A hierarchical StateMachine which is loaded in the Program Processor. More...

#include <rtt/scripting/StateMachine.hpp>

Inheritance diagram for RTT::scripting::StateMachine:

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 or before synchronous execution to tell this object it is being loaded. More...

void	unloaded ()
	Called by the ExecutionEngine ee or after synchronous execution 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

Detailed Description

A hierarchical StateMachine which is loaded in the Program Processor.

A StateMachine can have children and one parent.

Todo:: Implement the whole transition mechanism with the Strategy software pattern to allow cleaner implementation.

Definition at line 72 of file StateMachine.hpp.

Member Typedef Documentation

typedef std::vector<StateMachinePtr> RTT::scripting::StateMachine::ChildList

Definition at line 109 of file StateMachine.hpp.

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> > > RTT::scripting::StateMachine::EventList

protected

Definition at line 98 of file StateMachine.hpp.

typedef std::map< StateInterface*, EventList > RTT::scripting::StateMachine::EventMap

protected

Definition at line 99 of file StateMachine.hpp.

typedef std::multimap< StateInterface*, std::pair<ConditionInterface*, int> > RTT::scripting::StateMachine::PreConditionMap

protected

Definition at line 92 of file StateMachine.hpp.

typedef boost::weak_ptr<StateMachine> RTT::scripting::StateMachine::StateMachineParentPtr

protected

Definition at line 101 of file StateMachine.hpp.

typedef std::map< StateInterface*, TransList > RTT::scripting::StateMachine::TransitionMap

protected

Definition at line 91 of file StateMachine.hpp.

typedef std::vector< boost::tuple<ConditionInterface*, StateInterface*, int, int, boost::shared_ptr<ProgramInterface> > > RTT::scripting::StateMachine::TransList

protected

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.

Constructor & Destructor Documentation

RTT::StateMachine::~StateMachine ( )

virtual

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"`
	)

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().

Member Function Documentation

bool RTT::StateMachine::activate ( )

Start this StateMachine.

The Initial state will be entered.

Definition at line 1160 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.

void RTT::scripting::StateMachine::addChild ( StateMachinePtr child )

inline

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 769 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().

void RTT::StateMachine::changeState	(	StateInterface *	s,
		ProgramInterface *	tprog,
		bool	stepping = `false`
	)

protected

Definition at line 409 of file StateMachine.cpp.

References disableEvents(), RTT::scripting::StateMachine::Status::error, RTT::scripting::StateInterface::getName(), handleState(), leaveState(), RTT::scripting::ProgramInterface::reset(), runState(), smStatus, RTT::scripting::ProgramInterface::start(), stateMap, and TRACE.

Referenced by createEventTransition(), requestNextState(), and requestStateChange().

int RTT::StateMachine::checkConditions	(	StateInterface *	state,
		bool	stepping = `false`
	)

protected

Definition at line 699 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`,
		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).

Parameters

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.

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, RTT::base::ActivityInterface::timeout(), and TRACE.

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.

Referenced by RTT::scripting::ParsedStateMachine::inState(), and unloading().

bool RTT::StateMachine::deactivate ( )

Stop this StateMachine.

The current state is left unconditionally.

Definition at line 1212 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.

void RTT::StateMachine::disableEvents ( StateInterface * s )

protected

Definition at line 484 of file StateMachine.cpp.

References eventMap.

Referenced by changeState(), deactivate(), and disableGlobalEvents().

void RTT::StateMachine::disableGlobalEvents ( )

protected

Definition at line 466 of file StateMachine.cpp.

References disableEvents().

Referenced by deactivate().

void RTT::StateMachine::enableEvents ( StateInterface * s )

protected

Definition at line 470 of file StateMachine.cpp.

References eventMap.

Referenced by activate(), enableGlobalEvents(), and executePending().

void RTT::StateMachine::enableGlobalEvents ( )

protected

Definition at line 462 of file StateMachine.cpp.

References enableEvents().

Referenced by activate().

void RTT::StateMachine::enterState ( StateInterface * s )

protected

Definition at line 961 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().

bool RTT::StateMachine::execute ( )

virtual

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.

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.

Parameters

stepping provide true if the pending programs should be executed one step at a time.

Return values

true	if nothing was pending
false	if there was some program executing.

Definition at line 979 of file StateMachine.cpp.

References enableEvents(), enterState(), executeProgram(), RTT::scripting::StateInterface::getName(), inError(), stateMap, and TRACE.

Referenced by activate(), deactivate(), execute(), and requestStateChange().

bool RTT::StateMachine::executeProgram	(	ProgramInterface *&	cp,
		bool	stepping
	)

protected

Definition at line 1109 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().

const ChildList& RTT::scripting::StateMachine::getChildren ( ) const

inline

Get a list of all child state machines.

Definition at line 559 of file StateMachine.hpp.

Referenced by RTT::scripting::ParsedStateMachine::setName().

const std::string& RTT::scripting::StateMachine::getCurrentStateName ( ) const

inline

Return name of current state, empty string if not active.

Definition at line 164 of file StateMachine.hpp.

References RTT::scripting::StateInterface::getName().

ExecutionEngine* RTT::base::ExecutableInterface::getEngine ( )

inlineinherited

Returns the ExecutionEngine this object is loaded into or null otherwise.

Returns

Definition at line 117 of file ExecutableInterface.hpp.

Referenced by createEventTransition(), loading(), RTT::scripting::FunctionGraph::~FunctionGraph(), and ~StateMachine().

StateInterface* RTT::scripting::StateMachine::getFinalState ( ) const

inline

Retrieve the final state of the state machine.

Definition at line 522 of file StateMachine.hpp.

Referenced by unloading().

base::ActionInterface* RTT::scripting::StateMachine::getInitCommand ( ) const

inline

Definition at line 538 of file StateMachine.hpp.

StateInterface* RTT::scripting::StateMachine::getInitialState ( ) const

inline

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,.

Returns: 1 if not active

Definition at line 861 of file StateMachine.cpp.

References RTT::scripting::StateInterface::getEntryPoint(), and RTT::scripting::ProgramInterface::getLineNumber().

Referenced by executeProgram(), and unloading().

const std::string& RTT::scripting::StateMachine::getName ( ) const

inline

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().

StateMachinePtr RTT::scripting::StateMachine::getParent ( ) const

inline

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.

References stateMap.

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.

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.

string RTT::StateMachine::getText ( ) const

virtual

Return the text to which getLineNumber() refers.

Reimplemented in RTT::scripting::ParsedStateMachine.

Definition at line 878 of file StateMachine.cpp.

void RTT::StateMachine::handleState ( StateInterface * s )

protected

Definition at line 950 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().

bool RTT::scripting::StateMachine::inError ( ) const

inline

Get the error status of this StateMachine.

Definition at line 216 of file StateMachine.hpp.

Referenced by activate(), executePending(), and requestFinalState().

bool RTT::scripting::StateMachine::inFinalState ( ) const

inline

Inspect if we are in the final state.

Definition at line 188 of file StateMachine.hpp.

bool RTT::scripting::StateMachine::inInitialState ( ) const

inline

Inspect if we are in the initial state.

Definition at line 181 of file StateMachine.hpp.

bool RTT::scripting::StateMachine::inState ( const std::string & state ) const

inline

Check if the state machine is in a given state.

Definition at line 143 of file StateMachine.hpp.

References RTT::scripting::StateInterface::getName().

bool RTT::scripting::StateMachine::inStrictState ( const std::string & state ) const

inline

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 1140 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.

Returns: true if it is executing a program (except run or handle program), false if it is not executing a program OR executing the run/handle program.

Definition at line 1135 of file StateMachine.cpp.

Referenced by createEventTransition(), and execute().

bool RTT::scripting::StateMachine::isActive ( ) const

inline

Returns true if the state machine is activated.

Definition at line 205 of file StateMachine.hpp.

Referenced by unloading().

bool RTT::scripting::StateMachine::isAutomatic ( ) const

inline

Query if the state machine is reacting to events and evaluating transition conditions.

Definition at line 227 of file StateMachine.hpp.

Referenced by unloading().

bool RTT::base::ExecutableInterface::isLoaded ( )

inlineinherited

Returns true if this object is loaded in an ExecutionEngine.

Returns: true if so.

Definition at line 110 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().

bool RTT::scripting::StateMachine::isPaused ( ) const

inline

Query if the state machine is paused.

Definition at line 232 of file StateMachine.hpp.

bool RTT::scripting::StateMachine::isReactive ( ) const

inline

Query if the state machine is currently reacting only to events.

Definition at line 221 of file StateMachine.hpp.

Referenced by unloading().

bool RTT::scripting::StateMachine::isStopped ( ) const

inline

Returns true if the state machine is in the final state, after a stop() directive.

Definition at line 211 of file StateMachine.hpp.

bool RTT::scripting::StateMachine::isStrictlyActive ( ) const

inline

Strictly active, means active and not in a transition.

Definition at line 174 of file StateMachine.hpp.

void RTT::StateMachine::leaveState ( StateInterface * s )

protected

Definition at line 927 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().

void RTT::base::ExecutableInterface::loaded ( ExecutionEngine * ee )

inlineinherited

Called by the ExecutionEngine ee or before synchronous execution to tell this object it is being loaded.

The engine pointer is set first and the user's loading() function is called next.

Parameters

ee	The pointer to the engine calling us.

Definition at line 73 of file ExecutableInterface.hpp.

Referenced by RTT::scripting::StateInterface::loaded(), and RTT::ExecutionEngine::runFunction().

void RTT::StateMachine::loading ( )

virtual

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.

Note: The mere calling of this method, may influence future possible results. Multiple invocations of nextState() may return different results, so use with care.

See also: requestNextState()

Definition at line 732 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
	)

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.

Parameters

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.

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 391 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.

Returns: The true on success, false if not allowed.

Definition at line 376 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.

Note: This call is not equivalent to this->requestState( this->nextState() ), since multiple invocations of this->nextState() may result in different results, hence, this->requestState( this->nextState() ) may return false. Use this method instead to automatically go to the next state.

Parameters

stepping provide true if the transition evaluations should be executed one at a time.

Returns: The current state.

Definition at line 616 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.

See also: requestNextState()

bool RTT::scripting::StateMachine::requestState ( const std::string & statename )

inline

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.

Parameters

s_n	The state to change to

Return values

true	if the transition is successfull
false	if the transition is not allowed

Definition at line 786 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.

void RTT::StateMachine::runState ( StateInterface * s )

protected

Definition at line 939 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 1150 of file StateMachine.cpp.

References stateMap.

void RTT::scripting::StateMachine::setInitCommand ( base::ActionInterface * c )

inline

This was added for extra (non-user visible) initialisation when the StateMachine is activated.

Parameters

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.

References stateMap.

void RTT::scripting::StateMachine::setParent ( StateMachinePtr parent )

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.

bool RTT::scripting::StateMachine::stepDone ( ) const

inline

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 1156 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.

Parameters

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.

Postcondition: All transitions from from to to will succeed under condition cnd

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
	)

Express a possible transition from one state to another under a certain condition.

Parameters

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.