smacc_state.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 ISmaccState
  {
  public:
    virtual ISmaccStateMachine &getStateMachine() = 0;
 
    inline ISmaccState *getParentState() { return parentState_; }
 
    inline ros::NodeHandle &getROSNode() { return nh; }
 
    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);
 
    // Store globally in this state machine. (By value parameter )
    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();
 
    // used for transition logging
    template <typename TransitionType>
    void notifyTransition();
 
    // used for transition logging
    void notifyTransitionFromTransitionTypeInfo(std::shared_ptr<smacc::introspection::TypeInfo> &transitionTypeInfo);
 
    inline std::vector<std::shared_ptr<StateReactor>> &getStateReactors() { return stateReactors_; }
 
    inline std::vector<std::shared_ptr<SmaccEventGenerator>> &getEventGenerators() { return eventGenerators_; }
 
    // Delegates to ROS param access with the current NodeHandle
    template <typename T>
    bool getParam(std::string param_name, T &param_storage);
 
    // Delegates to ROS param access with the current NodeHandle
    template <typename T>
    void setParam(std::string param_name, T param_val);
 
    //Delegates to ROS param access with the current NodeHandle
    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();
 
  protected:
    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_;
  };
} // namespace smacc