A hierarchical StateMachine which is loaded in the Program Processor. More...
#include <StateMachine.hpp>
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 |
A hierarchical StateMachine which is loaded in the Program Processor.
A StateMachine can have children and one parent.
Definition at line 72 of file StateMachine.hpp.
typedef std::vector<StateMachinePtr> RTT::scripting::StateMachine::ChildList |
Definition at line 109 of file StateMachine.hpp.
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Definition at line 98 of file StateMachine.hpp.
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Definition at line 99 of file StateMachine.hpp.
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Definition at line 92 of file StateMachine.hpp.
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Definition at line 101 of file StateMachine.hpp.
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Definition at line 91 of file StateMachine.hpp.
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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.
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Enumerator | |
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nill | |
gostop | |
goreset | |
pausing |
Definition at line 75 of file StateMachine.hpp.
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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" |
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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.
bool RTT::StateMachine::activate | ( | ) |
Start this StateMachine. The Initial state will be entered.
Definition at line 1160 of file StateMachine.cpp.
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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.
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Definition at line 409 of file StateMachine.cpp.
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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 , |
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boost::shared_ptr< ProgramInterface > | elseprog = boost::shared_ptr<ProgramInterface>() |
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Express a possible transition from one state to another when an Event is fired under a certain condition (guard).
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.
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Definition at line 484 of file StateMachine.cpp.
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Definition at line 466 of file StateMachine.cpp.
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Definition at line 470 of file StateMachine.cpp.
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Definition at line 462 of file StateMachine.cpp.
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Definition at line 961 of file StateMachine.cpp.
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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.
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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.
stepping | provide true if the pending programs should be executed one step at a time. |
true | if nothing was pending |
false | if there was some program executing. |
Definition at line 979 of file StateMachine.cpp.
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Definition at line 1109 of file StateMachine.cpp.
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Get a list of all child state machines.
Definition at line 559 of file StateMachine.hpp.
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Return name of current state, empty string if not active.
Definition at line 164 of file StateMachine.hpp.
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Retrieve the final state of the state machine.
Definition at line 522 of file StateMachine.hpp.
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Definition at line 538 of file StateMachine.hpp.
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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,
Definition at line 861 of file StateMachine.cpp.
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This method must be overloaded to get a useful hierarchy.
Definition at line 572 of file StateMachine.hpp.
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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.
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Return the text to which getLineNumber() refers.
Reimplemented in RTT::scripting::ParsedStateMachine.
Definition at line 878 of file StateMachine.cpp.
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Definition at line 950 of file StateMachine.cpp.
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Get the error status of this StateMachine.
Definition at line 216 of file StateMachine.hpp.
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Inspect if we are in the final state.
Definition at line 188 of file StateMachine.hpp.
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Inspect if we are in the initial state.
Definition at line 181 of file StateMachine.hpp.
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Check if the state machine is in a given state.
Definition at line 143 of file StateMachine.hpp.
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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.
Definition at line 1135 of file StateMachine.cpp.
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Returns true if the state machine is activated.
Definition at line 205 of file StateMachine.hpp.
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Query if the state machine is reacting to events and evaluating transition conditions.
Definition at line 227 of file StateMachine.hpp.
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Query if the state machine is paused.
Definition at line 232 of file StateMachine.hpp.
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Query if the state machine is currently reacting only to events.
Definition at line 221 of file StateMachine.hpp.
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Returns true if the state machine is in the final state, after a stop() directive.
Definition at line 211 of file StateMachine.hpp.
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Strictly active, means active and not in a transition.
Definition at line 174 of file StateMachine.hpp.
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Definition at line 927 of file StateMachine.cpp.
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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.
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 | ||
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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.
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.
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.
stepping | provide true if the transition evaluations should be executed one at a time. |
Definition at line 616 of file StateMachine.cpp.
StateInterface* RTT::scripting::StateMachine::requestNextStateStep | ( | ) |
Go stepwise through evaluations to find out next state.
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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.
s_n | The state to change to |
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.
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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.
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This was added for extra (non-user visible) initialisation when the StateMachine is activated.
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.
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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.
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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 | ||
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Express a possible transition from one state to another under a certain condition.
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. |
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 | ||
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Express a possible transition from one state to another under a certain condition.
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. |
Definition at line 896 of file StateMachine.cpp.
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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.
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Definition at line 100 of file StateMachine.hpp.
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Definition at line 104 of file StateMachine.hpp.
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Definition at line 102 of file StateMachine.hpp.
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Definition at line 684 of file StateMachine.hpp.
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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.
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Definition at line 676 of file StateMachine.hpp.
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Definition at line 674 of file StateMachine.hpp.
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Definition at line 675 of file StateMachine.hpp.
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Definition at line 673 of file StateMachine.hpp.
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Definition at line 677 of file StateMachine.hpp.
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Definition at line 678 of file StateMachine.hpp.
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Definition at line 77 of file StateMachine.hpp.
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Definition at line 687 of file StateMachine.hpp.
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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.
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Definition at line 689 of file StateMachine.hpp.
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The Final State.
Definition at line 658 of file StateMachine.hpp.
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Definition at line 671 of file StateMachine.hpp.
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The Initial State.
Definition at line 653 of file StateMachine.hpp.
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Definition at line 685 of file StateMachine.hpp.
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Definition at line 685 of file StateMachine.hpp.
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The next state the Machine will go to.
Definition at line 669 of file StateMachine.hpp.
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Definition at line 683 of file StateMachine.hpp.
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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.
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Definition at line 681 of file StateMachine.hpp.
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Definition at line 680 of file StateMachine.hpp.
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Definition at line 105 of file StateMachine.hpp.
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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.