::demangleSymbol(), smacc::ISmaccStateMachine::getOrthogonals(), and getStateMachine().

Here is the call graph for this function:

◆ requiresComponent()

template<typename SmaccComponentType >

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

Definition at line 71 of file smacc_state_impl.h.

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

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

Here is the call graph for this function:

◆ setGlobalSMData()

template<typename T >

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

Definition at line 103 of file smacc_state_impl.h.

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

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

Here is the call graph for this function:

◆ setParam()

template<typename T >

void smacc::ISmaccState::setParam	(	std::string	param_name,
		T	param_val
	)

Definition at line 32 of file smacc_state_impl.h.

    {
        return nh.setParam(param_name, param_val);
    }

References nh.

Referenced by smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::entryStateInternal().

Here is the caller graph for this function:

Member Data Documentation

◆ contextNh

ros::NodeHandle smacc::ISmaccState::contextNh

protected

Definition at line 91 of file smacc_state.h.

Referenced by smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::entryStateInternal(), and smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::SmaccState().

◆ eventGenerators_

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

protected

Definition at line 87 of file smacc_state.h.

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

◆ nh

ros::NodeHandle smacc::ISmaccState::nh

protected

Definition at line 89 of file smacc_state.h.

Referenced by smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::entryStateInternal(), getParam(), getROSNode(), param(), and setParam().

◆ parentState_

ISmaccState* smacc::ISmaccState::parentState_

protected

Definition at line 93 of file smacc_state.h.

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

◆ stateInfo_

const smacc::introspection::SmaccStateInfo* smacc::ISmaccState::stateInfo_

protected

Definition at line 95 of file smacc_state.h.

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

◆ stateReactors_

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

protected

Definition at line 86 of file smacc_state.h.

Referenced by createStateReactor(), getStateReactor(), and getStateReactors().

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

smacc/include/smacc/smacc_state.h
smacc/include/smacc/impl/smacc_state_impl.h
smacc/src/smacc/smacc_state.cpp

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ configure()

◆ createEventGenerator()

◆ createStateReactor() [1/2]

◆ createStateReactor() [2/2]

◆ getClassName()

◆ getEventGenerator()

◆ getEventGenerators()

◆ getGlobalSMData()

◆ getOrthogonal()

◆ getParam()

◆ getParentState()

◆ getROSNode()

◆ getStateMachine()

◆ getStateReactor()

◆ getStateReactors()

◆ notifyTransition()

◆ notifyTransitionFromTransitionTypeInfo()

◆ param()

◆ postEvent() [1/2]

◆ postEvent() [2/2]

◆ requiresClient()

◆ requiresComponent()

◆ setGlobalSMData()

◆ setParam()

Member Data Documentation

◆ contextNh

◆ eventGenerators_

◆ nh

◆ parentState_

◆ stateInfo_

◆ stateReactors_