smacc::StateReactor Class Reference

#include <smacc_state_reactor.h>

Inheritance diagram for smacc::StateReactor:

Collaboration diagram for smacc::StateReactor:

Public Member Functions
	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)

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 29 of file smacc_state_reactor.h.

Constructor & Destructor Documentation

StateReactor()

smacc::StateReactor::StateReactor

(

)

Definition at line 7 of file state_reactor.cpp.

{
}

Member Function Documentation

addInputEvent()

template<typename TEv >

void smacc::StateReactor::addInputEvent

Definition at line 37 of file smacc_state_reactor_impl.h.

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

References eventTypes.

Referenced by smacc::AddTEventType< TEventList >::operator()().

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createEventCallback() [1/2]

template<typename T >

void smacc::StateReactor::createEventCallback

(

std::function< void(T *)>

callback

)

Definition at line 53 of file smacc_state_reactor_impl.h.

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

References eventCallbacks_.

createEventCallback() [2/2]

template<typename T , typename TClass >

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

Definition at line 43 of file smacc_state_reactor_impl.h.

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

References eventCallbacks_.

Referenced by smacc::state_reactors::Srsr_conditional::Srsr_conditional().

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initialize()

void smacc::StateReactor::initialize

(

smacc::ISmaccState *

ownerState

)

Definition at line 11 of file state_reactor.cpp.

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

References onInitialized(), and ownerState.

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notifyEvent()

template<typename TEvent >

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

inlineprivate

Definition at line 78 of file smacc_state_reactor.h.

    {
        //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 smacc::StateReactor::onEntry ( )

virtual

Definition at line 25 of file state_reactor.cpp.

{
 
}

onEventNotified()

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

virtual

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

Definition at line 21 of file state_reactor.cpp.

{
}

Referenced by notifyEvent().

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onExit()

void smacc::StateReactor::onExit ( )

virtual

Definition at line 30 of file state_reactor.cpp.

{
 
}

onInitialized()

void smacc::StateReactor::onInitialized ( )

virtual

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

Definition at line 17 of file state_reactor.cpp.

{
}

Referenced by initialize().

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postEvent() [1/2]

template<typename EventType >

void smacc::StateReactor::postEvent

Definition at line 21 of file smacc_state_reactor_impl.h.

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

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

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postEvent() [2/2]

template<typename EventType >

void smacc::StateReactor::postEvent

(

const EventType &

ev

)

Definition at line 15 of file smacc_state_reactor_impl.h.

{
    ownerState->postEvent(ev);
}

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

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setOutputEvent()

template<typename TEv >

void smacc::StateReactor::setOutputEvent

Definition at line 27 of file smacc_state_reactor_impl.h.

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

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

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triggers()

virtual bool smacc::StateReactor::triggers ( )

pure virtual

Implemented in smacc::state_reactors::SrAllEventsGo, smacc::state_reactors::Srsr_conditional, and smacc::state_reactors::SrEventCountdown.

Referenced by update().

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update()

void smacc::StateReactor::update

(

)

Definition at line 35 of file state_reactor.cpp.

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

References postEventFn, and triggers().

Referenced by notifyEvent().

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Member Data Documentation

eventCallbacks_

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

Definition at line 35 of file smacc_state_reactor.h.

Referenced by createEventCallback(), and notifyEvent().

eventTypes

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

Definition at line 34 of file smacc_state_reactor.h.

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

ISmaccStateMachine

friend smacc::StateReactor::ISmaccStateMachine

private

Definition at line 75 of file smacc_state_reactor.h.

ownerState

ISmaccState* smacc::StateReactor::ownerState

Definition at line 32 of file smacc_state_reactor.h.

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

postEventFn

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

Definition at line 33 of file smacc_state_reactor.h.

Referenced by setOutputEvent(), and update().

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

• smacc/include/smacc/smacc_state_reactor.h
• smacc/include/smacc/impl/smacc_state_reactor_impl.h
• smacc/src/smacc/state_reactor.cpp