Orocos Real-Time Toolkit
2.8.3
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A hierarchical StateMachine which is loaded in the Program Processor. More...
#include <rtt/scripting/StateMachine.hpp>
Classes | |
struct | Status |
Enumerates all possible state machine statuses. More... | |
Public Types | |
typedef std::vector< StateMachinePtr > | ChildList |
Public Member Functions | |
virtual | ~StateMachine () |
The destructor is virtual since ParsedStateMachine still inherits this class. More... | |
StateMachine (StateMachinePtr parent, const std::string &name="Default") | |
Create a new StateMachine with an optional parent. More... | |
void | trace (bool on_off) |
Turn log(Debug) messages on or off to track state transitions. More... | |
bool | requestState (const std::string &statename) |
Request a transition to a given state. More... | |
bool | inState (const std::string &state) const |
Check if the state machine is in a given state. More... | |
bool | inStrictState (const std::string &state) const |
Check if the state machine is in a given state and not in the entry or exit program. More... | |
const std::string & | getCurrentStateName () const |
Return name of current state, empty string if not active. More... | |
bool | isStrictlyActive () const |
Strictly active, means active and not in a transition. More... | |
bool | inInitialState () const |
Inspect if we are in the initial state. More... | |
bool | inFinalState () const |
Inspect if we are in the final state. More... | |
bool | stepDone () const |
When isPaused(), return true if no step is pending, when isReactive(), return isStrictlyActive() More... | |
bool | isActive () const |
Returns true if the state machine is activated. More... | |
bool | isStopped () const |
Returns true if the state machine is in the final state, after a stop() directive. More... | |
bool | inError () const |
Get the error status of this StateMachine. More... | |
bool | isReactive () const |
Query if the state machine is currently reacting only to events. More... | |
bool | isAutomatic () const |
Query if the state machine is reacting to events and evaluating transition conditions. More... | |
bool | isPaused () const |
Query if the state machine is paused. More... | |
bool | activate () |
Start this StateMachine. More... | |
bool | pause () |
Pause the state machine. More... | |
bool | step () |
Execute a single action if the state machine is paused or evaluate the transition conditions if the state machine is reactive. More... | |
bool | automatic () |
Enter automatic mode: evaluating the transition conditions continuously. More... | |
bool | start () |
Enter automatic mode: evaluating the transition conditions continuously. More... | |
bool | stop () |
Bring the state machine to the safe final state and wait for events or requests. More... | |
bool | reset () |
Reset the state machine from the final state to the initial state and wait for events or requests. More... | |
bool | reactive () |
Switch to reactive mode from automatic mode. More... | |
bool | deactivate () |
Stop this StateMachine. More... | |
bool | execute () |
Used by the StateMachineProcessor to execute the next action(s) or state transitions. More... | |
void | loading () |
Informs this object that it got loaded in an ExecutionEngine. More... | |
void | unloading () |
Informs this object that it got unloaded from an ExecutionEngine. More... | |
StateInterface * | requestNextState (bool stepping=false) |
Search from the current state a candidate next state. More... | |
StateInterface * | requestNextStateStep () |
Go stepwise through evaluations to find out next state. More... | |
bool | requestFinalState () |
Request going to the Final State. More... | |
bool | requestInitialState () |
Request going to the Initial State. More... | |
StateInterface * | nextState () |
Search from the current state a candidate next state. More... | |
std::vector< std::string > | getStateList () const |
Get a list of the names of all the present states. More... | |
StateInterface * | getState (const std::string &name) const |
Lookup a State by name. More... | |
Status::StateMachineStatus | getStatus () const |
Get the status of this state machine. More... | |
std::string | getStatusStr () const |
Get the status in a readable string format. More... | |
void | addState (StateInterface *s) |
Add a State. More... | |
bool | requestStateChange (StateInterface *s_n) |
Request a state transition to a new state. More... | |
bool | executePending (bool stepping=false) |
Execute any pending State (exit, entry, handle) programs. More... | |
void | preconditionSet (StateInterface *state, ConditionInterface *cnd, int line) |
Express a precondition for entering a state. More... | |
void | transitionSet (StateInterface *from, StateInterface *to, ConditionInterface *cnd, int priority, int line) |
Express a possible transition from one state to another under a certain condition. More... | |
void | 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. More... | |
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 >()) |
Express a possible transition from one state to another when an Event is fired under a certain condition (guard). More... | |
void | setInitialState (StateInterface *s) |
Set the initial state of this StateMachine. More... | |
void | setFinalState (StateInterface *s) |
Set the final state of this StateMachine. More... | |
StateInterface * | currentState () const |
Retrieve the current state of the state machine. More... | |
ProgramInterface * | currentProgram () const |
Retrieve the current program in execution. More... | |
StateInterface * | getInitialState () const |
Retrieve the initial state of the state machine. More... | |
StateInterface * | getFinalState () const |
Retrieve the final state of the state machine. More... | |
void | setInitCommand (base::ActionInterface *c) |
This was added for extra (non-user visible) initialisation when the StateMachine is activated. More... | |
base::ActionInterface * | getInitCommand () const |
StateMachinePtr | getParent () const |
Get the parent, returns zero if no parent. More... | |
void | setParent (StateMachinePtr parent) |
const ChildList & | getChildren () const |
Get a list of all child state machines. More... | |
void | addChild (StateMachinePtr child) |
const std::string & | getName () const |
This method must be overloaded to get a useful hierarchy. More... | |
int | getLineNumber () const |
Returns the current program line in execution,. More... | |
virtual std::string | getText () const |
Return the text to which getLineNumber() refers. More... | |
bool | inTransition () const |
Inspect if the StateMachine is performing a state transition. More... | |
bool | interruptible () const |
Inspect if the StateMachine is interruptible by events. More... | |
void | loaded (ExecutionEngine *ee) |
Called by the ExecutionEngine ee to tell this object it is being loaded. More... | |
void | unloaded () |
Called by the ExecutionEngine ee to tell this object it is being unloaded. More... | |
bool | isLoaded () |
Returns true if this object is loaded in an ExecutionEngine. More... | |
ExecutionEngine * | getEngine () |
Returns the ExecutionEngine this object is loaded into or null otherwise. More... | |
Protected Types | |
typedef std::vector< boost::tuple< ConditionInterface *, StateInterface *, int, int, boost::shared_ptr< ProgramInterface > > > | TransList |
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. More... | |
typedef std::map< StateInterface *, TransList > | TransitionMap |
typedef std::multimap< StateInterface *, std::pair< ConditionInterface *, int > > | PreConditionMap |
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 boost::weak_ptr< StateMachine > | StateMachineParentPtr |
Protected Member Functions | |
void | changeState (StateInterface *s, ProgramInterface *tprog, bool stepping=false) |
void | leaveState (StateInterface *s) |
void | enterState (StateInterface *s) |
void | runState (StateInterface *s) |
void | handleState (StateInterface *s) |
bool | executeProgram (ProgramInterface *&cp, bool stepping) |
int | checkConditions (StateInterface *state, bool stepping=false) |
void | enableGlobalEvents () |
void | disableGlobalEvents () |
void | enableEvents (StateInterface *s) |
void | disableEvents (StateInterface *s) |
Protected Attributes | |
std::vector< StateMachinePtr > | _children |
StateMachineParentPtr | _parent |
std::string | _name |
Status::StateMachineStatus | smStatus |
TransitionMap | stateMap |
A map keeping track of all States and conditional transitions between two states. More... | |
PreConditionMap | precondMap |
A map keeping track of all preconditions of a state. More... | |
EventMap | eventMap |
A map keeping track of all events of a state. More... | |
ExecutionEngine * | engine |
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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The destructor is virtual since ParsedStateMachine still inherits this class.
Definition at line 75 of file StateMachine.cpp.
References _name, RTT::base::ExecutableInterface::getEngine(), RTT::base::ExecutableInterface::isLoaded(), RTT::ExecutionEngine::removeFunction(), and TRACE.
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.
References addState().
bool RTT::StateMachine::activate | ( | ) |
Start this StateMachine.
The Initial state will be entered.
Definition at line 1155 of file StateMachine.cpp.
References RTT::scripting::StateMachine::Status::activating, RTT::scripting::StateMachine::Status::active, checkConditions(), enableEvents(), enableGlobalEvents(), enterState(), RTT::base::ActionInterface::execute(), executePending(), getInitialState(), RTT::scripting::StateMachine::Status::inactive, inError(), RTT::base::ActionInterface::readArguments(), RTT::base::ActionInterface::reset(), smStatus, stateMap, and TRACE.
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Definition at line 564 of file StateMachine.hpp.
Referenced by RTT::scripting::ParsedStateMachine::copy().
void RTT::StateMachine::addState | ( | StateInterface * | s | ) |
Add a State.
If already present, changes nothing.
Definition at line 761 of file StateMachine.cpp.
References stateMap.
Referenced by StateMachine().
bool RTT::StateMachine::automatic | ( | ) |
Enter automatic mode: evaluating the transition conditions continuously.
Definition at line 208 of file StateMachine.cpp.
References RTT::scripting::StateMachine::Status::error, RTT::scripting::StateMachine::Status::inactive, RTT::scripting::StateMachine::Status::running, runState(), smStatus, TRACE, and RTT::scripting::StateMachine::Status::unloaded.
Referenced by start().
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Definition at line 407 of file StateMachine.cpp.
References RTT::scripting::StateMachine::Status::error, RTT::scripting::StateInterface::getName(), handleState(), RTT::scripting::ProgramInterface::inError(), leaveState(), RTT::scripting::ProgramInterface::reset(), runState(), smStatus, RTT::scripting::ProgramInterface::start(), stateMap, and TRACE.
Referenced by createEventTransition(), requestNextState(), and requestStateChange().
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Definition at line 691 of file StateMachine.cpp.
References precondMap.
Referenced by activate(), createEventTransition(), nextState(), requestNextState(), and requestStateChange().
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 497 of file StateMachine.cpp.
References changeState(), checkConditions(), RTT::Debug, RTT::Logger::endl(), RTT::Logger::Error, RTT::Error, RTT::scripting::ConditionInterface::evaluate(), eventMap, RTT::base::RunnableInterface::getActivity(), RTT::base::ExecutableInterface::getEngine(), RTT::scripting::StateInterface::getName(), inTransition(), RTT::Logger::log(), stateMap, TRACE, and RTT::base::ActivityInterface::trigger().
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 914 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 909 of file StateMachine.cpp.
Referenced by RTT::scripting::ParsedStateMachine::inState(), and unloading().
bool RTT::StateMachine::deactivate | ( | ) |
Stop this StateMachine.
The current state is left unconditionally.
Definition at line 1207 of file StateMachine.cpp.
References RTT::scripting::StateMachine::Status::deactivating, disableEvents(), disableGlobalEvents(), executePending(), RTT::scripting::StateMachine::Status::inactive, RTT::scripting::ProgramInterface::inError(), leaveState(), smStatus, and TRACE.
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Definition at line 481 of file StateMachine.cpp.
References eventMap.
Referenced by deactivate(), disableGlobalEvents(), and executePending().
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Definition at line 463 of file StateMachine.cpp.
References disableEvents().
Referenced by deactivate().
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Definition at line 467 of file StateMachine.cpp.
References eventMap.
Referenced by activate(), enableGlobalEvents(), and executePending().
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Definition at line 459 of file StateMachine.cpp.
References enableEvents().
Referenced by activate().
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Definition at line 953 of file StateMachine.cpp.
References RTT::scripting::StateMachine::Status::error, RTT::scripting::StateInterface::getEntryProgram(), RTT::scripting::ProgramInterface::reset(), smStatus, RTT::scripting::ProgramInterface::start(), and stateMap.
Referenced by activate(), and executePending().
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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.
References RTT::scripting::StateMachine::Status::activating, RTT::scripting::StateMachine::Status::active, RTT::scripting::StateMachine::Status::deactivating, RTT::scripting::StateMachine::Status::error, executePending(), RTT::scripting::StateMachine::Status::inactive, inTransition(), RTT::scripting::StateMachine::Status::paused, requestFinalState(), RTT::scripting::StateMachine::Status::requesting, requestInitialState(), requestNextState(), RTT::scripting::StateMachine::Status::resetting, RTT::scripting::StateMachine::Status::running, smStatus, RTT::scripting::StateMachine::Status::stopped, RTT::scripting::StateMachine::Status::stopping, TRACE, and RTT::scripting::StateMachine::Status::unloaded.
Referenced by unloading().
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 971 of file StateMachine.cpp.
References disableEvents(), enableEvents(), enterState(), executeProgram(), RTT::scripting::StateInterface::getName(), inError(), stateMap, and TRACE.
Referenced by activate(), deactivate(), execute(), and requestStateChange().
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Definition at line 1104 of file StateMachine.cpp.
References RTT::scripting::StateMachine::Status::error, RTT::scripting::ProgramInterface::execute(), getLineNumber(), RTT::scripting::ProgramInterface::inError(), RTT::scripting::ProgramInterface::isStopped(), smStatus, RTT::scripting::ProgramInterface::step(), and TRACE.
Referenced by executePending().
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Get a list of all child state machines.
Definition at line 559 of file StateMachine.hpp.
Referenced by RTT::scripting::ParsedStateMachine::setName().
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Return name of current state, empty string if not active.
Definition at line 164 of file StateMachine.hpp.
References RTT::scripting::StateInterface::getName().
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Returns the ExecutionEngine this object is loaded into or null otherwise.
Definition at line 102 of file ExecutableInterface.hpp.
Referenced by createEventTransition(), loading(), RTT::scripting::FunctionGraph::~FunctionGraph(), and ~StateMachine().
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Retrieve the final state of the state machine.
Definition at line 522 of file StateMachine.hpp.
Referenced by unloading().
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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.
Referenced by activate().
int RTT::StateMachine::getLineNumber | ( | ) | const |
Returns the current program line in execution,.
Definition at line 853 of file StateMachine.cpp.
References RTT::scripting::StateInterface::getEntryPoint(), and RTT::scripting::ProgramInterface::getLineNumber().
Referenced by executeProgram(), and unloading().
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This method must be overloaded to get a useful hierarchy.
Definition at line 572 of file StateMachine.hpp.
Referenced by RTT::scripting::StateGraphParser::storeOffset(), and unloading().
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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 767 of file StateMachine.cpp.
References stateMap.
std::vector< std::string > RTT::StateMachine::getStateList | ( | ) | const |
Get a list of the names of all the present states.
Definition at line 751 of file StateMachine.cpp.
References RTT::scripting::StateInterface::getName(), and stateMap.
StateMachine::Status::StateMachineStatus RTT::StateMachine::getStatus | ( | ) | const |
Get the status of this state machine.
Definition at line 124 of file StateMachine.cpp.
References smStatus.
string RTT::StateMachine::getStatusStr | ( | ) | const |
Get the status in a readable string format.
Definition at line 128 of file StateMachine.cpp.
References RTT::scripting::StateMachine::Status::activating, RTT::scripting::StateMachine::Status::active, RTT::scripting::StateMachine::Status::deactivating, RTT::scripting::StateMachine::Status::error, RTT::scripting::StateMachine::Status::inactive, RTT::scripting::StateMachine::Status::paused, RTT::scripting::StateMachine::Status::requesting, RTT::scripting::StateMachine::Status::resetting, RTT::scripting::StateMachine::Status::running, smStatus, RTT::scripting::StateMachine::Status::stopped, RTT::scripting::StateMachine::Status::stopping, and RTT::scripting::StateMachine::Status::unloaded.
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Return the text to which getLineNumber() refers.
Reimplemented in RTT::scripting::ParsedStateMachine.
Definition at line 870 of file StateMachine.cpp.
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Definition at line 942 of file StateMachine.cpp.
References RTT::scripting::StateMachine::Status::error, RTT::scripting::StateInterface::getHandleProgram(), RTT::scripting::ProgramInterface::reset(), smStatus, and RTT::scripting::ProgramInterface::start().
Referenced by changeState().
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Get the error status of this StateMachine.
Definition at line 216 of file StateMachine.hpp.
Referenced by activate(), executePending(), and requestFinalState().
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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.
References RTT::scripting::StateInterface::getName().
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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.
References RTT::scripting::StateInterface::getName().
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 1135 of file StateMachine.cpp.
Referenced by requestFinalState(), requestInitialState(), requestNextState(), and requestStateChange().
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 1130 of file StateMachine.cpp.
Referenced by createEventTransition(), and execute().
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Returns true if the state machine is activated.
Definition at line 205 of file StateMachine.hpp.
Referenced by unloading().
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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.
Referenced by unloading().
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Returns true if this object is loaded in an ExecutionEngine.
Definition at line 95 of file ExecutableInterface.hpp.
Referenced by RTT::RemoveMsg::done(), RTT::scripting::FunctionGraph::pause(), RTT::ExecutionEngine::removeFunction(), RTT::scripting::FunctionGraph::start(), RTT::scripting::FunctionGraph::step(), RTT::scripting::FunctionGraph::~FunctionGraph(), and ~StateMachine().
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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.
Referenced by unloading().
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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 919 of file StateMachine.cpp.
References RTT::scripting::StateMachine::Status::error, RTT::scripting::StateInterface::getExitProgram(), RTT::scripting::ProgramInterface::reset(), smStatus, and RTT::scripting::ProgramInterface::start().
Referenced by changeState(), and deactivate().
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Called by the ExecutionEngine ee to tell this object it is being loaded.
The engine pointer is set first and the user's loading() function is called next.
ee | The pointer to the engine calling us. |
Definition at line 70 of file ExecutableInterface.hpp.
Referenced by RTT::scripting::StateInterface::loaded(), and RTT::ExecutionEngine::runFunction().
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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.
References eventMap, RTT::base::ExecutableInterface::getEngine(), RTT::scripting::StateMachine::Status::inactive, smStatus, stateMap, and TRACE.
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 724 of file StateMachine.cpp.
References checkConditions(), and stateMap.
bool RTT::StateMachine::pause | ( | ) |
Pause the state machine.
Definition at line 172 of file StateMachine.cpp.
References RTT::scripting::ProgramInterface::execute(), RTT::scripting::StateMachine::Status::inactive, RTT::scripting::ProgramInterface::pause(), smStatus, TRACE, and RTT::scripting::StateMachine::Status::unloaded.
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 874 of file StateMachine.cpp.
References precondMap, and stateMap.
bool RTT::StateMachine::reactive | ( | ) |
Switch to reactive mode from automatic mode.
Definition at line 224 of file StateMachine.cpp.
References RTT::scripting::StateMachine::Status::active, RTT::scripting::StateMachine::Status::error, RTT::scripting::StateMachine::Status::inactive, smStatus, TRACE, and RTT::scripting::StateMachine::Status::unloaded.
bool RTT::StateMachine::requestFinalState | ( | ) |
Request going to the Final State.
This will always proceed.
Definition at line 389 of file StateMachine.cpp.
References inError(), interruptible(), requestStateChange(), and TRACE.
Referenced by execute(), and unloading().
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 374 of file StateMachine.cpp.
References interruptible(), requestStateChange(), and TRACE.
Referenced by execute().
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 608 of file StateMachine.cpp.
References changeState(), checkConditions(), interruptible(), and stateMap.
Referenced by execute().
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 778 of file StateMachine.cpp.
References changeState(), checkConditions(), executePending(), interruptible(), and stateMap.
Referenced by requestFinalState(), and requestInitialState().
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.
References smStatus, RTT::scripting::StateMachine::Status::stopped, and TRACE.
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Definition at line 931 of file StateMachine.cpp.
References RTT::scripting::StateMachine::Status::error, RTT::scripting::StateInterface::getRunProgram(), RTT::scripting::ProgramInterface::reset(), smStatus, and RTT::scripting::ProgramInterface::start().
Referenced by automatic(), and changeState().
void RTT::StateMachine::setFinalState | ( | StateInterface * | s | ) |
Set the final state of this StateMachine.
Definition at line 1145 of file StateMachine.cpp.
References stateMap.
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inline |
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 1139 of file StateMachine.cpp.
References stateMap.
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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.
References automatic().
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.
References RTT::scripting::StateMachine::Status::active, RTT::scripting::StateMachine::Status::paused, RTT::scripting::StateMachine::Status::requesting, smStatus, and TRACE.
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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.
References RTT::scripting::StateMachine::Status::inactive, smStatus, TRACE, and RTT::scripting::StateMachine::Status::unloaded.
Referenced by unloading().
void RTT::StateMachine::trace | ( | bool | on_off | ) |
Turn log(Debug) messages on or off to track state transitions.
Definition at line 1151 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.
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 883 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.
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 888 of file StateMachine.cpp.
References RTT::scripting::StateInterface::getName(), stateMap, and TRACE.
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inlineinherited |
Called by the ExecutionEngine ee to tell this object it is being unloaded.
The user's loading() function is called first and the engine pointer is cleared next.
Definition at line 78 of file ExecutableInterface.hpp.
Referenced by RTT::ExecutionEngine::processFunctions(), RTT::ExecutionEngine::removeFunction(), and RTT::ExecutionEngine::~ExecutionEngine().
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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.
References RTT::Critical, currentState(), execute(), getFinalState(), getLineNumber(), RTT::scripting::StateInterface::getName(), getName(), isActive(), isAutomatic(), isReactive(), requestFinalState(), stop(), and TRACE.
Referenced by RTT::scripting::ParsedStateMachine::unloading().
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Definition at line 100 of file StateMachine.hpp.
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Definition at line 104 of file StateMachine.hpp.
Referenced by RTT::scripting::ParsedStateMachine::setName(), and ~StateMachine().
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Definition at line 102 of file StateMachine.hpp.
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protectedinherited |
Definition at line 61 of file ExecutableInterface.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.
Referenced by createEventTransition(), disableEvents(), enableEvents(), and loading().
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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.
Referenced by checkConditions(), and preconditionSet().
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Definition at line 105 of file StateMachine.hpp.
Referenced by activate(), automatic(), changeState(), deactivate(), enterState(), execute(), executeProgram(), getStatus(), getStatusStr(), handleState(), leaveState(), loading(), pause(), reactive(), reset(), runState(), step(), and stop().
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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.
Referenced by activate(), addState(), changeState(), createEventTransition(), enterState(), executePending(), getState(), getStateList(), loading(), nextState(), preconditionSet(), requestNextState(), requestStateChange(), setFinalState(), setInitialState(), and transitionSet().