smacc::SmaccStateMachineBase< DerivedStateMachine, InitialStateType > Struct Template Reference

State Machine. More...

#include <smacc_state_machine_base.h>

Inheritance diagram for smacc::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >:

Collaboration diagram for smacc::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >:

Public Member Functions
	SmaccStateMachineBase (my_context ctx, SignalDetector *signalDetector)
virtual	~SmaccStateMachineBase ()
virtual void	reset () override
virtual void	stop () override
virtual void	eStop () override
virtual void	initiate_impl () override
Public Member Functions inherited from smacc::ISmaccStateMachine
	ISmaccStateMachine (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< smacc::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)
void	getTransitionLogHistory ()
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 (const ros::TimerEvent &)
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...
bool	getTransitionLogHistory (smacc_msgs::SmaccGetTransitionHistory::Request &req, smacc_msgs::SmaccGetTransitionHistory::Response &res)
template<typename TSmaccSignal , typename TMemberFunctionPrototype , typename TSmaccObjectType >
boost::signals2::connection	createSignalConnection (TSmaccSignal &signal, TMemberFunctionPrototype callback, TSmaccObjectType *object)
void	disconnectSmaccSignalObject (void *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)
template<typename StateType >
void	notifyOnRuntimeConfigurationFinished (StateType *state)
uint64_t	getCurrentStateCounter () const
ISmaccState *	getCurrentState () const
const SmaccStateMachineInfo &	getStateMachineInfo ()
template<typename InitialStateType >
void	buildStateMachineInfo ()
ros::NodeHandle	getNode ()

Additional Inherited Members
Protected Member Functions inherited from smacc::ISmaccStateMachine
void	checkStateMachineConsistence ()
void	initializeROS (std::string smshortname)
void	onInitialized ()
template<typename TOrthogonal >
void	createOrthogonal ()
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
Protected Attributes inherited from smacc::ISmaccStateMachine
ros::NodeHandle	nh_
ros::NodeHandle	private_nh_
ros::Timer	timer_
ros::Publisher	stateMachinePub_
ros::Publisher	stateMachineStatusPub_
ros::Publisher	transitionLogPub_
ros::ServiceServer	transitionHistoryService_
std::vector< ISmaccState * >	currentState_
std::shared_ptr< SmaccStateInfo >	currentStateInfo_
smacc_msgs::SmaccStatus	status_msg_
std::map< std::string, std::shared_ptr< smacc::ISmaccOrthogonal > >	orthogonals_

Detailed Description

template<typename DerivedStateMachine, typename InitialStateType>
struct smacc::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >

State Machine.

Definition at line 17 of file smacc_state_machine_base.h.

Constructor & Destructor Documentation

SmaccStateMachineBase()

template<typename DerivedStateMachine , typename InitialStateType >

smacc::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >::SmaccStateMachineBase ( my_context  ctx, SignalDetector *  signalDetector  )

inline

Definition at line 20 of file smacc_state_machine_base.h.

        : ISmaccStateMachine(signalDetector),
          sc::asynchronous_state_machine<DerivedStateMachine, InitialStateType, SmaccFifoScheduler, SmaccAllocator>(ctx)
    {
    }

~SmaccStateMachineBase()

template<typename DerivedStateMachine , typename InitialStateType >

virtual smacc::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >::~SmaccStateMachineBase ( )

inlinevirtual

Definition at line 26 of file smacc_state_machine_base.h.

    {
        //updateCurrentState<InitialStateType>(false);
    }

Member Function Documentation

eStop()

template<typename DerivedStateMachine , typename InitialStateType >

virtual void smacc::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >::eStop ( )

inlineoverridevirtual

Reimplemented from smacc::ISmaccStateMachine.

Definition at line 44 of file smacc_state_machine_base.h.

    {
        ISmaccStateMachine::eStop();
        this->terminate();
    }

References smacc::ISmaccStateMachine::eStop().

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initiate_impl()

template<typename DerivedStateMachine , typename InitialStateType >

virtual void smacc::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >::initiate_impl ( )

inlineoverridevirtual

Definition at line 50 of file smacc_state_machine_base.h.

    {
        // this is before because this creates orthogonals
        this->onInitialize();
 
        ROS_INFO("[SmaccStateMachine] Introspecting state machine via typeWalker");
        this->buildStateMachineInfo<InitialStateType>();
 
        ROS_INFO("[SmaccStateMachine] initiate_impl");
        auto shortname =  smacc::utils::cleanShortTypeName(typeid(DerivedStateMachine));
 
        this->initializeROS(shortname);
 
        ROS_INFO("[SmaccStateMachine] Initializing ROS communication mechanisms");
        this->onInitialized();
 
        ROS_INFO("[SmaccStateMachine] Initializing state machine");
        sc::state_machine<DerivedStateMachine, InitialStateType, SmaccAllocator>::initiate();
    }

References smacc::utils::cleanShortTypeName(), smacc::ISmaccStateMachine::initializeROS(), smacc::ISmaccStateMachine::onInitialize(), and smacc::ISmaccStateMachine::onInitialized().

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reset()

template<typename DerivedStateMachine , typename InitialStateType >

virtual void smacc::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >::reset ( )

inlineoverridevirtual

Reimplemented from smacc::ISmaccStateMachine.

Definition at line 31 of file smacc_state_machine_base.h.

    {
        ISmaccStateMachine::reset();
        this->terminate();
        smacc::run<DerivedStateMachine>();
    }

References smacc::ISmaccStateMachine::reset().

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stop()

template<typename DerivedStateMachine , typename InitialStateType >

virtual void smacc::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >::stop ( )

inlineoverridevirtual

Reimplemented from smacc::ISmaccStateMachine.

Definition at line 38 of file smacc_state_machine_base.h.

    {
        ISmaccStateMachine::stop();
        this->terminate();
    }

References smacc::ISmaccStateMachine::stop().

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

• smacc/include/smacc/smacc_state_machine_base.h