smacc_client_behavior_base.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#pragma once
#include <smacc/common.h>
 
namespace smacc
{
    class ISmaccClientBehavior
    {
    public:
        ISmaccClientBehavior();
 
        virtual ~ISmaccClientBehavior();
 
        inline ISmaccStateMachine *getStateMachine();
 
        std::string getName() const;
 
        template <typename SmaccClientType>
        void requiresClient(SmaccClientType *&storage);
 
        template <typename SmaccComponentType>
        void requiresComponent(SmaccComponentType *&storage);
 
        ros::NodeHandle getNode();
 
    protected:
        virtual void runtimeConfigure();
 
        virtual void onEntry();
 
        virtual void onExit();
 
        template <typename EventType>
        void postEvent(const EventType &ev);
 
        template <typename EventType>
        void postEvent();
 
        inline ISmaccState *getCurrentState();
 
        virtual void executeOnEntry();
 
        virtual void executeOnExit();
 
        virtual void dispose();
 
    private:
 
        template <typename TOrthogonal, typename TSourceObject>
        void onOrthogonalAllocation();
 
        // a reference to the owner state machine
        ISmaccStateMachine *stateMachine_;
 
        // a reference to the state where the client behavior is being executed
        ISmaccState *currentState;
 
        smacc::ISmaccOrthogonal *currentOrthogonal;
 
        friend class ISmaccState;
        friend class ISmaccOrthogonal;
    };
} // namespace smacc