smacc::introspection Namespace Reference

Classes
struct	add_type_wrapper
struct	AddSubState
struct	AddTransition
struct	CheckType
struct	ClientBehaviorInfoEntry
struct	EventGeneratorCallbackFunctor
class	EventGeneratorHandler
class	HasAutomaticTransitionTag
class	HasAutomaticTransitionType
class	HasEventLabel
class	HasOnDefinition
struct	SmaccEventGeneratorInfo
struct	SmaccEventInfo
class	SmaccStateInfo
class	SmaccStateMachineInfo
struct	SmaccStateReactorInfo
struct	SmaccTransitionInfo
struct	StateReactorCallbackFunctor
class	StateReactorHandler
struct	type_
class	TypeInfo
struct	typelist
struct	WalkStatesExecutor

Typedefs
typedef std::allocator< boost::statechart::none >	SmaccAllocator
typedef boost::mpl::list< SUCCESS, ABORT, PREEMPT, CONTINUELOOP, ENDLOOP >	DEFAULT_TRANSITION_TYPES

Enumerations
enum class	SmaccStateType { SUPERSTATE = 2 , STATE = 1 , SUPERSTATE_ROUTINE = 1 }

Functions
void	transitionInfoToMsg (const SmaccTransitionInfo &transition, smacc_msgs::SmaccTransition &transitionMsg)
template<class T >
auto	optionalNodeHandle (boost::intrusive_ptr< T > &obj) -> ros::NodeHandle
template<class T >
auto	optionalNodeHandle (T *) -> ros::NodeHandle
std::string	demangleSymbol (const std::string &name)
std::string	demangleSymbol (const char *name)
template<typename T >
std::string	demangleSymbol ()
template<class T >
std::string	demangledTypeName ()
std::string	demangleType (const std::type_info *tinfo)
std::string	demangleType (const std::type_info &tinfo)
template<typename T >
std::enable_if< HasEventLabel< T >::value, void >::type	EventLabel (std::string &label)
template<typename T >
std::enable_if<!HasEventLabel< T >::value, void >::type	EventLabel (std::string &label)
template<typename T >
std::enable_if< HasAutomaticTransitionTag< T >::value, void >::type	automaticTransitionTag (std::string &transition_name)
template<typename T >
std::enable_if<!HasAutomaticTransitionTag< T >::value, void >::type	automaticTransitionTag (std::string &transition_name)
template<typename T >
std::enable_if< HasAutomaticTransitionType< T >::value, void >::type	automaticTransitionType (std::string &transition_type)
template<typename T >
std::enable_if<!HasAutomaticTransitionType< T >::value, void >::type	automaticTransitionType (std::string &transition_type)
template<typename TTransition >
static std::string	getTransitionType ()
template<typename T >
disable_if< boost::mpl::is_sequence< T > >::type	processSubState (std::shared_ptr< SmaccStateInfo > &parentState)
template<typename T >
enable_if< boost::mpl::is_sequence< T > >::type	processSubState (std::shared_ptr< SmaccStateInfo > &parentState)
template<typename T >
enable_if< boost::mpl::is_sequence< T > >::type	processTransitions (std::shared_ptr< SmaccStateInfo > &sourceState)
template<typename Ev , typename Dst , typename Tag >
void	processTransition (smacc::Transition< Ev, boost::statechart::deep_history< Dst >, Tag > *, std::shared_ptr< SmaccStateInfo > &sourceState)
template<typename Ev , typename Dst , typename Tag >
void	processTransition (smacc::Transition< Ev, Dst, Tag > *t, std::shared_ptr< SmaccStateInfo > &sourceState)
template<typename Ev , typename Dst , typename Tag >
void	processTransitionAux (smacc::Transition< Ev, Dst, Tag > *, std::shared_ptr< SmaccStateInfo > &sourceState, bool history, TypeInfo::Ptr &transitionTypeInfo)
template<typename Ev , typename Dst >
void	processTransition (statechart::transition< Ev, Dst > *, std::shared_ptr< SmaccStateInfo > &sourceState)
template<typename Ev >
void	processTransition (statechart::custom_reaction< Ev > *, std::shared_ptr< SmaccStateInfo > &sourceState)
template<typename T >
disable_if< boost::mpl::is_sequence< T > >::type	processTransitions (std::shared_ptr< SmaccStateInfo > &sourceState)
template<typename T >
std::enable_if< HasOnDefinition< T >::value, void >::type	CallOnDefinition ()
template<typename T >
std::enable_if<!HasOnDefinition< T >::value, void >::type	CallOnDefinition ()
bool	replace (std::string &str, const std::string &from, const std::string &to)
std::string	replace_back (std::string roottype, std::vector< std::pair< std::string, std::string > > &orderedtypesdict)

Typedef Documentation

DEFAULT_TRANSITION_TYPES

typedef boost::mpl::list<SUCCESS, ABORT, PREEMPT, CONTINUELOOP, ENDLOOP> smacc::introspection::DEFAULT_TRANSITION_TYPES

Definition at line 204 of file introspection.h.

SmaccAllocator

typedef std::allocator<boost::statechart::none> smacc::introspection::SmaccAllocator

Definition at line 36 of file introspection.h.

Enumeration Type Documentation

SmaccStateType

enum class smacc::introspection::SmaccStateType

strong

Enumerator
SUPERSTATE
STATE
SUPERSTATE_ROUTINE

Definition at line 129 of file smacc_state_info.h.

{
    SUPERSTATE = 2,
    STATE = 1,
    SUPERSTATE_ROUTINE = 1
};

Function Documentation

automaticTransitionTag() [1/2]

template<typename T >

std::enable_if< HasAutomaticTransitionTag< T >::value, void >::type smacc::introspection::automaticTransitionTag

(

std::string &

transition_name

)

Definition at line 157 of file introspection.h.

{
    transition_name = T::getDefaultTransitionTag();
}

automaticTransitionTag() [2/2]

template<typename T >

std::enable_if<!HasAutomaticTransitionTag< T >::value, void >::type smacc::introspection::automaticTransitionTag

(

std::string &

transition_name

)

Definition at line 164 of file introspection.h.

{
    transition_name = "";
}

automaticTransitionType() [1/2]

template<typename T >

std::enable_if< HasAutomaticTransitionType< T >::value, void >::type smacc::introspection::automaticTransitionType

(

std::string &

transition_type

)

Definition at line 191 of file introspection.h.

{
    transition_type = T::getDefaultTransitionType();
}

automaticTransitionType() [2/2]

template<typename T >

std::enable_if<!HasAutomaticTransitionType< T >::value, void >::type smacc::introspection::automaticTransitionType

(

std::string &

transition_type

)

Definition at line 198 of file introspection.h.

{
    transition_type = demangledTypeName<DEFAULT>();
}

CallOnDefinition() [1/2]

template<typename T >

std::enable_if< HasOnDefinition< T >::value, void >::type smacc::introspection::CallOnDefinition

(

)

Definition at line 344 of file smacc_state_machine_info.h.

{
    /* something when T has toString ... */
    ROS_INFO_STREAM("EXECUTING ONDEFINITION: " << demangleSymbol(typeid(T).name()));
    T::staticConfigure();
}

References demangleSymbol().

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CallOnDefinition() [2/2]

template<typename T >

std::enable_if<!HasOnDefinition< T >::value, void >::type smacc::introspection::CallOnDefinition

(

)

Definition at line 353 of file smacc_state_machine_info.h.

{
    ROS_INFO_STREAM("static OnDefinition: dont exist for " << demangleSymbol(typeid(T).name()));
    /* something when T has toString ... */
}

References demangleSymbol().

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demangledTypeName()

template<class T >

std::string smacc::introspection::demangledTypeName ( )

inline

Definition at line 81 of file introspection.h.

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

References demangleSymbol().

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demangleSymbol() [1/3]

template<typename T >

std::string smacc::introspection::demangleSymbol ( )

inline

Definition at line 75 of file introspection.h.

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

References demangleSymbol().

Referenced by smacc::introspection::SmaccStateMachineInfo::assembleSMStructureMessage(), CallOnDefinition(), smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::configure_orthogonal_internal(), demangledTypeName(), demangleSymbol(), demangleType(), smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::entryStateInternal(), smacc::ISmaccState::getClassName(), smacc::introspection::SmaccStateInfo::getDemangledFullName(), cl_multirole_sensor::CbDefaultMultiRoleSensorBehavior< ClientType >::getEventLabel(), smacc::introspection::SmaccEventInfo::getEventSourceName(), smacc::introspection::SmaccEventInfo::getEventTypeName(), smacc::introspection::TypeInfo::getFromStdTypeInfo(), smacc::SmaccState< MostDerived, Context, InnerInitial, historyMode >::getFullName(), smacc::ISmaccComponent::getName(), smacc::ISmaccClient::getName(), smacc::ISmaccClientBehavior::getName(), smacc::ISmaccOrthogonal::getName(), smacc::introspection::SmaccEventInfo::getOrthogonalName(), smacc::ISmaccStateMachine::getStateMachineName(), smacc::ISmaccStateMachine::mapBehavior(), smacc::ISmaccStateMachine::notifyOnStateEntryEnd(), smacc::ISmaccStateMachine::notifyOnStateEntryStart(), smacc::ISmaccStateMachine::notifyOnStateExited(), smacc::ISmaccStateMachine::notifyOnStateExitting(), cl_move_group_interface::CbMoveEndEffectorTrajectory::onEntry(), smacc::state_reactors::SrAllEventsGo::onEventNotified(), smacc::state_reactors::SrEventCountdown::onEventNotified(), cl_keyboard::ClKeyboard::postKeyEvent(), cl_keyboard::CbDefaultKeyboardBehavior::postKeyEvent(), smacc::client_bases::SmaccActionClientBase< ActionType >::postResultEvent(), processTransitionAux(), smacc::ISmaccState::requiresClient(), and smacc::ISmaccStateMachine::requiresComponent().

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demangleSymbol() [2/3]

std::string smacc::introspection::demangleSymbol ( const char *  name )

inline

Definition at line 56 of file introspection.h.

{
#if (__GNUC__ && __cplusplus && __GNUC__ >= 3)
    int status;
    char *res = abi::__cxa_demangle(name, 0, 0, &status);
    if (res)
    {
        const std::string demangled_name(res);
        std::free(res);
        return demangled_name;
    }
    // Demangling failed, fallback to mangled name
    return std::string(name);
#else
    return std::string(name);
#endif
}

demangleSymbol() [3/3]

std::string smacc::introspection::demangleSymbol ( const std::string &  name )

inline

Definition at line 51 of file introspection.h.

{
    return demangleSymbol(name.c_str());
}

References demangleSymbol().

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demangleType() [1/2]

std::string smacc::introspection::demangleType ( const std::type_info &  tinfo )

inline

Definition at line 91 of file introspection.h.

{
    return demangleSymbol(tinfo.name());
}

References demangleSymbol().

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demangleType() [2/2]

std::string smacc::introspection::demangleType ( const std::type_info *  tinfo )

inline

Definition at line 86 of file introspection.h.

{
    return demangleSymbol(tinfo->name());
}

References demangleSymbol().

Referenced by smacc::introspection::StateReactorHandler::addInputEvent(), smacc::Orthogonal< TOrthogonal >::createClient(), smacc::SignalDetector::findUpdatableClients(), smacc::SignalDetector::findUpdatableStateElements(), smacc::client_bases::SmaccActionClientBase< ActionType >::onOrthogonalAllocation(), smacc::SignalDetector::pollOnce(), and smacc::introspection::StateReactorHandler::setOutputEvent().

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EventLabel() [1/2]

template<typename T >

std::enable_if< HasEventLabel< T >::value, void >::type smacc::introspection::EventLabel

(

std::string &

label

)

Definition at line 123 of file introspection.h.

{
    label = T::getEventLabel();
}

EventLabel() [2/2]

template<typename T >

std::enable_if<!HasEventLabel< T >::value, void >::type smacc::introspection::EventLabel

(

std::string &

label

)

Definition at line 130 of file introspection.h.

{
    label = "";
}

getTransitionType()

template<typename TTransition >

static std::string smacc::introspection::getTransitionType ( )

static

Definition at line 243 of file introspection.h.

{
    std::string output;
    CheckType<TTransition> op(&output);
    using boost::mpl::_1;
    using wrappedList = typename boost::mpl::transform<DEFAULT_TRANSITION_TYPES, _1>::type;
 
    boost::mpl::for_each<wrappedList>(op);
    return output;
};

optionalNodeHandle() [1/2]

template<class T >

auto smacc::introspection::optionalNodeHandle

(

boost::intrusive_ptr< T > &

obj

)

-> ros::NodeHandle

Definition at line 39 of file introspection.h.

{
    return obj->getROSNode();
}

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

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optionalNodeHandle() [2/2]

template<class T >

auto smacc::introspection::optionalNodeHandle

(

T *

)

-> ros::NodeHandle

Definition at line 46 of file introspection.h.

{
    return ros::NodeHandle("");
}

processSubState() [1/2]

template<typename T >

disable_if< boost::mpl::is_sequence< T > >::type smacc::introspection::processSubState

(

std::shared_ptr< SmaccStateInfo > &

parentState

)

Definition at line 111 of file smacc_state_machine_info.h.

{
    WalkStatesExecutor<T>::walkStates(parentState, false);
}

References smacc::introspection::WalkStatesExecutor< InitialStateType >::walkStates().

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processSubState() [2/2]

template<typename T >

enable_if< boost::mpl::is_sequence< T > >::type smacc::introspection::processSubState

(

std::shared_ptr< SmaccStateInfo > &

parentState

)

Definition at line 119 of file smacc_state_machine_info.h.

{
    using boost::mpl::_1;
    using wrappedList = typename boost::mpl::transform<T, add_type_wrapper<_1>>::type;
    boost::mpl::for_each<wrappedList>(AddSubState(parentState));
}

processTransition() [1/4]

template<typename Ev , typename Dst , typename Tag >

void smacc::introspection::processTransition	(	smacc::Transition< Ev, boost::statechart::deep_history< Dst >, Tag > *	,
		std::shared_ptr< SmaccStateInfo > &	sourceState
	)

Definition at line 140 of file smacc_state_machine_info.h.

{
    auto transitionTypeInfo = TypeInfo::getTypeInfoFromType<smacc::Transition<Ev, boost::statechart::deep_history<Dst>, Tag>>();
    smacc::Transition<Ev, Dst, Tag> *mock;
    processTransitionAux(mock, sourceState, true, transitionTypeInfo);
}

References processTransitionAux().

Referenced by processTransitions().

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processTransition() [2/4]

template<typename Ev , typename Dst , typename Tag >

void smacc::introspection::processTransition	(	smacc::Transition< Ev, Dst, Tag > *	t,
		std::shared_ptr< SmaccStateInfo > &	sourceState
	)

Definition at line 148 of file smacc_state_machine_info.h.

{
    auto transitionTypeInfo = TypeInfo::getTypeInfoFromType<smacc::Transition<Ev, Dst, Tag>>();
    processTransitionAux(t, sourceState, false, transitionTypeInfo);
}

References processTransitionAux().

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processTransition() [3/4]

template<typename Ev >

void smacc::introspection::processTransition	(	statechart::custom_reaction< Ev > *	,
		std::shared_ptr< SmaccStateInfo > &	sourceState
	)

Definition at line 257 of file smacc_state_machine_info.h.

{
    //ROS_INFO_STREAM("GOTCHA");
}

processTransition() [4/4]

template<typename Ev , typename Dst >

void smacc::introspection::processTransition	(	statechart::transition< Ev, Dst > *	,
		std::shared_ptr< SmaccStateInfo > &	sourceState
	)

Definition at line 251 of file smacc_state_machine_info.h.

{
    //ROS_INFO_STREAM("GOTCHA");
}

processTransitionAux()

template<typename Ev , typename Dst , typename Tag >

void smacc::introspection::processTransitionAux	(	smacc::Transition< Ev, Dst, Tag > *	,
		std::shared_ptr< SmaccStateInfo > &	sourceState,
		bool	history,
		TypeInfo::Ptr &	transitionTypeInfo
	)

Definition at line 155 of file smacc_state_machine_info.h.

{
    ROS_INFO("State %s Walker transition: %s", sourceState->toShortName().c_str(), demangleSymbol(typeid(Ev).name()).c_str());
    std::string transitionTag;
    std::string transitionType;
 
    if (typeid(Tag) != typeid(default_transition_name))
    {
        transitionTag = demangleSymbol<Tag>();
        transitionType = getTransitionType<Tag>();
        ROS_DEBUG_STREAM("TRANSITION TYPE:" << transitionType);
    }
    else
    {
        transitionTag = "";
        automaticTransitionTag<Ev>(transitionTag);
        automaticTransitionType<Ev>(transitionType);
    }
 
    ROS_INFO_STREAM("Transition tag: " << transitionTag);
 
    if (!sourceState->stateMachine_->containsState<Dst>())
    {
        auto realparentState = sourceState->stateMachine_->getState<typename Dst::TContext>();
        auto siblingnode = sourceState->stateMachine_->createState<Dst>(realparentState);
 
        //auto siblingnode = sourceState->stateMachine_->createState<Dst>(sourceState->parentState_);
        WalkStatesExecutor<Dst>::walkStates(siblingnode, true);
        sourceState->declareTransition<Ev>(siblingnode, transitionTag, transitionType, history, transitionTypeInfo);
    }
    else
    {
        //auto realparentState = sourceState->stateMachine_->getState<typename Dst::TContext>();
        //auto siblingnode = sourceState->stateMachine_->createState<Dst>(realparentState);
 
        auto siblingnode = sourceState->stateMachine_->getState<Dst>();
        sourceState->declareTransition<Ev>(siblingnode, transitionTag, transitionType, history, transitionTypeInfo);
    }
}

References demangleSymbol(), and smacc::introspection::WalkStatesExecutor< InitialStateType >::walkStates().

Referenced by processTransition().

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processTransitions() [1/2]

template<typename T >

enable_if< boost::mpl::is_sequence< T > >::type smacc::introspection::processTransitions

(

std::shared_ptr< SmaccStateInfo > &

sourceState

)

Definition at line 130 of file smacc_state_machine_info.h.

{
 
    ROS_INFO_STREAM("State %s Walker has transition list");
    using boost::mpl::_1;
    using wrappedList = typename boost::mpl::transform<T, add_type_wrapper<_1>>::type;
    boost::mpl::for_each<wrappedList>(AddTransition(sourceState));
}

processTransitions() [2/2]

template<typename T >

disable_if< boost::mpl::is_sequence< T > >::type smacc::introspection::processTransitions

(

std::shared_ptr< SmaccStateInfo > &

sourceState

)

Definition at line 267 of file smacc_state_machine_info.h.

{
    //ROS_INFO_STREAM("state transition from: " << sourceState->demangledStateName << " of type: " << demangledTypeName<T>());
    T *dummy;
    processTransition(dummy, sourceState);
}

References processTransition().

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replace()

bool smacc::introspection::replace	(	std::string &	str,
		const std::string &	from,
		const std::string &	to
	)

Definition at line 27 of file string_type_walker.cpp.

{
  size_t start_pos = str.find(from);
  if (start_pos == std::string::npos)
    return false;
  str.replace(start_pos, from.length(), to);
  return true;
}

Referenced by smacc::introspection::TypeInfo::getTypeInfoFromString(), and replace_back().

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replace_back()

std::string smacc::introspection::replace_back	(	std::string	roottype,
		std::vector< std::pair< std::string, std::string > > &	orderedtypesdict
	)

Definition at line 36 of file string_type_walker.cpp.

{
  while (roottype.find("$") != std::string::npos)
  {
    for (auto& t : orderedtypesdict)
    {
      auto& tkey = t.first;
      auto& tval = t.second;
 
      replace(roottype, tkey, tval);
    }
  }
 
  return roottype;
 
  //   def replace_back(roottype, typesdict):
  //     # replace back
  //     while "$" in roottype:
  //         #print roottype
  //         for tkey in typesdict:
  //             tval = typesdict[tkey]
  //             roottype = roottype.replace(tkey, tval)
 
  //     return roottype
}

References replace().

Referenced by smacc::introspection::TypeInfo::getTypeInfoFromString().

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transitionInfoToMsg()

void smacc::introspection::transitionInfoToMsg	(	const SmaccTransitionInfo &	transition,
		smacc_msgs::SmaccTransition &	transitionMsg
	)

Definition at line 9 of file reflection.cpp.

{
    transitionMsg.index = transition.index;
    transitionMsg.event.event_type = transition.eventInfo->getEventTypeName();
 
    transitionMsg.source_state_name = transition.sourceState->demangledStateName;
 
    transitionMsg.transition_name = transition.transitionTag;
    transitionMsg.transition_type = transition.transitionType;
    transitionMsg.event.event_source = transition.eventInfo->getEventSourceName();
    transitionMsg.event.event_object_tag = transition.eventInfo->getOrthogonalName();
    transitionMsg.event.label = transition.eventInfo->label;
    transitionMsg.history_node = transition.historyNode;
 
    if (transition.historyNode)
    {
        if (transition.destinyState->parentState_ != nullptr)
            transitionMsg.destiny_state_name = transition.destinyState->parentState_->demangledStateName;
        else
            transitionMsg.destiny_state_name = "";
    }
    else
    {
        transitionMsg.destiny_state_name = transition.destinyState->demangledStateName;
    }
}

References smacc::introspection::SmaccTransitionInfo::destinyState, smacc::introspection::SmaccTransitionInfo::eventInfo, smacc::introspection::SmaccTransitionInfo::historyNode, smacc::introspection::SmaccTransitionInfo::index, smacc::introspection::SmaccTransitionInfo::sourceState, smacc::introspection::SmaccTransitionInfo::transitionTag, and smacc::introspection::SmaccTransitionInfo::transitionType.

Referenced by smacc::introspection::SmaccStateMachineInfo::assembleSMStructureMessage(), and smacc::ISmaccStateMachine::publishTransition().

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