Class ISmaccStateMachine

Defined in File smacc_state_machine.hpp

Inheritance Relationships

Derived Type

public smacc2::SmaccStateMachineBase< DerivedStateMachine, InitialStateType > (Template Struct SmaccStateMachineBase)

Class Documentation

class ISmaccStateMachine

Subclassed by smacc2::SmaccStateMachineBase< DerivedStateMachine, InitialStateType >

Public Functions

ISmaccStateMachine(std::string stateMachineName, SignalDetector *signalDetector, rclcpp::NodeOptions nodeOptions = rclcpp::NodeOptions())

virtual ~ISmaccStateMachine()

virtual void reset()

virtual void stop()

virtual void eStop()

template<typename TOrthogonal> TOrthogonal *getOrthogonal()

template<typename TOrthogonal, typename TClientBehavior> inline TClientBehavior *getClientBehavior(int index = 0)

const std::map<std::string, std::shared_ptr<smacc2::ISmaccOrthogonal>> &getOrthogonals() const

template<typename SmaccComponentType> void requiresComponent(SmaccComponentType *&storage, bool throwsExceptionIfNotExist = false)

template<typename EventType> void postEvent(EventType *ev, EventLifeTime evlifetime = EventLifeTime::ABSOLUTE)

template<typename EventType> void postEvent(EventLifeTime evlifetime = EventLifeTime::ABSOLUTE)

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()

inline 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

void getTransitionLogHistory(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<smacc2_msgs::srv::SmaccGetTransitionHistory::Request> req, std::shared_ptr<smacc2_msgs::srv::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)

inline int64_t getCurrentStateCounter() const

inline ISmaccState *getCurrentState() const

inline const SmaccStateMachineInfo &getStateMachineInfo()

template<typename InitialStateType> void buildStateMachineInfo()

rclcpp::Node::SharedPtr getNode()

inline rclcpp::Logger getLogger()

inline std::recursive_mutex &getMutex()

Protected Functions

void checkStateMachineConsistence()

void initializeROS(std::string smshortname)

void onInitialized()

template<typename TOrthogonal> void createOrthogonal()

Protected Attributes

rclcpp::Node::SharedPtr nh_

rclcpp::TimerBase::SharedPtr timer_

rclcpp::Publisher<smacc2_msgs::msg::SmaccStateMachine>::SharedPtr stateMachinePub_

rclcpp::Publisher<smacc2_msgs::msg::SmaccStatus>::SharedPtr stateMachineStatusPub_

rclcpp::Publisher<smacc2_msgs::msg::SmaccTransitionLogEntry>::SharedPtr transitionLogPub_

rclcpp::Service<smacc2_msgs::srv::SmaccGetTransitionHistory>::SharedPtr transitionHistoryService_

std::vector<ISmaccState*> currentState_

std::shared_ptr<SmaccStateInfo> currentStateInfo_

smacc2_msgs::msg::SmaccStatus status_msg_

std::map<std::string, std::shared_ptr<smacc2::ISmaccOrthogonal>> orthogonals_

std::vector<boost::signals2::scoped_connection> longLivedSignalConnections_

std::shared_ptr<SmaccStateMachineInfo> stateMachineInfo_