smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode > Class Template Reference

#include <smacc_state_base.h>

Inheritance diagram for smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >:

Collaboration diagram for smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >:

Classes
struct	my_context

Public Types
typedef Context	TContext
typedef Context::inner_context_type	context_type
typedef context_type::state_iterator	state_iterator
typedef InnerInitial	LastDeepState
typedef base_type::outermost_context_base_type	outermost_context_base_type
typedef base_type::inner_context_ptr_type	inner_context_ptr_type
typedef base_type::context_ptr_type	context_ptr_type
typedef base_type::inner_initial_list	inner_initial_list

Public Member Functions
	SmaccState ()=delete
	SmaccState (my_context ctx)
virtual	~SmaccState ()
const smacc::introspection::SmaccStateInfo *	getStateInfo ()
std::string	getFullName ()
std::string	getShortName ()
virtual ISmaccState *	getParentState ()
void	exit ()
void	runtimeConfigure ()
void	onEntry ()
void	onExit ()
template<typename T >
bool	getGlobalSMData (std::string name, T &ret)
template<typename T >
void	setGlobalSMData (std::string name, T value)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)
virtual ISmaccStateMachine &	getStateMachine ()
void	checkWhileLoopConditionAndThrowEvent (bool(MostDerived::*conditionFn)())
void	throwSequenceFinishedEvent ()
Public Member Functions inherited from smacc::ISmaccState
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 ()

Static Public Member Functions
template<typename TOrthogonal , typename TBehavior >
static void	configure_orthogonal_runtime (std::function< void(TBehavior &bh, MostDerived &)> initializationFunction)
template<typename TOrthogonal , typename TBehavior >
static void	configure_orthogonal_runtime (std::function< void(TBehavior &bh)> initializationFunction)
template<typename TOrthogonal , typename TBehavior , typename... Args>
static void	configure_orthogonal (Args &&... args)
template<typename TStateReactor , typename TOutputEvent , typename TInputEventList , typename... TArgs>
static std::shared_ptr< smacc::introspection::StateReactorHandler >	static_createStateReactor (TArgs... args)
template<typename TEventGenerator , typename... TUArgs>
static std::shared_ptr< smacc::introspection::EventGeneratorHandler >	static_createEventGenerator (TUArgs... args)
template<typename TStateReactor , typename... TUArgs>
static std::shared_ptr< smacc::introspection::StateReactorHandler >	static_createStateReactor_aux (TUArgs... args)
static void	initial_deep_construct (outermost_context_base_type &outermostContextBase)
static void	deep_construct (const context_ptr_type &pContext, outermost_context_base_type &outermostContextBase)
static inner_context_ptr_type	shallow_construct (const context_ptr_type &pContext, outermost_context_base_type &outermostContextBase)

Public Attributes
bool	finishStateThrown
InnerInitial *	smacc_inner_type

Private Types
typedef sc::simple_state< MostDerived, Context, InnerInitial, historyMode >	base_type

Private Member Functions
void	entryStateInternal ()

Static Private Member Functions
template<typename TOrthogonal , typename TBehavior >
static void	configure_orthogonal_internal (std::function< void(ISmaccState *state)> initializationFunction)

Additional Inherited Members
Protected Attributes inherited from smacc::ISmaccState
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

template<class MostDerived, class Context, class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>
class smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >

Definition at line 22 of file smacc_state_base.h.

Member Typedef Documentation

base_type

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

typedef sc::simple_state<MostDerived, Context, InnerInitial, historyMode> smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::base_type

private

Definition at line 27 of file smacc_state_base.h.

context_ptr_type

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

typedef base_type::context_ptr_type smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::context_ptr_type

Definition at line 339 of file smacc_state_base.h.

context_type

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

typedef Context::inner_context_type smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::context_type

Definition at line 31 of file smacc_state_base.h.

inner_context_ptr_type

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

typedef base_type::inner_context_ptr_type smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::inner_context_ptr_type

Definition at line 338 of file smacc_state_base.h.

inner_initial_list

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

typedef base_type::inner_initial_list smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::inner_initial_list

Definition at line 340 of file smacc_state_base.h.

LastDeepState

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

typedef InnerInitial smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::LastDeepState

Definition at line 34 of file smacc_state_base.h.

outermost_context_base_type

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

typedef base_type::outermost_context_base_type smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::outermost_context_base_type

Definition at line 337 of file smacc_state_base.h.

state_iterator

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

typedef context_type::state_iterator smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::state_iterator

Definition at line 32 of file smacc_state_base.h.

TContext

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

typedef Context smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::TContext

Definition at line 30 of file smacc_state_base.h.

Constructor & Destructor Documentation

SmaccState() [1/2]

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::SmaccState ( )

delete

SmaccState() [2/2]

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::SmaccState ( my_context  ctx )

inline

Definition at line 53 of file smacc_state_base.h.

    {
      static_assert(std::is_base_of<ISmaccState, Context>::value || std::is_base_of<ISmaccStateMachine, Context>::value, "The context class must be a SmaccState or a SmaccStateMachine");
 
      static_assert(!std::is_same<MostDerived, Context>::value, "The context must be a different state or state machine than the current state");
 
      ROS_WARN("[%s] creating ", STATE_NAME);
      this->set_context(ctx.pContext_);
 
      this->stateInfo_ = getStateInfo();
 
      // storing a reference to the parent state
      auto &ps = this->template context<Context>();
      parentState_ = dynamic_cast<ISmaccState *>(&ps);
      finishStateThrown = false;
 
      this->contextNh = optionalNodeHandle(ctx.pContext_);
      ROS_DEBUG("[%s] Ros node handle namespace for this state: %s", STATE_NAME, contextNh.getNamespace().c_str());
      if (contextNh.getNamespace() == "/")
      {
        auto nhname = smacc::utils::cleanShortTypeName(typeid(Context));
        ROS_INFO("[%s] Creating ros NodeHandle for this state: %s", STATE_NAME, nhname.c_str());
        contextNh = ros::NodeHandle(nhname);
      }
    }

References smacc::utils::cleanShortTypeName(), smacc::ISmaccState::contextNh, smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::finishStateThrown, smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::getStateInfo(), smacc::introspection::optionalNodeHandle(), smacc::ISmaccState::parentState_, smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::my_context::pContext_, STATE_NAME, and smacc::ISmaccState::stateInfo_.

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~SmaccState()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

virtual smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::~SmaccState ( )

inlinevirtual

Definition at line 79 of file smacc_state_base.h.

    {
    }

Member Function Documentation

checkWhileLoopConditionAndThrowEvent()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

void smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::checkWhileLoopConditionAndThrowEvent ( bool(MostDerived::*)()  conditionFn )

inline

Definition at line 308 of file smacc_state_base.h.

    {
      auto *thisobject = static_cast<MostDerived *>(this);
      auto condition = boost::bind(conditionFn, thisobject);
      bool conditionResult = condition();
 
      //ROS_INFO("LOOP EVENT CONDITION: %d", conditionResult);
      if (conditionResult)
      {
        this->postEvent<EvLoopContinue<MostDerived>>();
      }
      else
      {
        this->postEvent<EvLoopEnd<MostDerived>>();
      }
      ROS_INFO("[%s] POST THROW CONDITION", STATE_NAME);
    }

References STATE_NAME.

configure_orthogonal()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

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

static void smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::configure_orthogonal ( Args &&...  args )

inlinestatic

Definition at line 194 of file smacc_state_base.h.

    {
      configure_orthogonal_internal<TOrthogonal, TBehavior>(
          [=](ISmaccState *state) {
            //auto bh = std::make_shared<TBehavior>(args...);
            state->configure<TOrthogonal, TBehavior>(args...);
          });
    }

References smacc::ISmaccState::configure().

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configure_orthogonal_internal()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

template<typename TOrthogonal , typename TBehavior >

static void smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::configure_orthogonal_internal ( std::function< void(ISmaccState< MostDerived, Context, InnerInitial, historyMode > *state)>  initializationFunction )

inlinestaticprivate

Definition at line 376 of file smacc_state_base.h.

    {
      ROS_INFO("[%s] Runtime configure orthogonal %s -> %s", STATE_NAME, demangleSymbol(typeid(TOrthogonal).name()).c_str(), demangleSymbol(typeid(TBehavior).name()).c_str());
 
      ClientBehaviorInfoEntry bhinfo;
      bhinfo.factoryFunction = initializationFunction;
 
      bhinfo.behaviorType = &(typeid(TBehavior));
      bhinfo.orthogonalType = &(typeid(TOrthogonal));
 
      const std::type_info *tindex = &(typeid(MostDerived));
      if (!SmaccStateInfo::staticBehaviorInfo.count(tindex))
        SmaccStateInfo::staticBehaviorInfo[tindex] = std::vector<ClientBehaviorInfoEntry>();
 
      SmaccStateInfo::staticBehaviorInfo[tindex].push_back(bhinfo);
    }

References smacc::introspection::ClientBehaviorInfoEntry::behaviorType, smacc::introspection::demangleSymbol(), smacc::introspection::ClientBehaviorInfoEntry::factoryFunction, smacc::introspection::ClientBehaviorInfoEntry::orthogonalType, STATE_NAME, and smacc::introspection::SmaccStateInfo::staticBehaviorInfo.

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configure_orthogonal_runtime() [1/2]

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

template<typename TOrthogonal , typename TBehavior >

static void smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::configure_orthogonal_runtime ( std::function< void(TBehavior &bh)>  initializationFunction )

inlinestatic

Definition at line 184 of file smacc_state_base.h.

    {
      configure_orthogonal_internal<TOrthogonal, TBehavior>([=](ISmaccState *state) {
        //auto bh = std::make_shared<TBehavior>(args...);
        auto bh = state->configure<TOrthogonal, TBehavior>();
        initializationFunction(*bh);
      });
    }

References smacc::ISmaccState::configure().

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configure_orthogonal_runtime() [2/2]

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

template<typename TOrthogonal , typename TBehavior >

static void smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::configure_orthogonal_runtime ( std::function< void(TBehavior &bh, MostDerived &)>  initializationFunction )

inlinestatic

Definition at line 174 of file smacc_state_base.h.

    {
      configure_orthogonal_internal<TOrthogonal, TBehavior>([=](ISmaccState *state) {
        //auto bh = std::make_shared<TBehavior>(args...);
        auto bh = state->configure<TOrthogonal, TBehavior>();
        initializationFunction(*bh, *(static_cast<MostDerived *>(state)));
      });
    }

References smacc::ISmaccState::configure().

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deep_construct()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

static void smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::deep_construct ( const context_ptr_type &  pContext, outermost_context_base_type &  outermostContextBase  )

inlinestatic

Definition at line 349 of file smacc_state_base.h.

    {
      const inner_context_ptr_type pInnerContext(
          shallow_construct(pContext, outermostContextBase));
      base_type::template deep_construct_inner<inner_initial_list>(
          pInnerContext, outermostContextBase);
    }

References smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::shallow_construct().

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

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entryStateInternal()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

void smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::entryStateInternal ( )

inlineprivate

Definition at line 393 of file smacc_state_base.h.

    {
      this->getStateMachine().notifyOnStateEntryStart(static_cast<MostDerived *>(this));
 
      // TODO: make this static to build the parameter tree at startup
      this->nh = ros::NodeHandle(contextNh.getNamespace() + std::string("/") + smacc::utils::cleanShortTypeName(typeid(MostDerived)).c_str());
 
      ROS_DEBUG("[%s] nodehandle namespace: %s", STATE_NAME, nh.getNamespace().c_str());
 
      this->setParam("created", true);
 
      // before dynamic runtimeConfigure, we execute the staticConfigure behavior configurations
      {
        ROS_INFO("[%s] -- STATIC STATE DESCRIPTION --", STATE_NAME);
 
        for (const auto &stateReactorsVector : SmaccStateInfo::staticBehaviorInfo)
        {
          ROS_DEBUG("[%s] state info: %s", STATE_NAME, demangleSymbol(stateReactorsVector.first->name()).c_str());
          for (auto &bhinfo : stateReactorsVector.second)
          {
            ROS_DEBUG("[%s] client behavior: %s", STATE_NAME, demangleSymbol(bhinfo.behaviorType->name()).c_str());
          }
        }
 
        const std::type_info *tindex = &(typeid(MostDerived));
        auto &staticDefinedBehaviors = SmaccStateInfo::staticBehaviorInfo[tindex];
        auto &staticDefinedStateReactors = SmaccStateInfo::stateReactorsInfo[tindex];
        auto &staticDefinedEventGenerators = SmaccStateInfo::eventGeneratorsInfo[tindex];
 
        for(auto & ortho : this->getStateMachine().getOrthogonals())
        {
          ROS_INFO("[%s] Initializing orthogonal: %s", STATE_NAME, demangleSymbol(typeid(*ortho.second).name()).c_str());
          ortho.second->initState(this);
        }
 
        for (auto &bhinfo : staticDefinedBehaviors)
        {
          ROS_INFO("[%s] Creating static client behavior: %s", STATE_NAME, demangleSymbol(bhinfo.behaviorType->name()).c_str());
          bhinfo.factoryFunction(this);
        }
 
        for (auto &sr : staticDefinedStateReactors)
        {
          ROS_INFO("[%s] Creating static state reactor: %s", STATE_NAME, demangleSymbol(sr->stateReactorType->name()).c_str());
          sr->factoryFunction(this);
        }
 
        for (auto &eg : staticDefinedEventGenerators)
        {
          ROS_INFO("[%s] Creating static event generator: %s", STATE_NAME, demangleSymbol(eg->eventGeneratorType->name()).c_str());
          eg->factoryFunction(this);
        }
 
        ROS_INFO("[%s] ---- END STATIC DESCRIPTION", STATE_NAME);
      }
 
      ROS_INFO("[%s] State runtime configuration", STATE_NAME);
 
      auto *derivedthis = static_cast<MostDerived *>(this);
 
      // second the orthogonals are internally configured
      this->getStateMachine().notifyOnRuntimeConfigured(derivedthis);
 
      // first we runtime configure the state, where we create client behaviors
      static_cast<MostDerived *>(this)->runtimeConfigure();
 
      this->getStateMachine().notifyOnRuntimeConfigurationFinished(derivedthis);
 
      ROS_INFO("[%s] State OnEntry", STATE_NAME);
 
      // finally we go to the derived state onEntry Function
      static_cast<MostDerived *>(this)->onEntry();
 
      // here orthogonals and client behaviors are entered OnEntry
      this->getStateMachine().notifyOnStateEntryEnd(derivedthis);
    }

References smacc::utils::cleanShortTypeName(), smacc::ISmaccState::contextNh, smacc::introspection::demangleSymbol(), smacc::introspection::SmaccStateInfo::eventGeneratorsInfo, smacc::ISmaccStateMachine::getOrthogonals(), smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::getStateMachine(), smacc::ISmaccState::nh, smacc::ISmaccStateMachine::notifyOnRuntimeConfigurationFinished(), smacc::ISmaccStateMachine::notifyOnRuntimeConfigured(), smacc::ISmaccStateMachine::notifyOnStateEntryEnd(), smacc::ISmaccStateMachine::notifyOnStateEntryStart(), smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::onEntry(), smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::runtimeConfigure(), smacc::ISmaccState::setParam(), STATE_NAME, smacc::introspection::SmaccStateInfo::stateReactorsInfo, and smacc::introspection::SmaccStateInfo::staticBehaviorInfo.

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exit()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

void smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::exit ( )

inline

Definition at line 116 of file smacc_state_base.h.

    {
      auto *derivedThis = static_cast<MostDerived *>(this);
      this->getStateMachine().notifyOnStateExitting(derivedThis);
      try
      { // static_cast<MostDerived *>(this)->onExit();
        standardOnExit(*derivedThis);
      }
      catch (...)
      {
      }
      this->getStateMachine().notifyOnStateExited(derivedThis);
    }

References smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::getStateMachine(), smacc::ISmaccStateMachine::notifyOnStateExited(), smacc::ISmaccStateMachine::notifyOnStateExitting(), and smacc::standardOnExit().

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getFullName()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

std::string smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::getFullName ( )

inline

Definition at line 98 of file smacc_state_base.h.

    {
      return demangleSymbol(typeid(MostDerived).name());
    }

References smacc::introspection::demangleSymbol().

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getGlobalSMData()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

template<typename T >

bool smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::getGlobalSMData ( std::string  name, T &  ret  )

inline

Definition at line 150 of file smacc_state_base.h.

    {
      return base_type::outermost_context().getGlobalSMData(name, ret);
    }

getParentState()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

virtual ISmaccState * smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::getParentState ( )

inlinevirtual

Definition at line 108 of file smacc_state_base.h.

    {
      //auto* ctx = dynamic_cast<ISmaccState*>(this->template context<Context *>());
 
      return parentState_;
    }

References smacc::ISmaccState::parentState_.

getShortName()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

std::string smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::getShortName ( )

inline

Definition at line 103 of file smacc_state_base.h.

    {
      return smacc::utils::cleanShortTypeName(typeid(MostDerived));
    }

References smacc::utils::cleanShortTypeName().

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getStateInfo()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

const smacc::introspection::SmaccStateInfo * smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::getStateInfo ( )

inline

Definition at line 83 of file smacc_state_base.h.

    {
      auto smInfo = this->getStateMachine().getStateMachineInfo();
 
      auto key = typeid(MostDerived).name();
      if (smInfo.states.count(key))
      {
        return smInfo.states[key].get();
      }
      else
      {
        return nullptr;
      }
    }

References smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::getStateMachine(), smacc::ISmaccStateMachine::getStateMachineInfo(), and smacc::introspection::SmaccStateMachineInfo::states.

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

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getStateMachine()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

virtual ISmaccStateMachine & smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::getStateMachine ( )

inlinevirtual

Implements smacc::ISmaccState.

Definition at line 168 of file smacc_state_base.h.

    {
      return base_type::outermost_context();
    }

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

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initial_deep_construct()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

static void smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::initial_deep_construct ( outermost_context_base_type &  outermostContextBase )

inlinestatic

Definition at line 342 of file smacc_state_base.h.

    {
      deep_construct(&outermostContextBase, outermostContextBase);
    }

References smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::deep_construct().

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onEntry()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

void smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::onEntry ( )

inline

Definition at line 139 of file smacc_state_base.h.

    {
    }

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

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onExit()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

void smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::onExit ( )

inline

Definition at line 145 of file smacc_state_base.h.

    {
    }

requiresComponent()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

template<typename SmaccComponentType >

void smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::requiresComponent ( SmaccComponentType *&  storage )

inline

Definition at line 163 of file smacc_state_base.h.

    {
      base_type::outermost_context().requiresComponent(storage);
    }

runtimeConfigure()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

void smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::runtimeConfigure ( )

inline

Definition at line 133 of file smacc_state_base.h.

    {
    }

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

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setGlobalSMData()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

template<typename T >

void smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::setGlobalSMData ( std::string  name, T  value  )

inline

Definition at line 157 of file smacc_state_base.h.

    {
      base_type::outermost_context().setGlobalSMData(name, value);
    }

shallow_construct()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

static inner_context_ptr_type smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::shallow_construct ( const context_ptr_type &  pContext, outermost_context_base_type &  outermostContextBase  )

inlinestatic

Definition at line 359 of file smacc_state_base.h.

    {
      // allocating in memory
      auto state = new MostDerived(SmaccState<MostDerived, Context, InnerInitial, historyMode>::my_context(pContext));
      const inner_context_ptr_type pInnerContext(state);
 
      ROS_INFO("[%s] State object created. Initializating...", STATE_NAME);
      state->entryStateInternal();
 
      outermostContextBase.add(pInnerContext);
      return pInnerContext;
    }

References STATE_NAME.

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

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static_createEventGenerator()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

template<typename TEventGenerator , typename... TUArgs>

static std::shared_ptr< smacc::introspection::EventGeneratorHandler > smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::static_createEventGenerator ( TUArgs...  args )

inlinestatic

Definition at line 256 of file smacc_state_base.h.

    {
      auto egh = std::make_shared<smacc::introspection::EventGeneratorHandler>();
      auto eginfo = std::make_shared<SmaccEventGeneratorInfo>();
      eginfo->eventGeneratorType = &typeid(TEventGenerator);
      eginfo->egh = egh;
      egh->egInfo_ = eginfo;
 
      const std::type_info *tindex = &(typeid(MostDerived)); // get identifier of the current state
 
      if (!SmaccStateInfo::eventGeneratorsInfo.count(tindex))
        SmaccStateInfo::eventGeneratorsInfo[tindex] = std::vector<std::shared_ptr<SmaccEventGeneratorInfo>>();
 
      eginfo->factoryFunction = [&, egh, args...](ISmaccState *state) {
        auto eg = state->createEventGenerator<TEventGenerator>(args...);
        egh->configureEventGenerator(eg);
        eg->initialize(state);
        eg->template onStateAllocation<MostDerived, TEventGenerator>();
        return eg;
      };
 
      SmaccStateInfo::eventGeneratorsInfo[tindex].push_back(eginfo);
      return egh;
    }

References smacc::introspection::SmaccStateInfo::eventGeneratorsInfo.

static_createStateReactor()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

template<typename TStateReactor , typename TOutputEvent , typename TInputEventList , typename... TArgs>

static std::shared_ptr< smacc::introspection::StateReactorHandler > smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::static_createStateReactor ( TArgs...  args )

inlinestatic

Definition at line 229 of file smacc_state_base.h.

    {
      auto srh = std::make_shared<smacc::introspection::StateReactorHandler>();
      auto srinfo = std::make_shared<SmaccStateReactorInfo>();
 
      srinfo->stateReactorType = &typeid(TStateReactor);
      srinfo->srh = srh;
      srh->srInfo_ = srinfo;
 
      const std::type_info *tindex = &(typeid(MostDerived)); // get identifier of the current state
 
      if (!SmaccStateInfo::stateReactorsInfo.count(tindex))
        SmaccStateInfo::stateReactorsInfo[tindex] = std::vector<std::shared_ptr<SmaccStateReactorInfo>>();
 
      srinfo->factoryFunction = [&, srh, args...](ISmaccState *state) {
        auto sr = state->createStateReactor<TStateReactor, TOutputEvent, TInputEventList, TArgs...>(args...);
        srh->configureStateReactor(sr);
        sr->initialize(state);
        return sr;
      };
 
      SmaccStateInfo::stateReactorsInfo[tindex].push_back(srinfo);
 
      return srh;
    }

References smacc::introspection::SmaccStateInfo::stateReactorsInfo.

static_createStateReactor_aux()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

template<typename TStateReactor , typename... TUArgs>

static std::shared_ptr< smacc::introspection::StateReactorHandler > smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::static_createStateReactor_aux ( TUArgs...  args )

inlinestatic

Definition at line 282 of file smacc_state_base.h.

    {
      auto srh = std::make_shared<smacc::introspection::StateReactorHandler>();
      auto srinfo = std::make_shared<SmaccStateReactorInfo>();
 
      srinfo->stateReactorType = &typeid(TStateReactor);
      srinfo->srh = srh;
      srh->srInfo_ = srinfo;
 
      const std::type_info *tindex = &(typeid(MostDerived)); // get identifier of the current state
 
      if (!SmaccStateInfo::stateReactorsInfo.count(tindex))
        SmaccStateInfo::stateReactorsInfo[tindex] = std::vector<std::shared_ptr<SmaccStateReactorInfo>>();
 
      srinfo->factoryFunction = [&, srh, args...](ISmaccState *state) {
        auto sr = state->createStateReactor<TStateReactor>(args...);
        srh->configureStateReactor(sr);
        sr->initialize(state);
        return sr;
      };
 
      SmaccStateInfo::stateReactorsInfo[tindex].push_back(srinfo);
 
      return srh;
    }

References smacc::introspection::SmaccStateInfo::stateReactorsInfo.

throwSequenceFinishedEvent()

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

void smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::throwSequenceFinishedEvent ( )

inline

Definition at line 326 of file smacc_state_base.h.

    {
      this->postEvent<EvSequenceFinished<MostDerived>>();
    }

Member Data Documentation

finishStateThrown

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

bool smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::finishStateThrown

Definition at line 36 of file smacc_state_base.h.

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

smacc_inner_type

template<class MostDerived , class Context , class InnerInitial = mpl::list<>, sc::history_mode historyMode = sc::has_deep_history>

InnerInitial* smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::smacc_inner_type

Definition at line 37 of file smacc_state_base.h.

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

• smacc/include/smacc/smacc_state_base.h