State machine class. More...

#include <StateMachine.h>

Public Member Functions
State	getState ()
	Get current state. More...

States	getStates ()
	Get states. More...

void	goTo (State state)
	Transit State. More...

bool	isIn (State state)
	Check current state. More...

bool	setDoAction (State state, Callback call_back)
	Set Do action function. More...

bool	setEntryAction (State state, Callback call_back)
	Set Entry action function. More...

bool	setExitAction (State state, Callback call_back)
	Set Exit action function. More...

void	setListener (Listener *listener)
	Set Listener Object. More...

void	setNOP (Callback call_back)
	Set NOP function. More...

bool	setPostDoAction (State state, Callback call_back)
	Set PostDo action function. More...

bool	setPreDoAction (State state, Callback call_back)
	Set PreDo action function. More...

void	setStartState (States states)
	Set the initial state. More...

bool	setTransitionAction (Callback call_back)
	Set state transition action function. More...

	StateMachine (int num_of_state)
	Constructor. More...

void	worker ()
	Worker function. More...

virtual	~StateMachine ()

Protected Member Functions
void	setNullFunc (Callback *s, Callback nullfunc)
	Set NOP function. More...

Protected Attributes
Callback *	m_do
	Callback function for Do action. More...

Callback *	m_entry
	Callback function for Entry action. More...

Callback *	m_exit
	Callback function for Exit action. More...

Listener *	m_listener
	Callback function for listener. More...

Mutex	m_mutex

int	m_num
	Number of state. More...

Callback *	m_postdo
	Callback function for PostDo action. More...

Callback *	m_predo
	Callback function for PreDo action. More...

bool	m_selftrans

States	m_states
	Current state information. More...

Callback	m_transit
	Callback function for State transition action. More...

Private Types
typedef coil::Guard< Mutex >	Guard

typedef coil::Mutex	Mutex

Private Member Functions
bool	need_trans ()

void	sync (States &st)

void	update_curr (const State curr)

Detailed Description

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>
class RTC_Utils::StateMachine< State, Listener, States, Callback >

State machine class.

StateMachine class is a class to realize a state machine.

Example: ActiveObject assumes to be an active object that has the state machine. There are three states such as INACTIVE, ACTIVE and ERROR state, and if you want to define Entry or Exit action, this class will realize as follows:

class ActiveObject 
{  
public: 
  enum MyState { INACTIVE, ACTIVE, ERROR }; 
  typedef States<MyState> MyStates;

  ActiveObject() 
    : m_sm(3) 
  { 
    m_sm.setNOP(&ActiveObject::nullAction); 
    m_sm.setListener(this);

    m_sm.setExitAction(INACTIVE, &ActiveObject::inactiveExit); 
      : 
    m_sm.setPostDoAction(ERROR, &ActiveObject::errorPostDo); 
    m_sm.setTransitionAction(&ActiveObject:transition); 
  };

  bool nullAction(MyStates st) {}; 
  bool inactiveExit(MyStates st) {}; 
    : 
  bool errorPostDo(MyStates st) {}; 
  bool transition(MyStates st) {};

private: 
  StateMachine<MyState, bool, ActiveObject> m_sm; 
};

If you want to give a class to some states, you must implement the class to satisfy the following conditions:

You must define states by enum.
Template arguments of StateMachine must be <type of state(MyState), listener object, state holder��callback function>
Constructor arguments of StateMachine must be the number of the states.
You must set the following action functions as a function of (Return function_name(States))
1. You must define a function that does not do anything and give with setNOP.
2. You must set actions to each state by set(Entry|PreDo|Do|PostDo|Exit)Action.
3. You should set actions at the state transition by setTransitionAction().
You must implement action at the transition based on given states, such as current state, next state and previous state.
You should change states by goTo() and check the state by isIn(state).
goTo() is a function that sets next state forcibly, therefore, to determine the next state, you must get current state and implement that logic.

In this class, you can define the following five actions for one state:

Entry action
PreDo action
Do action
PostDo action
Exit action

Transition action is an action invoked at the transition between any states, and you must define its behavior.

This class executes each action according to the following timing.

If the state is changed and transits(A->B) state,
(A:Exit)->|(state update:A->B)->(B:Entry)->(B:PreDo)->(B:Do)->(B:PostDo)
If the state is not changed and remains B state, (| shows a step's break) (B(n-1):PostDo)->|(B(n):PreDo)->(B(n):Do)->(B(n):PostDo)->|(B(n+1):PreDo) PreDo, Do and PostDo are executed over and over again.
If the state transits to itself
(B(n-1):PostDo)->(B(n-1):Exit)->|(B(n):Entry)->(B(n):PreDo)
Once Exit is invoked, Entry is executed, and then the same operation described above will be done from here on.

Parameters

State	Type of the state
Listener	Listener object for action
States	State holder
Callback	Callback function for action

Since: 0.4.0

Definition at line 263 of file StateMachine.h.

Member Typedef Documentation

◆ Guard

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

typedef coil::Guard<Mutex> RTC_Utils::StateMachine< State, Listener, States, Callback >::Guard

private

Definition at line 266 of file StateMachine.h.

◆ Mutex

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

typedef coil::Mutex RTC_Utils::StateMachine< State, Listener, States, Callback >::Mutex

private

Definition at line 265 of file StateMachine.h.

Constructor & Destructor Documentation

◆ StateMachine()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

RTC_Utils::StateMachine< State, Listener, States, Callback >::StateMachine ( int num_of_state )

inline

Constructor.

Constructor

Parameters

num_of_state Number of states in the state machine

Definition at line 285 of file StateMachine.h.

◆ ~StateMachine()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

virtual RTC_Utils::StateMachine< State, Listener, States, Callback >::~StateMachine ( )

inlinevirtual

Definition at line 302 of file StateMachine.h.

Member Function Documentation

◆ getState()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

State RTC_Utils::StateMachine< State, Listener, States, Callback >::getState ( )

inline

Get current state.

Returns: Current state

Definition at line 603 of file StateMachine.h.

◆ getStates()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

States RTC_Utils::StateMachine< State, Listener, States, Callback >::getStates ( )

inline

Get states.

Get state information. Get the current state, the previous state and the next state to be expected to transfer.

Returns: State information

Definition at line 580 of file StateMachine.h.

◆ goTo()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

void RTC_Utils::StateMachine< State, Listener, States, Callback >::goTo ( State state )

inline

Transit State.

Transit to the specified state. This function sets the next state forcibly. Therefore, to determine the next state, users must get current state and implement that logic. If transit destination is the same as the current state, flag of self-transition will be set.

Parameters

state State of the transition destination

Definition at line 662 of file StateMachine.h.

◆ isIn()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

bool RTC_Utils::StateMachine< State, Listener, States, Callback >::isIn ( State state )

inline

Check current state.

Check whether current state matches the state specified by argument.

Parameters

state Target state for the check

Returns: Check state result

Definition at line 630 of file StateMachine.h.

◆ need_trans()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

bool RTC_Utils::StateMachine< State, Listener, States, Callback >::need_trans ( )

inlineprivate

Definition at line 845 of file StateMachine.h.

◆ setDoAction()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

bool RTC_Utils::StateMachine< State, Listener, States, Callback >::setDoAction	(	State	state,
		Callback	call_back
	)

inline

Set Do action function.

Set callback function for Do action that is executed in each state.

Parameters

state	Target state for the set
call_back	Callback function for Do action

Returns: Action execution result

Definition at line 443 of file StateMachine.h.

◆ setEntryAction()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

bool RTC_Utils::StateMachine< State, Listener, States, Callback >::setEntryAction	(	State	state,
		Callback	call_back
	)

inline

Set Entry action function.

Set callback function for Entry action that is executed when entering in each state.

Parameters

state	Target state for the set
call_back	Callback function for Entry action

Returns: Action execution result

Definition at line 385 of file StateMachine.h.

◆ setExitAction()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

bool RTC_Utils::StateMachine< State, Listener, States, Callback >::setExitAction	(	State	state,
		Callback	call_back
	)

inline

Set Exit action function.

Set callback function for Exit action that is executed in each state.

Parameters

state	Target state for the set
call_back	Callback function for Exit action

Returns: Action execution result

Definition at line 501 of file StateMachine.h.

◆ setListener()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

void RTC_Utils::StateMachine< State, Listener, States, Callback >::setListener ( Listener * listener )

inline

Set Listener Object.

Set Listener Object invoked when various actions are executed.

Parameters

listener Listener object

Definition at line 356 of file StateMachine.h.

◆ setNOP()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

void RTC_Utils::StateMachine< State, Listener, States, Callback >::setNOP ( Callback call_back )

inline

Set NOP function.

Set NOP function that does not do anything

Parameters

call_back Callback function

Definition at line 329 of file StateMachine.h.

◆ setNullFunc()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

void RTC_Utils::StateMachine< State, Listener, States, Callback >::setNullFunc	(	Callback *	s,
		Callback	nullfunc
	)

inlineprotected

Set NOP function.

Set NOP function (function to do nothing).

Parameters

s	Callback function for setting
nullfunc	Callback function (NOP function)

Definition at line 750 of file StateMachine.h.

◆ setPostDoAction()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

bool RTC_Utils::StateMachine< State, Listener, States, Callback >::setPostDoAction	(	State	state,
		Callback	call_back
	)

inline

Set PostDo action function.

Set callback function for PostDo action that is executed in each state.

Parameters

state	Target state for the set
call_back	Callback function for PostDo action

Returns: Action execution result

Definition at line 472 of file StateMachine.h.

◆ setPreDoAction()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

bool RTC_Utils::StateMachine< State, Listener, States, Callback >::setPreDoAction	(	State	state,
		Callback	call_back
	)

inline

Set PreDo action function.

Set callback function for PreDo action that is executed in each state.

Parameters

state	Target state for the set
call_back	Callback function for PreDo action

Returns: Action execution result

Definition at line 414 of file StateMachine.h.

◆ setStartState()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

void RTC_Utils::StateMachine< State, Listener, States, Callback >::setStartState ( States states )

inline

Set the initial state.

Set the initial state of the state machine.

Parameters

states Initial state

Definition at line 553 of file StateMachine.h.

◆ setTransitionAction()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

bool RTC_Utils::StateMachine< State, Listener, States, Callback >::setTransitionAction ( Callback call_back )

inline

Set state transition action function.

Set callback function for State transition action that is executed when transiting to the state.

Parameters

call_back Callback function for State transition

Returns: Action execution result

Definition at line 530 of file StateMachine.h.

◆ sync()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

void RTC_Utils::StateMachine< State, Listener, States, Callback >::sync ( States & st )

inlineprivate

Definition at line 839 of file StateMachine.h.

◆ update_curr()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

void RTC_Utils::StateMachine< State, Listener, States, Callback >::update_curr ( const State curr )

inlineprivate

Definition at line 851 of file StateMachine.h.

◆ worker()

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

void RTC_Utils::StateMachine< State, Listener, States, Callback >::worker ( )

inline

Worker function.

This is a worker function of the state machine. Execute the invocation of each action at actual state transition and the state transition occurrence.

Definition at line 689 of file StateMachine.h.

Member Data Documentation

◆ m_do

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

Callback* RTC_Utils::StateMachine< State, Listener, States, Callback >::m_do

protected

Callback function for Do action.

Definition at line 798 of file StateMachine.h.

◆ m_entry

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

Callback* RTC_Utils::StateMachine< State, Listener, States, Callback >::m_entry

protected

Callback function for Entry action.

Definition at line 780 of file StateMachine.h.

◆ m_exit

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

Callback* RTC_Utils::StateMachine< State, Listener, States, Callback >::m_exit

protected

Callback function for Exit action.

Definition at line 816 of file StateMachine.h.

◆ m_listener

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

Listener* RTC_Utils::StateMachine< State, Listener, States, Callback >::m_listener

protected

Callback function for listener.

Definition at line 771 of file StateMachine.h.

◆ m_mutex

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

Mutex RTC_Utils::StateMachine< State, Listener, States, Callback >::m_mutex

protected

Definition at line 836 of file StateMachine.h.

◆ m_num

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

int RTC_Utils::StateMachine< State, Listener, States, Callback >::m_num

protected

Number of state.

Definition at line 762 of file StateMachine.h.

◆ m_postdo

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

Callback* RTC_Utils::StateMachine< State, Listener, States, Callback >::m_postdo

protected

Callback function for PostDo action.

Definition at line 807 of file StateMachine.h.

◆ m_predo

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

Callback* RTC_Utils::StateMachine< State, Listener, States, Callback >::m_predo

protected

Callback function for PreDo action.

Definition at line 789 of file StateMachine.h.

◆ m_selftrans

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

bool RTC_Utils::StateMachine< State, Listener, States, Callback >::m_selftrans

protected

Definition at line 835 of file StateMachine.h.

◆ m_states

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

States RTC_Utils::StateMachine< State, Listener, States, Callback >::m_states

protected

Current state information.

Definition at line 834 of file StateMachine.h.

◆ m_transit

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>

Callback RTC_Utils::StateMachine< State, Listener, States, Callback >::m_transit

protected

Callback function for State transition action.

Definition at line 825 of file StateMachine.h.

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

StateMachine.h

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Detailed Description

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)> class RTC_Utils::StateMachine< State, Listener, States, Callback >

Member Typedef Documentation

◆ Guard

◆ Mutex

Constructor & Destructor Documentation

◆ StateMachine()

◆ ~StateMachine()

Member Function Documentation

◆ getState()

◆ getStates()

◆ goTo()

◆ isIn()

◆ need_trans()

◆ setDoAction()

◆ setEntryAction()

◆ setExitAction()

◆ setListener()

◆ setNOP()

◆ setNullFunc()

◆ setPostDoAction()

◆ setPreDoAction()

◆ setStartState()

◆ setTransitionAction()

◆ sync()

◆ update_curr()

◆ worker()

Member Data Documentation

◆ m_do

◆ m_entry

◆ m_exit

◆ m_listener

◆ m_mutex

◆ m_num

◆ m_postdo

◆ m_predo

◆ m_selftrans

◆ m_states

◆ m_transit

template<class State, class Listener, class States = StateHolder<State>, class Callback = void (Listener::*)(const States& states)>
class RTC_Utils::StateMachine< State, Listener, States, Callback >