Program Listing for File state_machine.hpp
↰ Return to documentation for file (include/yasmin/state_machine.hpp
)
// Copyright (C) 2023 Miguel Ángel González Santamarta
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <https://www.gnu.org/licenses/>.
#ifndef YASMIN__STATE_MACHINE_HPP
#define YASMIN__STATE_MACHINE_HPP
#include <atomic>
#include <functional>
#include <map>
#include <memory>
#include <mutex>
#include <set>
#include <string>
#include <vector>
#include "yasmin/blackboard/blackboard.hpp"
#include "yasmin/state.hpp"
namespace yasmin {
class StateMachine : public State {
using StartCallbackType = std::function<void(
std::shared_ptr<yasmin::blackboard::Blackboard>, const std::string &,
const std::vector<std::string> &)>;
using TransitionCallbackType = std::function<void(
std::shared_ptr<yasmin::blackboard::Blackboard>, const std::string &,
const std::string &, const std::string &,
const std::vector<std::string> &)>;
using EndCallbackType = std::function<void(
std::shared_ptr<yasmin::blackboard::Blackboard>, const std::string &,
const std::vector<std::string> &)>;
public:
StateMachine(std::set<std::string> outcomes);
void add_state(std::string name, std::shared_ptr<State> state,
std::map<std::string, std::string> transitions);
void add_state(std::string name, std::shared_ptr<State> state);
void set_start_state(std::string state_name);
std::string get_start_state();
std::map<std::string, std::shared_ptr<State>> const &get_states();
std::map<std::string, std::map<std::string, std::string>> const &
get_transitions();
std::string get_current_state();
void add_start_cb(StartCallbackType cb, std::vector<std::string> args = {});
void add_transition_cb(TransitionCallbackType cb,
std::vector<std::string> args = {});
void add_end_cb(EndCallbackType cb, std::vector<std::string> args = {});
void
call_start_cbs(std::shared_ptr<yasmin::blackboard::Blackboard> blackboard,
const std::string &start_state);
void call_transition_cbs(
std::shared_ptr<yasmin::blackboard::Blackboard> blackboard,
const std::string &from_state, const std::string &to_state,
const std::string &outcome);
void call_end_cbs(std::shared_ptr<yasmin::blackboard::Blackboard> blackboard,
const std::string &outcome);
void validate(bool strict_mode = false);
std::string
execute(std::shared_ptr<blackboard::Blackboard> blackboard) override;
std::string execute();
std::string operator()();
using State::operator();
void cancel_state() override;
std::string to_string();
private:
std::map<std::string, std::shared_ptr<State>> states;
std::map<std::string, std::map<std::string, std::string>> transitions;
std::string start_state;
std::string current_state;
std::unique_ptr<std::mutex> current_state_mutex;
std::atomic_bool validated{false};
std::vector<std::pair<StartCallbackType, std::vector<std::string>>> start_cbs;
std::vector<std::pair<TransitionCallbackType, std::vector<std::string>>>
transition_cbs;
std::vector<std::pair<EndCallbackType, std::vector<std::string>>> end_cbs;
};
} // namespace yasmin
#endif // YASMIN__STATE_MACHINE_HPP