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Define Documentation
| #define __CLEAN_THREAD_AND_EVENTS decision_making::ScoppedThreads::Cleaner SUBMACHINESTHREADSCLEANER(SUBMACHINESTHREADS); |
| #define __DEFCALLCONTEXT decision_making::CallContext call_ctx(parent_call_ctx?decision_making::CallContext(*parent_call_ctx, fsm_name):decision_making::CallContext(fsm_name)); |
| #define __DEFEVENTQUEUE decision_making::EventQueue* events_queue(parent_event_queue); |
| #define __DEFSUBCTEXT | ( | TASK | ) | decision_making::ScoppedThreads::CallContextPtr call_ctx##TASK( new decision_making::CallContext(state_call_ctx, #TASK) ); |
| #define __DEFSUBEVENTQUEUE | ( | TASK | ) | decision_making::ScoppedThreads::EventQueuePtr events_queu##TASK( new decision_making::EventQueue(events_queue) ); |
| #define __ENDOFSTATE |
Value:
DMDEBUG( struct _STATE_FINISHER_PRINT{std::string n;_STATE_FINISHER_PRINT( std::string n): n(n){}~_STATE_FINISHER_PRINT(){DMDEBUG( cout<<"}"<<n<<" "; )} void r(){}}_ep(outname);_ep.r(); )\ struct _STATE_FINISHER{\ std::string state_name; decision_making::CallContext& ctx; decision_making::EventQueue& queue;\ _STATE_FINISHER(std::string state_name, decision_making::CallContext& ctx, decision_making::EventQueue& queue): state_name(state_name),ctx(ctx),queue(queue){}\ ~_STATE_FINISHER(){\ ON_FSM_STATE_END(state_name, ctx, queue);\ } void r(){}\ }_e(state_name, call_ctx, *events_queue);_e.r();
| #define __SHR_TO_REF | ( | X | ) | (*(X.get())) |
| #define __STARTOFSTATE | ( | X | ) |
Value:
FSM_HEADER(NAME)\ decision_making::TaskResult Fsm##NAME(const decision_making::CallContext* p, decision_making::EventQueue* q){return Fsm##NAME(p,q,#NAME);}\ decision_making::TaskResult Fsm##NAME(const decision_making::CallContext* parent_call_ctx, decision_making::EventQueue* parent_event_queue, std::string fsm_name)
| #define FSM_BGN |
Value:
bool fsm_stop = false; \ while(not fsm_stop and not events_queue->isTerminated() DM_SYSTEM_STOP){ \ switch(state){ { {
| #define FSM_CALL_BT | ( | NAME | ) |
Value:
__DEFSUBEVENTQUEUE(NAME) __DEFSUBCTEXT(NAME) \ SUBMACHINESTHREADS.add(events_queu##NAME); \ SUBMACHINESTHREADS.add(call_ctx##NAME); \ decision_making::EventQueue& __t_events_queu##NAME = __SHR_TO_REF(events_queu##NAME);\ decision_making::CallContext& __t_call_ctx##NAME = __SHR_TO_REF(call_ctx##NAME);\ __BT_CREATE_BT_CALL_FUNCTION(NAME, __t_call_ctx##NAME, __t_events_queu##NAME)\ SUBMACHINESTHREADS.add(\ __CALL_BT_FUNCTION(NAME, boost::ref(__t_call_ctx##NAME), boost::ref(__t_events_queu##NAME)) \ );
| #define FSM_CALL_FSM | ( | NAME | ) |
Value:
__DEFSUBEVENTQUEUE(NAME) \ SUBMACHINESTHREADS.add(events_queu##NAME); \ SUBMACHINESTHREADS.add(\ new boost::thread(boost::bind(&Fsm##NAME, &state_call_ctx, events_queu##NAME.get()) ));
| #define FSM_CALL_TASK | ( | TASK | ) |
Value:
__DEFSUBEVENTQUEUE(TASK) __DEFSUBCTEXT(TASK) \ SUBMACHINESTHREADS.add(events_queu##TASK); \ SUBMACHINESTHREADS.add(call_ctx##TASK); \ SUBMACHINESTHREADS.add(\ new boost::thread( CALL_REMOTE(TASK, boost::ref(__SHR_TO_REF(call_ctx##TASK)), boost::ref(__SHR_TO_REF(events_queu##TASK))) ));
| #define FSM_CONTEXT state_call_ctx |
| #define FSM_DROP_EVENTS events_queue->drop_all(); |
| #define FSM_END |
Value:
}}}} \
DMDEBUG( cout<<" FSM("<<fsm_name<<":FINISH) "; ) \
ON_FSM_END(fsm_name, call_ctx, *events_queue, fsm_result);\
return fsm_result;
| #define FSM_EVENT | ( | EVENT | ) | decision_making::Event(#EVENT,state_call_ctx)) |
| #define FSM_EVENTS_DROP events_queue->drop_all(); |
| #define FSM_HEADER | ( | NAME | ) |
Value:
decision_making::TaskResult Fsm##NAME(const decision_making::CallContext*, decision_making::EventQueue*, std::string);\ decision_making::TaskResult Fsm##NAME(const decision_making::CallContext* p, decision_making::EventQueue* q);
| #define FSM_ON_CONDITION | ( | COND, | |
| DO | |||
| ) |
Value:
if(COND){ \ DMDEBUG( cout<<" GOTO("<<fsm_name<<":"<<decision_making::Event(#COND,state_call_ctx)<< "->" #DO ") "; ) \ DO;\ }
| #define FSM_ON_EVENT | ( | EVENT, | |
| DO | |||
| ) |
Value:
if(event==decision_making::Event(EVENT,state_call_ctx)){ \ DMDEBUG( cout<<" GOTO("<<fsm_name<<":"<<decision_making::Event(EVENT,call_ctx)<< "->" #DO ") "; ) \ DO;\ }
| #define FSM_ON_STATE_EXIT | ( | ... | ) | } __VA_ARGS__ { |
| #define FSM_ON_STATE_EXIT_BGN |
| #define FSM_ON_STATE_EXIT_END |
Value:
}\
};\
decision_making::ScoppedThreadsOnExit* __tmp___ON_STATE_EXIT_STRUCT = new __ON_STATE_EXIT_STRUCT(state_call_ctx, events_queue);\
SUBMACHINESTHREADS.add(decision_making::ScoppedThreads::ScoppedThreadsOnExitPtr(__tmp___ON_STATE_EXIT_STRUCT));
| #define FSM_PRINT_EVENT if(not event.equals(decision_making::Event::SPIN_EVENT())){ cout<<" READ("<<fsm_name<<":"<<event<<") "; } |
| #define FSM_RAISE | ( | EVENT | ) |
Value:
DMDEBUG( cout<<" RAISE("<<fsm_name<<":"<<decision_making::Event(EVENT, state_call_ctx)<<") "; ) \ events_queue->raiseEvent(decision_making::Event(EVENT, state_call_ctx));
| #define FSM_START | ( | STATE | ) |
Value:
state ( STATE ); \
decision_making::TaskResult fsm_result = decision_making::TaskResult::TERMINATED();\
__DEFCALLCONTEXT __DEFEVENTQUEUE \
DMDEBUG( cout<<" FSM("<<fsm_name<<":START) "; )\
ON_FSM_START(fsm_name, call_ctx, *events_queue);
Value:
}}}break; \ case X: { \ decision_making::ScoppedThreads SUBMACHINESTHREADS; \ __STARTOFSTATE(X) __ENDOFSTATE
| #define FSM_STATES enum STATES |
| #define FSM_STOP | ( | EVENT, | |
| RESULT | |||
| ) |
| #define FSM_TRANSITIONS __CLEAN_THREAD_AND_EVENTS {Event event; while((event=events_queue->waitEvent())==true){ |