smacc_state_reactor.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#pragma once
 
#include <functional>
#include <memory>
#include <vector>
#include <algorithm>
#include <smacc/introspection/introspection.h>
#include <boost/statechart/event.hpp>
#include <map>
 
namespace smacc
{
class ISmaccState;
class ISMaccStateMachine;
 
namespace state_reactors
{
struct EmptyObjectTag
{
};
} // namespace state_reactors
 
class StateReactor
{
public:
    ISmaccState *ownerState;
    std::function<void()> postEventFn;
    std::vector<const std::type_info *> eventTypes;
    std::map<const std::type_info *, std::function<void(void *)>> eventCallbacks_;
 
    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();
 
    // type based event callback
    template <typename T, typename TClass>
    void createEventCallback(void (TClass::*callback)(T *), TClass *object);
 
    // type based event callback
    template <typename T>
    void createEventCallback(std::function<void(T *)> callback);
 
    void update();
 
    //must returns true when the output event is triggered
    virtual bool triggers() = 0;
 
    template <typename TEv>
    void addInputEvent();
 
    template <typename TEv>
    void setOutputEvent();
 
    //TDerived
    void initialize(ISmaccState *ownerState);
 
private:
    friend ISmaccStateMachine;
 
    template <typename TEvent>
    void notifyEvent(TEvent *ev)
    {
        //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);
            }
        }
    }
};
 
} // namespace smacc