A hierarchical StateMachine which is loaded in the Program Processor. More...

#include <StateMachine.hpp>

Inheritance diagram for RTT::scripting::StateMachine:

Classes
struct	Status

Public Types
typedef std::vector< StateMachinePtr >	ChildList

Public Member Functions
bool	activate ()

void	addChild (StateMachinePtr child)

void	addState (StateInterface *s)

bool	automatic ()

bool	createEventTransition (ServicePtr sp, ExecutionEngine target_engine, const std::string &ename, std::vector< base::DataSourceBase::shared_ptr > args, StateInterface from, StateInterface to, ConditionInterface guard, boost::shared_ptr< ProgramInterface > transprog, StateInterface *elseto=0, boost::shared_ptr< ProgramInterface > elseprog=boost::shared_ptr< ProgramInterface >())

ProgramInterface *	currentProgram () const

StateInterface *	currentState () const

bool	deactivate ()

bool	execute ()

bool	executePending (bool stepping=false)

const ChildList &	getChildren () const

const std::string &	getCurrentStateName () const

StateInterface *	getFinalState () const

base::ActionInterface *	getInitCommand () const

StateInterface *	getInitialState () const

int	getLineNumber () const

const std::string &	getName () const

StateMachinePtr	getParent () const

StateInterface *	getState (const std::string &name) const

std::vector< std::string >	getStateList () const

Status::StateMachineStatus	getStatus () const

std::string	getStatusStr () const

virtual std::string	getText () const

bool	inError () const

bool	inFinalState () const

bool	inInitialState () const

bool	inState (const std::string &state) const

bool	inStrictState (const std::string &state) const

bool	interruptible () const

bool	inTransition () const

bool	isActive () const

bool	isAutomatic () const

bool	isPaused () const

bool	isReactive () const

bool	isStopped () const

bool	isStrictlyActive () const

void	loading ()

StateInterface *	nextState ()

bool	pause ()

void	preconditionSet (StateInterface state, ConditionInterface cnd, int line)

bool	reactive ()

bool	requestFinalState ()

bool	requestInitialState ()

StateInterface *	requestNextState (bool stepping=false)

StateInterface *	requestNextStateStep ()

bool	requestState (const std::string &statename)

bool	requestStateChange (StateInterface *s_n)

bool	reset ()

void	setFinalState (StateInterface *s)

void	setInitCommand (base::ActionInterface *c)

void	setInitialState (StateInterface *s)

void	setParent (StateMachinePtr parent)

bool	start ()

	StateMachine (StateMachinePtr parent, const std::string &name="Default")

bool	step ()

bool	stepDone () const

bool	stop ()

void	trace (bool on_off)

void	transitionSet (StateInterface from, StateInterface to, ConditionInterface *cnd, int priority, int line)

void	transitionSet (StateInterface from, StateInterface to, ConditionInterface *cnd, boost::shared_ptr< ProgramInterface > transprog, int priority, int line)

void	unloading ()

virtual	~StateMachine ()

Public Member Functions inherited from RTT::base::ExecutableInterface
	ExecutableInterface ()

ExecutionEngine *	getEngine ()

bool	isLoaded ()

void	loaded (ExecutionEngine *ee)

void	unloaded ()

virtual	~ExecutableInterface ()

Protected Types
typedef std::vector< boost::tuple< ServicePtr, std::string, std::vector< base::DataSourceBase::shared_ptr >, StateInterface , ConditionInterface , boost::shared_ptr< ProgramInterface >, Handle, StateInterface *, boost::shared_ptr< ProgramInterface > > >	EventList

typedef std::map< StateInterface *, EventList >	EventMap

typedef std::multimap< StateInterface , std::pair< ConditionInterface , int > >	PreConditionMap

typedef boost::weak_ptr< StateMachine >	StateMachineParentPtr

typedef std::map< StateInterface *, TransList >	TransitionMap

typedef std::vector< boost::tuple< ConditionInterface , StateInterface , int, int, boost::shared_ptr< ProgramInterface > > >	TransList

Protected Member Functions
void	changeState (StateInterface s, ProgramInterface tprog, bool stepping=false)

int	checkConditions (StateInterface *state, bool stepping=false)

void	disableEvents (StateInterface *s)

void	disableGlobalEvents ()

void	enableEvents (StateInterface *s)

void	enableGlobalEvents ()

void	enterState (StateInterface *s)

bool	executeProgram (ProgramInterface *&cp, bool stepping)

void	handleState (StateInterface *s)

void	leaveState (StateInterface *s)

void	runState (StateInterface *s)

Protected Attributes
std::vector< StateMachinePtr >	_children

std::string	_name

StateMachineParentPtr	_parent

EventMap	eventMap

PreConditionMap	precondMap

Status::StateMachineStatus	smStatus

TransitionMap	stateMap

Protected Attributes inherited from RTT::base::ExecutableInterface
ExecutionEngine *	engine

Private Types
enum	PrivateStatus { nill, gostop, goreset, pausing }

Private Member Functions
bool	eventTransition (StateInterface from, ConditionInterface c, ProgramInterface p, StateInterface to, ProgramInterface elsep, StateInterface elseto)

Private Attributes
bool	checking_precond

StateInterface *	current

ProgramInterface *	currentEntry

ProgramInterface *	currentExit

ProgramInterface *	currentHandle

ProgramInterface *	currentProg

ProgramInterface *	currentRun

ProgramInterface *	currentTrans

int	evaluating

os::MutexRecursive	execlock

StateInterface *	finistate

base::ActionInterface *	initc

StateInterface *	initstate

bool	mstep

bool	mtrace

StateInterface *	next

std::pair< PreConditionMap::const_iterator, PreConditionMap::const_iterator >	prec_it

TransList::iterator	reqend

TransList::iterator	reqstep

enum RTT::scripting::StateMachine::PrivateStatus	smpStatus

Static Private Attributes
static std::string	emptyString

Detailed Description

A hierarchical StateMachine which is loaded in the Program Processor.

A StateMachine can have children and one parent.

Todo:: Implement the whole transition mechanism with the Strategy software pattern to allow cleaner implementation.

Definition at line 72 of file StateMachine.hpp.

Member Typedef Documentation

typedef std::vector<StateMachinePtr> RTT::scripting::StateMachine::ChildList

Definition at line 109 of file StateMachine.hpp.

typedef std::vector< boost::tuple<ServicePtr, std::string, std::vector<base::DataSourceBase::shared_ptr>, StateInterface*, ConditionInterface*, boost::shared_ptr<ProgramInterface>, Handle, StateInterface*, boost::shared_ptr<ProgramInterface> > > RTT::scripting::StateMachine::EventList

protected

Definition at line 98 of file StateMachine.hpp.

typedef std::map< StateInterface*, EventList > RTT::scripting::StateMachine::EventMap

protected

Definition at line 99 of file StateMachine.hpp.

typedef std::multimap< StateInterface*, std::pair<ConditionInterface*, int> > RTT::scripting::StateMachine::PreConditionMap

protected

Definition at line 92 of file StateMachine.hpp.

typedef boost::weak_ptr<StateMachine> RTT::scripting::StateMachine::StateMachineParentPtr

protected

Definition at line 101 of file StateMachine.hpp.

typedef std::map< StateInterface*, TransList > RTT::scripting::StateMachine::TransitionMap

protected

Definition at line 91 of file StateMachine.hpp.

typedef std::vector< boost::tuple<ConditionInterface*, StateInterface*, int, int, boost::shared_ptr<ProgramInterface> > > RTT::scripting::StateMachine::TransList

protected

The key is the current state, the value is the transition condition to another state with a certain priority (int), on a line (int), with a transition program

Definition at line 90 of file StateMachine.hpp.

Member Enumeration Documentation

enum RTT::scripting::StateMachine::PrivateStatus

private

Enumerator
nill
gostop
goreset
pausing

Definition at line 75 of file StateMachine.hpp.

Constructor & Destructor Documentation

RTT::StateMachine::~StateMachine ( )

virtual

The destructor is virtual since ParsedStateMachine still inherits this class.

Definition at line 75 of file StateMachine.cpp.

RTT::StateMachine::StateMachine	(	StateMachinePtr	parent,
		const std::string &	name = `"Default"`
	)

Create a new StateMachine with an optional parent. Set parent to zero for the top state machine. The initial Status of a StateMachine is always inactive.

Definition at line 66 of file StateMachine.cpp.

Member Function Documentation

bool RTT::StateMachine::activate ( )

Start this StateMachine. The Initial state will be entered.

Definition at line 1160 of file StateMachine.cpp.

void RTT::scripting::StateMachine::addChild ( StateMachinePtr child )

inline

Definition at line 564 of file StateMachine.hpp.

void RTT::StateMachine::addState ( StateInterface * s )

Add a State. If already present, changes nothing.

Definition at line 769 of file StateMachine.cpp.

bool RTT::StateMachine::automatic ( )

Enter automatic mode: evaluating the transition conditions continuously.

Definition at line 208 of file StateMachine.cpp.

void RTT::StateMachine::changeState	(	StateInterface *	s,
		ProgramInterface *	tprog,
		bool	stepping = `false`
	)

protected

Definition at line 409 of file StateMachine.cpp.

int RTT::StateMachine::checkConditions	(	StateInterface *	state,
		bool	stepping = `false`
	)

protected

Definition at line 699 of file StateMachine.cpp.

bool RTT::StateMachine::createEventTransition	(	ServicePtr	sp,
		ExecutionEngine *	target_engine,
		const std::string &	ename,
		std::vector< base::DataSourceBase::shared_ptr >	args,
		StateInterface *	from,
		StateInterface *	to,
		ConditionInterface *	guard,
		boost::shared_ptr< ProgramInterface >	transprog,
		StateInterface *	elseto = `0`,
		boost::shared_ptr< ProgramInterface >	elseprog = `boost::shared_ptr<ProgramInterface>()`
	)

Express a possible transition from one state to another when an Event is fired under a certain condition (guard).

Parameters

ename	The name of the Event under which a transition should be made
args	The arguments which the event handler must set upon occurence.
from	The state which should be left
to	The state which should be entered
guard	The Condition under which the transition may succeed
transprog	The program to be executed between exit of from and entry of to.
sp	The Service in which ename can be found.
target_engine	The ExecutionEngine which will execute this StateMachine.

Definition at line 500 of file StateMachine.cpp.

ProgramInterface * RTT::StateMachine::currentProgram ( ) const

Retrieve the current program in execution. Returns null if the StateMachine is not active or no programs are being run.

Definition at line 922 of file StateMachine.cpp.

StateInterface * RTT::StateMachine::currentState ( ) const

Retrieve the current state of the state machine. Returns null if the StateMachine is not active.

Definition at line 917 of file StateMachine.cpp.

bool RTT::StateMachine::deactivate ( )

Stop this StateMachine. The current state is left unconditionally.

Definition at line 1212 of file StateMachine.cpp.

void RTT::StateMachine::disableEvents ( StateInterface * s )

protected

Definition at line 484 of file StateMachine.cpp.

void RTT::StateMachine::disableGlobalEvents ( )

protected

Definition at line 466 of file StateMachine.cpp.

void RTT::StateMachine::enableEvents ( StateInterface * s )

protected

Definition at line 470 of file StateMachine.cpp.

void RTT::StateMachine::enableGlobalEvents ( )

protected

Definition at line 462 of file StateMachine.cpp.

void RTT::StateMachine::enterState ( StateInterface * s )

protected

Definition at line 961 of file StateMachine.cpp.

bool RTT::StateMachine::eventTransition	(	StateInterface *	from,
		ConditionInterface *	c,
		ProgramInterface *	p,
		StateInterface *	to,
		ProgramInterface *	elsep,
		StateInterface *	elseto
	)

private

Internal use only. Make a transition to state 'to' with transitionprogram 'p' under condition 'c'. if from != current or in transition already, discard transition.

Definition at line 561 of file StateMachine.cpp.

bool RTT::StateMachine::execute ( )

virtual

Used by the StateMachineProcessor to execute the next action(s) or state transitions.

Implements RTT::base::ExecutableInterface.

Definition at line 258 of file StateMachine.cpp.

bool RTT::StateMachine::executePending ( bool stepping = false )

Execute any pending State (exit, entry, handle) programs. You must executePending, before calling requestState() or requestNextState(). You should only call requestState() or requestNextState() if executePending returns true.

Due to the pending requests, the currentState() may have changed.

Parameters

stepping provide true if the pending programs should be executed one step at a time.

Return values

true	if nothing was pending
false	if there was some program executing.

Definition at line 979 of file StateMachine.cpp.

bool RTT::StateMachine::executeProgram	(	ProgramInterface *&	cp,
		bool	stepping
	)

protected

Definition at line 1109 of file StateMachine.cpp.

const ChildList& RTT::scripting::StateMachine::getChildren ( ) const

inline

Get a list of all child state machines.

Definition at line 559 of file StateMachine.hpp.

const std::string& RTT::scripting::StateMachine::getCurrentStateName ( ) const

inline

Return name of current state, empty string if not active.

Definition at line 164 of file StateMachine.hpp.

StateInterface* RTT::scripting::StateMachine::getFinalState ( ) const

inline

Retrieve the final state of the state machine.

Definition at line 522 of file StateMachine.hpp.

base::ActionInterface* RTT::scripting::StateMachine::getInitCommand ( ) const

inline

Definition at line 538 of file StateMachine.hpp.

StateInterface* RTT::scripting::StateMachine::getInitialState ( ) const

inline

Retrieve the initial state of the state machine.

Definition at line 515 of file StateMachine.hpp.

int RTT::StateMachine::getLineNumber ( ) const

Returns the current program line in execution,

Returns: 1 if not active

Definition at line 861 of file StateMachine.cpp.

const std::string& RTT::scripting::StateMachine::getName ( ) const

inline

This method must be overloaded to get a useful hierarchy.

Definition at line 572 of file StateMachine.hpp.

StateMachinePtr RTT::scripting::StateMachine::getParent ( ) const

inline

Get the parent, returns zero if no parent.

Definition at line 546 of file StateMachine.hpp.

StateInterface * RTT::StateMachine::getState ( const std::string & name ) const

Lookup a State by name. Returns null if not found.

Definition at line 775 of file StateMachine.cpp.

std::vector< std::string > RTT::StateMachine::getStateList ( ) const

Get a list of the names of all the present states.

Definition at line 759 of file StateMachine.cpp.

StateMachine::Status::StateMachineStatus RTT::StateMachine::getStatus ( ) const

Get the status of this state machine.

Definition at line 124 of file StateMachine.cpp.

string RTT::StateMachine::getStatusStr ( ) const

Get the status in a readable string format.

Definition at line 128 of file StateMachine.cpp.

string RTT::StateMachine::getText ( ) const

virtual

Return the text to which getLineNumber() refers.

Reimplemented in RTT::scripting::ParsedStateMachine.

Definition at line 878 of file StateMachine.cpp.

void RTT::StateMachine::handleState ( StateInterface * s )

protected

Definition at line 950 of file StateMachine.cpp.

bool RTT::scripting::StateMachine::inError ( ) const

inline

Get the error status of this StateMachine.

Definition at line 216 of file StateMachine.hpp.

bool RTT::scripting::StateMachine::inFinalState ( ) const

inline

Inspect if we are in the final state.

Definition at line 188 of file StateMachine.hpp.

bool RTT::scripting::StateMachine::inInitialState ( ) const

inline

Inspect if we are in the initial state.

Definition at line 181 of file StateMachine.hpp.

bool RTT::scripting::StateMachine::inState ( const std::string & state ) const

inline

Check if the state machine is in a given state.

Definition at line 143 of file StateMachine.hpp.

bool RTT::scripting::StateMachine::inStrictState ( const std::string & state ) const

inline

Check if the state machine is in a given state and not in the entry or exit program.

Definition at line 154 of file StateMachine.hpp.

bool RTT::StateMachine::interruptible ( ) const

Inspect if the StateMachine is interruptible by events. Only the run program may be interrupted, or if no program is currently executed.

Definition at line 1140 of file StateMachine.cpp.

bool RTT::StateMachine::inTransition ( ) const

Inspect if the StateMachine is performing a state transition. A transition is in progress if entry, transition or exit programs are executed.

Returns: true if it is executing a program (except run or handle program), false if it is not executing a program OR executing the run/handle program.

Definition at line 1135 of file StateMachine.cpp.

bool RTT::scripting::StateMachine::isActive ( ) const

inline

Returns true if the state machine is activated.

Definition at line 205 of file StateMachine.hpp.

bool RTT::scripting::StateMachine::isAutomatic ( ) const

inline

Query if the state machine is reacting to events and evaluating transition conditions.

Definition at line 227 of file StateMachine.hpp.

bool RTT::scripting::StateMachine::isPaused ( ) const

inline

Query if the state machine is paused.

Definition at line 232 of file StateMachine.hpp.

bool RTT::scripting::StateMachine::isReactive ( ) const

inline

Query if the state machine is currently reacting only to events.

Definition at line 221 of file StateMachine.hpp.

bool RTT::scripting::StateMachine::isStopped ( ) const

inline

Returns true if the state machine is in the final state, after a stop() directive.

Definition at line 211 of file StateMachine.hpp.

bool RTT::scripting::StateMachine::isStrictlyActive ( ) const

inline

Strictly active, means active and not in a transition.

Definition at line 174 of file StateMachine.hpp.

void RTT::StateMachine::leaveState ( StateInterface * s )

protected

Definition at line 927 of file StateMachine.cpp.

void RTT::StateMachine::loading ( )

virtual

Informs this object that it got loaded in an ExecutionEngine. Called by load() after the engine pointer is set.

Reimplemented from RTT::base::ExecutableInterface.

Definition at line 84 of file StateMachine.cpp.

StateInterface * RTT::StateMachine::nextState ( )

Search from the current state a candidate next state. If none is found, the current state is returned.

Note: The mere calling of this method, may influence future possible results. Multiple invocations of nextState() may return different results, so use with care.

See also: requestNextState()

Definition at line 732 of file StateMachine.cpp.

bool RTT::StateMachine::pause ( )

Pause the state machine.

Definition at line 172 of file StateMachine.cpp.

void RTT::StateMachine::preconditionSet	(	StateInterface *	state,
		ConditionInterface *	cnd,
		int	line
	)

Express a precondition for entering a state. The precondition will be chained (Logical AND) with any transition to this state. This means that any transition to this state will only succeed if all preconditions hold. If state is the initial state, the preconditions must be true to make actiate() succeed. If state is the final state, they will not be checked upon requestFinalState, since requestFinalState always succeeds.

Parameters

state	The state for which the preconditions must hold
cnd	The Pre-Condition under which a transition to this state may succeed
line	The line number where this precondition was introduced.

Definition at line 882 of file StateMachine.cpp.

bool RTT::StateMachine::reactive ( )

Switch to reactive mode from automatic mode.

Definition at line 224 of file StateMachine.cpp.

bool RTT::StateMachine::requestFinalState ( )

Request going to the Final State. This will always proceed.

Definition at line 391 of file StateMachine.cpp.

bool RTT::StateMachine::requestInitialState ( )

Request going to the Initial State. This function will only proceed if the current state is the Final State or the Initial State. If it fails, one can try to requestNextState() which may lead to the initial state anyway if the transition is set. This path is not tried by this function.

Returns: The true on success, false if not allowed.

Definition at line 376 of file StateMachine.cpp.

StateInterface * RTT::StateMachine::requestNextState ( bool stepping = false )

Search from the current state a candidate next state. If none is found, the current state is taken. Next, handle the resulting state.

Note: This call is not equivalent to this->requestState( this->nextState() ), since multiple invocations of this->nextState() may result in different results, hence, this->requestState( this->nextState() ) may return false. Use this method instead to automatically go to the next state.

Parameters

stepping provide true if the transition evaluations should be executed one at a time.

Returns: The current state.

Definition at line 616 of file StateMachine.cpp.

StateInterface* RTT::scripting::StateMachine::requestNextStateStep ( )

Go stepwise through evaluations to find out next state.

See also: requestNextState()

bool RTT::scripting::StateMachine::requestState ( const std::string & statename )

inline

Request a transition to a given state.

Definition at line 132 of file StateMachine.hpp.

bool RTT::StateMachine::requestStateChange ( StateInterface * s_n )

Request a state transition to a new state. If the transition is not set by transitionSet(), acquiering the state will fail.

Parameters

s_n	The state to change to

Return values

true	if the transition is successfull
false	if the transition is not allowed

Definition at line 786 of file StateMachine.cpp.

bool RTT::StateMachine::reset ( )

Reset the state machine from the final state to the initial state and wait for events or requests.

Definition at line 246 of file StateMachine.cpp.

void RTT::StateMachine::runState ( StateInterface * s )

protected

Definition at line 939 of file StateMachine.cpp.

void RTT::StateMachine::setFinalState ( StateInterface * s )

Set the final state of this StateMachine.

Definition at line 1150 of file StateMachine.cpp.

void RTT::scripting::StateMachine::setInitCommand ( base::ActionInterface * c )

inline

This was added for extra (non-user visible) initialisation when the StateMachine is activated.

Parameters

c	The command to execute upon each activate. c is aggregated by this state machine and deleted in the destructor.

Definition at line 533 of file StateMachine.hpp.

void RTT::StateMachine::setInitialState ( StateInterface * s )

Set the initial state of this StateMachine.

Definition at line 1144 of file StateMachine.cpp.

void RTT::scripting::StateMachine::setParent ( StateMachinePtr parent )

inline

Definition at line 551 of file StateMachine.hpp.

bool RTT::StateMachine::start ( )

Enter automatic mode: evaluating the transition conditions continuously.

Definition at line 203 of file StateMachine.cpp.

bool RTT::StateMachine::step ( )

Execute a single action if the state machine is paused or evaluate the transition conditions if the state machine is reactive.

Definition at line 187 of file StateMachine.cpp.

bool RTT::scripting::StateMachine::stepDone ( ) const

inline

When isPaused(), return true if no step is pending, when isReactive(), return isStrictlyActive()

Definition at line 196 of file StateMachine.hpp.

bool RTT::StateMachine::stop ( )

Bring the state machine to the safe final state and wait for events or requests.

Definition at line 235 of file StateMachine.cpp.

void RTT::StateMachine::trace ( bool on_off )

Turn log(Debug) messages on or off to track state transitions.

Definition at line 1156 of file StateMachine.cpp.

void RTT::StateMachine::transitionSet	(	StateInterface *	from,
		StateInterface *	to,
		ConditionInterface *	cnd,
		int	priority,
		int	line
	)

Express a possible transition from one state to another under a certain condition.

Parameters

from	The state which should be left
to	The state which should be entered
cnd	The Condition under which the transition may succeed
priority	The priority of this transition; low number (like -1000) is low priority high number is high priority (like + 1000). Transitions of equal priority are traversed in an unspecified way.
line	The line number where this transition was introduced.

Postcondition: All transitions from from to to will succeed under condition cnd

Definition at line 891 of file StateMachine.cpp.

void RTT::StateMachine::transitionSet	(	StateInterface *	from,
		StateInterface *	to,
		ConditionInterface *	cnd,
		boost::shared_ptr< ProgramInterface >	transprog,
		int	priority,
		int	line
	)

Express a possible transition from one state to another under a certain condition.

Parameters

from	The state which should be left
to	The state which should be entered
cnd	The Condition under which the transition may succeed
transprog	The program to be executed between exit of from and entry of to. May be null to indicate the empty program.
priority	The priority of this transition; low number (like -1000) is low priority high number is high priority (like + 1000). Transitions of equal priority are traversed in an unspecified way.
line	The line number where this transition was introduced.

Postcondition: All transitions from from to to will succeed under condition cnd

Definition at line 896 of file StateMachine.cpp.

void RTT::StateMachine::unloading ( )

virtual

Informs this object that it got unloaded from an ExecutionEngine. Called by unload() before the engine pointer is cleared.

Reimplemented from RTT::base::ExecutableInterface.

Definition at line 107 of file StateMachine.cpp.

Member Data Documentation

std::vector<StateMachinePtr> RTT::scripting::StateMachine::_children

protected

Definition at line 100 of file StateMachine.hpp.

std::string RTT::scripting::StateMachine::_name

protected

Definition at line 104 of file StateMachine.hpp.

StateMachineParentPtr RTT::scripting::StateMachine::_parent

protected

Definition at line 102 of file StateMachine.hpp.

bool RTT::scripting::StateMachine::checking_precond

private

Definition at line 684 of file StateMachine.hpp.

StateInterface* RTT::scripting::StateMachine::current

private

The current state the Machine is in. current == 0 means that the state machine is currently inactive.

Definition at line 664 of file StateMachine.hpp.

ProgramInterface* RTT::scripting::StateMachine::currentEntry

private

Definition at line 676 of file StateMachine.hpp.

ProgramInterface* RTT::scripting::StateMachine::currentExit

private

Definition at line 674 of file StateMachine.hpp.

ProgramInterface* RTT::scripting::StateMachine::currentHandle

private

Definition at line 675 of file StateMachine.hpp.

ProgramInterface* RTT::scripting::StateMachine::currentProg

private

Definition at line 673 of file StateMachine.hpp.

ProgramInterface* RTT::scripting::StateMachine::currentRun

private

Definition at line 677 of file StateMachine.hpp.

ProgramInterface* RTT::scripting::StateMachine::currentTrans

private

Definition at line 678 of file StateMachine.hpp.

std::string RTT::StateMachine::emptyString

staticprivate

Definition at line 77 of file StateMachine.hpp.

int RTT::scripting::StateMachine::evaluating

private

Definition at line 687 of file StateMachine.hpp.

EventMap RTT::scripting::StateMachine::eventMap

protected

A map keeping track of all events of a state. Not all states need to be present as a key in this map.

Definition at line 620 of file StateMachine.hpp.

os::MutexRecursive RTT::scripting::StateMachine::execlock

private

Definition at line 689 of file StateMachine.hpp.

StateInterface* RTT::scripting::StateMachine::finistate

private

The Final State.

Definition at line 658 of file StateMachine.hpp.

base::ActionInterface* RTT::scripting::StateMachine::initc

private

Definition at line 671 of file StateMachine.hpp.

StateInterface* RTT::scripting::StateMachine::initstate

private

The Initial State.

Definition at line 653 of file StateMachine.hpp.

bool RTT::scripting::StateMachine::mstep

private

Definition at line 685 of file StateMachine.hpp.

bool RTT::scripting::StateMachine::mtrace

private

Definition at line 685 of file StateMachine.hpp.

StateInterface* RTT::scripting::StateMachine::next

private

The next state the Machine will go to.

Definition at line 669 of file StateMachine.hpp.

std::pair<PreConditionMap::const_iterator,PreConditionMap::const_iterator> RTT::scripting::StateMachine::prec_it

private

Definition at line 683 of file StateMachine.hpp.

PreConditionMap RTT::scripting::StateMachine::precondMap

protected

A map keeping track of all preconditions of a state. Not all states need to be present as a key in this map.

Definition at line 614 of file StateMachine.hpp.

TransList::iterator RTT::scripting::StateMachine::reqend

private

Definition at line 681 of file StateMachine.hpp.

TransList::iterator RTT::scripting::StateMachine::reqstep

private

Definition at line 680 of file StateMachine.hpp.

enum RTT::scripting::StateMachine::PrivateStatus RTT::scripting::StateMachine::smpStatus

private

Status::StateMachineStatus RTT::scripting::StateMachine::smStatus

protected

Definition at line 105 of file StateMachine.hpp.

TransitionMap RTT::scripting::StateMachine::stateMap

protected

A map keeping track of all States and conditional transitions between two states. Every state of this StateMachine must be] present as a key in this map.

Definition at line 608 of file StateMachine.hpp.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation