state_machine.h File Reference

#include <string>
#include <map>
#include <boost/assign/list_of.hpp>
#include <boost/assign/list_inserter.hpp>
#include <boost/shared_ptr.hpp>
#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/server/simple_action_server.h>
#include <object_manipulation_msgs/GraspHandPostureExecutionAction.h>
#include <control_msgs/FollowJointTrajectoryAction.h>
#include <arm_navigation_msgs/FilterJointTrajectoryWithConstraints.h>
#include <mtconnect_msgs/CloseChuckAction.h>
#include <mtconnect_msgs/OpenChuckAction.h>
#include <mtconnect_msgs/CloseDoorAction.h>
#include <mtconnect_msgs/OpenDoorAction.h>
#include <mtconnect_msgs/MaterialLoadAction.h>
#include <mtconnect_msgs/MaterialUnloadAction.h>
#include <mtconnect_msgs/RobotSpindle.h>
#include <mtconnect_msgs/RobotStates.h>
#include <mtconnect_example_msgs/StateMachineCmd.h>
#include <mtconnect_example_msgs/StateMachineStatus.h>
#include <mtconnect_msgs/SetMTConnectState.h>
#include <mtconnect_task_parser/task.h>
#include <industrial_msgs/RobotStatus.h>

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Classes
class	mtconnect_state_machine::StateMachine
Namespaces
namespace	mtconnect_state_machine
namespace	mtconnect_state_machine::StateTypes
	Enumeration of state machine states.
Typedefs
typedef actionlib::SimpleActionClient < mtconnect_msgs::CloseChuckAction >	mtconnect_state_machine::CncCloseChuckClient
typedef boost::shared_ptr < CncCloseChuckClient >	mtconnect_state_machine::CncCloseChuckClientPtr
typedef actionlib::SimpleActionClient < mtconnect_msgs::CloseDoorAction >	mtconnect_state_machine::CncCloseDoorClient
typedef boost::shared_ptr < CncCloseDoorClient >	mtconnect_state_machine::CncCloseDoorClientPtr
typedef actionlib::SimpleActionClient < mtconnect_msgs::OpenChuckAction >	mtconnect_state_machine::CncOpenChuckClient
typedef boost::shared_ptr < CncOpenChuckClient >	mtconnect_state_machine::CncOpenChuckClientPtr
typedef actionlib::SimpleActionClient < mtconnect_msgs::OpenDoorAction >	mtconnect_state_machine::CncOpenDoorClient
typedef boost::shared_ptr < CncOpenDoorClient >	mtconnect_state_machine::CncOpenDoorClientPtr
typedef actionlib::SimpleActionClient < object_manipulation_msgs::GraspHandPostureExecutionAction >	mtconnect_state_machine::GraspActionClient
typedef boost::shared_ptr < GraspActionClient >	mtconnect_state_machine::GraspActionClientPtr
typedef actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction >	mtconnect_state_machine::JointTractoryClient
typedef boost::shared_ptr < JointTractoryClient >	mtconnect_state_machine::JointTractoryClientPtr
typedef actionlib::SimpleActionServer < mtconnect_msgs::MaterialLoadAction >	mtconnect_state_machine::MaterialLoadServer
typedef boost::shared_ptr < MaterialLoadServer >	mtconnect_state_machine::MaterialLoadServerPtr
typedef actionlib::SimpleActionServer < mtconnect_msgs::MaterialUnloadAction >	mtconnect_state_machine::MaterialUnloadServer
typedef boost::shared_ptr < MaterialUnloadServer >	mtconnect_state_machine::MaterialUnloadServerPtr
typedef StateTypes::StateType	mtconnect_state_machine::StateType
Enumerations
enum	mtconnect_state_machine::StateTypes::StateType {   mtconnect_state_machine::StateTypes::INVALID = 0, mtconnect_state_machine::StateTypes::IDLE = 1, mtconnect_state_machine::StateTypes::INITING = 100, mtconnect_state_machine::StateTypes::CHECK_HOME,   mtconnect_state_machine::StateTypes::WAIT_FOR_ACTIONS, mtconnect_state_machine::StateTypes::WAIT_FOR_SERVICES, mtconnect_state_machine::StateTypes::SET_MAT_ACTIONS_READY, mtconnect_state_machine::StateTypes::CYCLE_BEGIN = 2000,   mtconnect_state_machine::StateTypes::WAITING = 2001, mtconnect_state_machine::StateTypes::MATERIAL_LOADING = 2100, mtconnect_state_machine::StateTypes::ML_MOVE_PICK_APPROACH, mtconnect_state_machine::StateTypes::ML_WAIT_MOVE_PICK_APPROACH,   mtconnect_state_machine::StateTypes::ML_MOVE_PICK, mtconnect_state_machine::StateTypes::ML_WAIT_MOVE_PICK, mtconnect_state_machine::StateTypes::ML_PICK, mtconnect_state_machine::StateTypes::ML_WAIT_PICK,   mtconnect_state_machine::StateTypes::ML_MOVE_CHUCK, mtconnect_state_machine::StateTypes::ML_WAIT_MOVE_CHUCK, mtconnect_state_machine::StateTypes::ML_CLOSE_CHUCK, mtconnect_state_machine::StateTypes::ML_WAIT_CLOSE_CHUCK,   mtconnect_state_machine::StateTypes::ML_RELEASE_PART, mtconnect_state_machine::StateTypes::ML_WAIT_RELEASE_PART, mtconnect_state_machine::StateTypes::ML_MOVE_DOOR, mtconnect_state_machine::StateTypes::ML_WAIT_MOVE_DOOR,   mtconnect_state_machine::StateTypes::ML_MOVE_HOME, mtconnect_state_machine::StateTypes::ML_WAIT_MOVE_HOME, mtconnect_state_machine::StateTypes::MATERIAL_LOADED = 2199, mtconnect_state_machine::StateTypes::MATERIAL_UNLOADING = 2200,   mtconnect_state_machine::StateTypes::MU_MOVE_DOOR, mtconnect_state_machine::StateTypes::MU_WAIT_MOVE_DOOR, mtconnect_state_machine::StateTypes::MU_MOVE_CHUCK, mtconnect_state_machine::StateTypes::MU_WAIT_MOVE_CHUCK,   mtconnect_state_machine::StateTypes::MU_PICK_PART, mtconnect_state_machine::StateTypes::MU_WAIT_PICK_PART, mtconnect_state_machine::StateTypes::MU_OPEN_CHUCK, mtconnect_state_machine::StateTypes::MU_WAIT_OPEN_CHUCK,   mtconnect_state_machine::StateTypes::MU_MOVE_DROP, mtconnect_state_machine::StateTypes::MU_WAIT_MOVE_DROP, mtconnect_state_machine::StateTypes::MU_DROP, mtconnect_state_machine::StateTypes::MU_WAIT_DROP,   mtconnect_state_machine::StateTypes::MU_MOVE_HOME, mtconnect_state_machine::StateTypes::MU_WAIT_MOVE_HOME, mtconnect_state_machine::StateTypes::MATERIAL_UNLOADED = 2299, mtconnect_state_machine::StateTypes::CYCLE_END = 2999,   mtconnect_state_machine::StateTypes::STOPPING = 300, mtconnect_state_machine::StateTypes::S_SET_MAT_ACTIONS_NOT_READY, mtconnect_state_machine::StateTypes::STOPPED = 299, mtconnect_state_machine::StateTypes::ABORTING = 500,   mtconnect_state_machine::StateTypes::ABORT_GOALS, mtconnect_state_machine::StateTypes::CANCEL_REQUESTS, mtconnect_state_machine::StateTypes::ABORTED = 599, mtconnect_state_machine::StateTypes::RESETTING = 700,   mtconnect_state_machine::StateTypes::R_WAIT_FOR_HOME, mtconnect_state_machine::StateTypes::R_SET_MAT_ACTIONS_NOT_READY, mtconnect_state_machine::StateTypes::RESET = 799 }
Variables
static std::map< int, std::string >	mtconnect_state_machine::StateTypes::STATE_MAP
	Map of states to state strings.