state_machine.h

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#ifndef StateMachine_H_INCLUDED
#define StateMachine_H_INCLUDED

//headers in boost
#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/graph_utility.hpp>
#include <boost/property_tree/ptree.hpp>
#include <boost/property_tree/xml_parser.hpp>
#include <boost/foreach.hpp>
#include <boost/lexical_cast.hpp>
#include <boost/graph/graphviz.hpp>

//headers in STL
#include <mutex>

//headers in this package
#include <rostate_machine/graph_writer.h>

struct TransitionProperty
{
    std::string trigger_event;
    std::string from_state;
    std::string to_state;
};

struct StateProperty
{
    std::string name;
};

typedef boost::adjacency_list<boost::listS, boost::vecS, boost::bidirectionalS, StateProperty, TransitionProperty> graph_t;
typedef graph_t::vertex_descriptor vertex_t;
typedef graph_t::edge_descriptor edge_t;
typedef boost::graph_traits<graph_t>::adjacency_iterator adjacency_iterator_t;
typedef boost::graph_traits<graph_t>::out_edge_iterator out_edge_iterator_t;

struct StateInfo
{
    const std::vector<std::string> possibe_transition_states;
    const std::vector<std::string> possibe_transitions;
    const std::string current_state;
    StateInfo(std::string current_state_,
        std::vector<std::string> possibe_transition_states_,
        std::vector<std::string> possibe_transitions_)
            : current_state(current_state_),
                possibe_transition_states(possibe_transition_states_),
                possibe_transitions(possibe_transitions_)
            {

            }
};

class StateMachine
{
public:
    StateMachine(std::string xml_string);
    ~StateMachine();
    bool tryTransition(std::string trigger_event_name);
    bool setCurrentState(std::string current_state);
    std::vector<std::string> getPossibeTransitionStates();
    std::vector<std::string> getPossibeTransitions();
    std::string getCurrentState();
    StateInfo getStateInfo();
    void drawStateMachine(std::string dot_filename);
    std::string getDotString();
    std::string getName();
private:
    void addTransition(std::string from_state_name, std::string to_state_name, std::string trigger_event_name);
    std::mutex mtx_;
    graph_t state_graph_;
    vertex_t current_state_;
    std::string name_;
    template <typename Map>
    NodeWriter<Map> node_writer_(Map& map,std::string current_state){ return NodeWriter<Map>(map,current_state); }
    template <typename Map>
    EdgeWriter<Map> edge_writer_(Map& map){ return EdgeWriter<Map>(map); }
    GraphWriter graph_writer_;
};
#endif //StateMachine_H_INCLUDED